+ python -m lidar_slam --no-model /working/7ce822c6-814c-4a4f-be5e-ec901f4ddba8 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/7ce822c6-814c-4a4f-be5e-ec901f4ddba8 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 0.002414037 Adjusted end_distance from 9.223372036854776e+18 to 289.862414037 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.002414037 meters 0.04570134110676701 Centerline is valid? [0, True] SLAMing on 0.032414037 meters 0.0459898710283376 Centerline is valid? [True, True] Translation: X:0.03, Y:0.00, Z:0.00 [[ 9.99996401e-01 2.55892536e-03 -8.06352904e-04 3.07293203e-02] [-2.55887656e-03 9.99996724e-01 6.15415917e-05 2.84225470e-03] [ 8.06507743e-04 -5.94780126e-05 9.99999673e-01 5.91673473e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.062414037 meters 0.044704194536384134 Centerline is valid? [True, True] Translation: X:0.06, Y:0.01, Z:-0.00 [[ 9.99985937e-01 4.31520326e-03 -3.08293575e-03 6.17108377e-02] [-4.31449850e-03 9.99990665e-01 2.35217183e-04 1.24539320e-02] [ 3.08392198e-03 -2.21912553e-04 9.99995220e-01 -1.25735642e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09241403699999999 meters 0.04423892000824484 Centerline is valid? [True, True] Translation: X:0.09, Y:0.01, Z:-0.00 [[ 9.99985933e-01 3.84879888e-03 -3.64978062e-03 9.11278526e-02] [-3.84780918e-03 9.99992558e-01 2.78150395e-04 1.34390619e-02] [ 3.65082400e-03 -2.64102823e-04 9.99993301e-01 -3.12376867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12241403699999999 meters 0.04362418340333653 Centerline is valid? [True, True] Translation: X:0.12, Y:0.02, Z:-0.01 [[ 9.99970353e-01 5.87476193e-03 -4.97790655e-03 1.21272523e-01] [-5.87294678e-03 9.99982682e-01 3.79179819e-04 1.50489577e-02] [ 4.98004794e-03 -3.49933597e-04 9.99987538e-01 -6.45944991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.152414037 meters 0.04331089509869616 Centerline is valid? [True, True] Translation: X:0.15, Y:0.01, Z:-0.01 [[ 9.99968763e-01 6.73268836e-03 -4.14049584e-03 1.49779616e-01] [-6.73144123e-03 9.99977294e-01 3.15063354e-04 1.44473530e-02] [ 4.14252305e-03 -2.87182008e-04 9.99991378e-01 -6.98444955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.182414037 meters 0.04316559546831869 Centerline is valid? [True, True] Translation: X:0.18, Y:0.01, Z:-0.01 [[ 9.99979120e-01 5.73063261e-03 -2.98648493e-03 1.78913772e-01] [-5.72998004e-03 9.99983558e-01 2.27018820e-04 1.33402481e-02] [ 2.98773678e-03 -2.09901581e-04 9.99995515e-01 -6.73343261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.212414037 meters 0.04346523279772839 Centerline is valid? [True, True] Translation: X:0.21, Y:0.02, Z:-0.01 [[ 9.99975603e-01 6.37167814e-03 -2.86278328e-03 2.07028715e-01] [-6.37108190e-03 9.99979681e-01 2.17345524e-04 1.77382928e-02] [ 2.86410997e-03 -1.99101195e-04 9.99995879e-01 -5.26601012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.242414037 meters 0.044145421536867714 Centerline is valid? [True, True] Translation: X:0.23, Y:0.02, Z:-0.01 [[ 9.99971597e-01 6.71815850e-03 -3.41647887e-03 2.34898469e-01] [-6.71731231e-03 9.99977405e-01 2.59093426e-04 1.87315059e-02] [ 3.41814231e-03 -2.36136512e-04 9.99994130e-01 -5.12885116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.272414037 meters 0.04419338909566545 Centerline is valid? [True, True] Translation: X:0.26, Y:0.02, Z:-0.01 [[ 9.99972526e-01 6.67009873e-03 -3.23379443e-03 2.64028675e-01] [-6.66934103e-03 9.99977730e-01 2.45035085e-04 1.98791215e-02] [ 3.23535682e-03 -2.23461075e-04 9.99994741e-01 -5.30908299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30241403699999997 meters 0.04630470516587832 Centerline is valid? [True, True] Translation: X:0.29, Y:0.02, Z:-0.01 [[ 9.99974006e-01 5.77152937e-03 -4.32157580e-03 2.93047763e-01] [-5.77016858e-03 9.99983299e-01 3.27286571e-04 1.92971033e-02] [ 4.32339257e-03 -3.02341843e-04 9.99990608e-01 -6.77929441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33241403699999994 meters 0.04714444512205989 Centerline is valid? [True, True] Translation: X:0.32, Y:0.02, Z:-0.01 [[ 9.99989028e-01 3.07185961e-03 -3.53648982e-03 3.23544039e-01] [-3.07093136e-03 9.99995249e-01 2.67878895e-04 1.62794047e-02] [ 3.53729590e-03 -2.57015639e-04 9.99993711e-01 -7.73462361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36241403699999997 meters 0.04657356518234478 Centerline is valid? [True, True] Translation: X:0.35, Y:0.02, Z:-0.01 [[ 9.99991692e-01 -3.16098557e-03 -2.57392382e-03 3.53979636e-01] [ 3.16149764e-03 9.99994983e-01 1.94903194e-04 1.77731771e-02] [ 2.57329482e-03 -2.03039029e-04 9.99996668e-01 -6.61456876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.392414037 meters 0.048585803319240596 Centerline is valid? [True, True] Translation: X:0.38, Y:0.01, Z:-0.01 [[ 9.99972443e-01 -6.97118410e-03 -2.55253158e-03 3.84616335e-01] [ 6.97170010e-03 9.99975679e-01 1.93310643e-04 1.47779324e-02] [ 2.55112190e-03 -2.11100800e-04 9.99996724e-01 -6.47239077e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42241403699999996 meters 0.05109021483094158 Centerline is valid? [True, True] Translation: X:0.42, Y:0.01, Z:-0.01 [[ 9.99933543e-01 -1.09781106e-02 -3.51997552e-03 4.15238458e-01] [ 1.09791165e-02 9.99939692e-01 2.66587636e-04 1.05097742e-02] [ 3.51683661e-03 -3.05216141e-04 9.99993769e-01 -7.76207416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45241403699999994 meters 0.0536185977906343 Centerline is valid? [True, True] Translation: X:0.45, Y:0.01, Z:-0.01 [[ 9.99877765e-01 -1.46539446e-02 -5.45137911e-03 4.45225477e-01] [ 1.46564116e-02 9.99892504e-01 4.12876770e-04 6.12986637e-03] [ 5.44474284e-03 -4.92723958e-04 9.99985056e-01 -1.08776746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48241403699999996 meters 0.05846063686709744 Centerline is valid? [True, True] Translation: X:0.47, Y:0.00, Z:-0.02 [[ 9.99737958e-01 -2.05234310e-02 -1.01391962e-02 4.74049192e-01] [ 2.05322710e-02 9.99788895e-01 7.68523617e-04 1.60319372e-03] [ 1.01212830e-02 -9.76502956e-04 9.99948302e-01 -1.71268163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.512414037 meters 0.060000503806542566 Centerline is valid? [True, True] Translation: X:0.50, Y:0.00, Z:-0.02 [[ 9.99692895e-01 -2.20021107e-02 -1.14027698e-02 5.04113171e-01] [ 2.20133825e-02 9.99757303e-01 8.63929768e-04 3.75181616e-04] [ 1.13809941e-02 -1.11467798e-03 9.99934613e-01 -1.85831564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.542414037 meters 0.0620967579126765 Centerline is valid? [True, True] Translation: X:0.53, Y:0.00, Z:-0.02 [[ 9.99687328e-01 -2.30706098e-02 -9.64326417e-03 5.34310914e-01] [ 2.30787189e-02 9.99733384e-01 7.30460021e-04 2.22624934e-03] [ 9.62384096e-03 -9.52785810e-04 9.99953236e-01 -1.76941289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5724140369999999 meters 0.05584135078320462 Centerline is valid? [True, True] Translation: X:0.57, Y:0.01, Z:-0.02 [[ 9.99711333e-01 -2.25949686e-02 -8.16808576e-03 5.66622259e-01] [ 2.26007736e-02 9.99744378e-01 6.19068170e-04 1.13721572e-02] [ 8.15200999e-03 -8.03494522e-04 9.99966449e-01 -1.52921195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.602414037 meters 0.05630701365813744 Centerline is valid? [True, True] Translation: X:0.60, Y:0.01, Z:-0.01 [[ 9.99736159e-01 -2.18173823e-02 -7.18429249e-03 5.97838364e-01] [ 2.18218550e-02 9.99761727e-01 5.44765744e-04 1.19598528e-02] [ 7.17069530e-03 -7.01396602e-04 9.99974044e-01 -1.43230230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.632414037 meters 0.06092861513369791 Centerline is valid? [True, True] Translation: X:0.63, Y:0.01, Z:-0.01 [[ 9.99761706e-01 -2.09636091e-02 -6.08759283e-03 6.28693809e-01] [ 2.09668062e-02 9.99780066e-01 4.61826435e-04 1.16701344e-02] [ 6.07657241e-03 -5.89353763e-04 9.99981364e-01 -1.45499322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6624140369999999 meters 0.06352192236908503 Centerline is valid? [True, True] Translation: X:0.66, Y:0.01, Z:-0.01 [[ 9.99776691e-01 -2.04753174e-02 -5.22771651e-03 6.60177112e-01] [ 2.04776725e-02 9.99790232e-01 3.97371487e-04 9.01453148e-03] [ 5.21848359e-03 -5.04334217e-04 9.99986256e-01 -1.47773583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6924140369999999 meters 0.061984346477552195 Centerline is valid? [True, True] Translation: X:0.69, Y:0.01, Z:-0.02 [[ 9.99784543e-01 -2.02020794e-02 -4.76897443e-03 6.92512194e-01] [ 2.02040375e-02 9.99795812e-01 3.62767414e-04 1.14436572e-02] [ 4.76067201e-03 -4.59041792e-04 9.99988563e-01 -1.53765216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.722414037 meters 0.05666574869653204 Centerline is valid? [True, True] Translation: X:0.73, Y:0.02, Z:-0.02 [[ 9.99774552e-01 -2.08503302e-02 -4.01352810e-03 7.25737425e-01] [ 2.08517234e-02 9.99782532e-01 3.05601206e-04 2.19376041e-02] [ 4.00628340e-03 -3.89221287e-04 9.99991899e-01 -1.72148129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.752414037 meters 0.05852447854107625 Centerline is valid? [True, True] Translation: X:0.76, Y:0.02, Z:-0.02 [[ 9.99733715e-01 -2.25470687e-02 -4.91205682e-03 7.57334832e-01] [ 2.25491765e-02 9.99745665e-01 3.74128435e-04 2.46252859e-02] [ 4.90237201e-03 -4.84791647e-04 9.99987866e-01 -1.79842371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.782414037 meters 0.06150390882312374 Centerline is valid? [True, True] Translation: X:0.79, Y:0.02, Z:-0.02 [[ 9.99682980e-01 -2.44206259e-02 -6.12971715e-03 7.87365973e-01] [ 2.44239427e-02 9.99701582e-01 4.66820659e-04 2.34613829e-02] [ 6.11648788e-03 -6.16384528e-04 9.99981104e-01 -1.88968297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8124140369999999 meters 0.06474150226347541 Centerline is valid? [True, True] Translation: X:0.82, Y:0.02, Z:-0.02 [[ 9.99623341e-01 -2.62909107e-02 -7.87177201e-03 8.17691231e-01] [ 2.62964394e-02 9.99654009e-01 5.99645165e-04 2.14017670e-02] [ 7.85328323e-03 -8.06418879e-04 9.99968837e-01 -2.09659849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.842414037 meters 0.0618597366559833 Centerline is valid? [True, True] Translation: X:0.85, Y:0.03, Z:-0.02 [[ 9.99535864e-01 -2.88544229e-02 -9.77136527e-03 8.48774371e-01] [ 2.88630633e-02 9.99583098e-01 7.44360926e-04 2.73840086e-02] [ 9.74581346e-03 -1.02604698e-03 9.99951982e-01 -2.28454079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.872414037 meters 0.06466892520957472 Centerline is valid? [True, True] Translation: X:0.88, Y:0.03, Z:-0.03 [[ 9.99406633e-01 -3.31141191e-02 -9.47828534e-03 8.79440754e-01] [ 3.31224376e-02 9.99451041e-01 7.21969208e-04 2.63260238e-02] [ 9.44917477e-03 -1.03548473e-03 9.99954819e-01 -2.58078949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9024140369999999 meters 0.07180516759164433 Centerline is valid? [True, True] Translation: X:0.91, Y:0.02, Z:-0.03 [[ 9.99349745e-01 -3.50860228e-02 -8.31010945e-03 9.08819876e-01] [ 3.50924845e-02 9.99383869e-01 6.32994224e-04 1.71799624e-02] [ 8.28278008e-03 -9.24205004e-04 9.99965270e-01 -2.69823362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9324140369999999 meters 0.07175335490552823 Centerline is valid? [True, True] Translation: X:0.94, Y:0.02, Z:-0.03 [[ 9.99231056e-01 -3.80697276e-02 -9.38039601e-03 9.40546920e-01] [ 3.80780934e-02 9.99274511e-01 7.14797679e-04 2.34174808e-02] [ 9.34637848e-03 -1.07143564e-03 9.99955748e-01 -2.84442580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9624140369999999 meters 0.06929787444457232 Centerline is valid? [True, True] Translation: X:0.97, Y:0.03, Z:-0.03 [[ 9.99184483e-01 -3.88316412e-02 -1.10667278e-02 9.72667207e-01] [ 3.88433382e-02 9.99244956e-01 8.43894627e-04 2.95835329e-02] [ 1.10256021e-02 -1.27307507e-03 9.99938406e-01 -3.00682421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.992414037 meters 0.06824705684604612 Centerline is valid? [True, True] Translation: X:1.01, Y:0.03, Z:-0.03 [[ 9.99162537e-01 -3.90659180e-02 -1.21687648e-02 1.00555312e+00] [ 3.90800885e-02 9.99235650e-01 9.28802531e-04 3.35238606e-02] [ 1.21231791e-02 -1.40358110e-03 9.99925526e-01 -3.13377430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.022414037 meters 0.06549468285839981 Centerline is valid? [True, True] Translation: X:1.04, Y:0.05, Z:-0.03 [[ 9.99197870e-01 -3.84992376e-02 -1.10193179e-02 1.03858056e+00] [ 3.85108321e-02 9.99257828e-01 8.41870348e-04 4.60631376e-02] [ 1.09787283e-02 -1.26555816e-03 9.99938931e-01 -2.98693530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0524140370000001 meters 0.06412113856501686 Centerline is valid? [True, True] Translation: X:1.07, Y:0.05, Z:-0.03 [[ 9.99217748e-01 -3.82452337e-02 -1.00595170e-02 1.07123224e+00] [ 3.82548909e-02 9.99267718e-01 7.69277446e-04 5.05310644e-02] [ 1.00227294e-02 -1.15350140e-03 9.99949106e-01 -2.86270759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0824140370000002 meters 0.07062132790892123 Centerline is valid? [True, True] Translation: X:1.10, Y:0.05, Z:-0.03 [[ 9.99232617e-01 -3.75569362e-02 -1.11200044e-02 1.10243873e+00] [ 3.75687013e-02 9.99293685e-01 8.50945236e-04 4.73264645e-02] [ 1.10801913e-02 -1.26805636e-03 9.99937809e-01 -3.28593874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.112414037 meters 0.07062132790892123 Centerline is valid? [True, True] Translation: X:1.13, Y:0.04, Z:-0.03 [[ 9.99235224e-01 -3.74875088e-02 -1.11199439e-02 1.13424220e+00] [ 3.74992783e-02 9.99296292e-01 8.51736443e-04 4.48221366e-02] [ 1.10801892e-02 -1.26807493e-03 9.99937809e-01 -3.28970496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.142414037 meters 0.06654957597003697 Centerline is valid? [True, True] Translation: X:1.17, Y:0.05, Z:-0.03 [[ 9.99234711e-01 -3.73636540e-02 -1.15736269e-02 1.16744016e+00] [ 3.73764103e-02 9.99300863e-01 8.87784921e-04 5.04557149e-02] [ 1.15323644e-02 -1.31968614e-03 9.99932629e-01 -3.47898971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.172414037 meters 0.07431415930359815 Centerline is valid? [True, True] Translation: X:1.20, Y:0.04, Z:-0.04 [[ 9.99183692e-01 -3.90669241e-02 -1.02822441e-02 1.19685905e+00] [ 3.90770802e-02 9.99235888e-01 7.88612510e-04 4.10157627e-02] [ 1.02435787e-02 -1.18976884e-03 9.99946825e-01 -3.60488023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.202414037 meters 0.07314932482491579 Centerline is valid? [True, True] Translation: X:1.23, Y:0.05, Z:-0.03 [[ 9.99146683e-01 -4.03082168e-02 -9.00852366e-03 1.22886122e+00] [ 4.03160655e-02 9.99186738e-01 6.91282093e-04 4.93698808e-02] [ 8.97333302e-03 -1.05388044e-03 9.99959183e-01 -3.48955971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.232414037 meters 0.07541612788644987 Centerline is valid? [True, True] Translation: X:1.26, Y:0.05, Z:-0.04 [[ 9.99188301e-01 -3.93367437e-02 -8.68094978e-03 1.25985704e+00] [ 3.93439985e-02 9.99225503e-01 6.66453837e-04 5.25473762e-02] [ 8.64801029e-03 -1.00745615e-03 9.99962098e-01 -3.58014501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.262414037 meters 0.07510002652589289 Centerline is valid? [True, True] Translation: X:1.29, Y:0.05, Z:-0.04 [[ 9.99232731e-01 -3.83092023e-02 -8.14582279e-03 1.29202705e+00] [ 3.83155601e-02 9.99265493e-01 6.25824463e-04 5.41679520e-02] [ 8.11586480e-03 -9.37456051e-04 9.99966626e-01 -3.56668351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2924140370000001 meters 0.07549899474496004 Centerline is valid? [True, True] Translation: X:1.32, Y:0.06, Z:-0.03 [[ 9.99268732e-01 -3.76485742e-02 -6.67728393e-03 1.32365071e+00] [ 3.76528332e-02 9.99290749e-01 5.13227019e-04 5.50274137e-02] [ 6.65322580e-03 -7.64270371e-04 9.99977575e-01 -3.46499690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.322414037 meters 0.07510937053381371 Centerline is valid? [True, True] Translation: X:1.36, Y:0.06, Z:-0.03 [[ 9.99309096e-01 -3.65476958e-02 -6.75253847e-03 1.35586984e+00] [ 3.65520291e-02 9.99331616e-01 5.19390771e-04 6.14577501e-02] [ 6.72904265e-03 -7.65850905e-04 9.99977066e-01 -3.45251576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.352414037 meters 0.07581409854329942 Centerline is valid? [True, True] Translation: X:1.39, Y:0.06, Z:-0.04 [[ 9.99326143e-01 -3.58195843e-02 -8.01360778e-03 1.38740886e+00] [ 3.58256675e-02 9.99357864e-01 6.16799766e-04 6.18583051e-02] [ 7.98636844e-03 -9.03476978e-04 9.99967700e-01 -3.65439237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.382414037 meters 0.07758877533625452 Centerline is valid? [True, True] Translation: X:1.42, Y:0.06, Z:-0.04 [[ 9.99320746e-01 -3.53311968e-02 -1.04763041e-02 1.42025713e+00] [ 3.53415769e-02 9.99374965e-01 8.07288887e-04 6.37934271e-02] [ 1.04412335e-02 -1.17698964e-03 9.99944796e-01 -4.16678881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.412414037 meters 0.07878729544992269 Centerline is valid? [True, True] Translation: X:1.45, Y:0.06, Z:-0.04 [[ 9.99308748e-01 -3.54240220e-02 -1.12767783e-02 1.45231704e+00] [ 3.54360635e-02 9.99371567e-01 8.69734555e-04 6.25211501e-02] [ 1.12388821e-02 -1.26873798e-03 9.99936037e-01 -4.38675590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.442414037 meters 0.07686331971687312 Centerline is valid? [True, True] Translation: X:1.48, Y:0.06, Z:-0.05 [[ 9.99303410e-01 -3.54589970e-02 -1.16341816e-02 1.48441355e+00] [ 3.54718258e-02 9.99370273e-01 8.98123575e-04 6.48747061e-02] [ 1.15950086e-02 -1.31018361e-03 9.99931917e-01 -4.54816525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.472414037 meters 0.07914977139816026 Centerline is valid? [True, True] Translation: X:1.52, Y:0.06, Z:-0.05 [[ 9.99318532e-01 -3.50818605e-02 -1.14775354e-02 1.51545016e+00] [ 3.50943283e-02 9.99383611e-01 8.86616985e-04 6.41649985e-02] [ 1.14393566e-02 -1.28880918e-03 9.99933738e-01 -4.87712529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.502414037 meters 0.08294173401472378 Centerline is valid? [True, True] Translation: X:1.55, Y:0.06, Z:-0.05 [[ 9.99345897e-01 -3.46497864e-02 -1.03523005e-02 1.54631693e+00] [ 3.46599120e-02 9.99398844e-01 8.00241776e-04 6.01175774e-02] [ 1.03183490e-02 -1.15852816e-03 9.99946093e-01 -4.83166616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5324140370000001 meters 0.08004907675698587 Centerline is valid? [True, True] Translation: X:1.58, Y:0.07, Z:-0.05 [[ 9.99387471e-01 -3.38567866e-02 -8.85446513e-03 1.57862194e+00] [ 3.38641674e-02 9.99426210e-01 6.84933928e-04 6.52159419e-02] [ 8.82619487e-03 -9.84363476e-04 9.99960564e-01 -4.67578865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5624140370000001 meters 0.07991060810396157 Centerline is valid? [True, True] Translation: X:1.61, Y:0.07, Z:-0.05 [[ 9.99412987e-01 -3.29685979e-02 -9.31409081e-03 1.61022589e+00] [ 3.29767296e-02 9.99455860e-01 7.20792743e-04 7.04830252e-02] [ 9.28525911e-03 -1.02751788e-03 9.99956363e-01 -4.88270623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.592414037 meters 0.08014120260994788 Centerline is valid? [True, True] Translation: X:1.64, Y:0.07, Z:-0.05 [[ 9.99419503e-01 -3.28421381e-02 -9.05817336e-03 1.64254285e+00] [ 3.28498301e-02 9.99460052e-01 7.01667111e-04 6.96677799e-02] [ 9.03023817e-03 -9.98819251e-04 9.99958728e-01 -5.02379824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.622414037 meters 0.08049296359778754 Centerline is valid? [True, True] Translation: X:1.67, Y:0.07, Z:-0.05 [[ 9.99412748e-01 -3.34231536e-02 -7.55333434e-03 1.67488562e+00] [ 3.34285226e-02 9.99440939e-01 5.85648529e-04 7.14001030e-02] [ 7.52953734e-03 -8.37801413e-04 9.99971302e-01 -4.85195016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.652414037 meters 0.08529886736389157 Centerline is valid? [True, True] Translation: X:1.71, Y:0.07, Z:-0.05 [[ 9.99420570e-01 -3.33785475e-02 -6.66314211e-03 1.70594811e+00] [ 3.33827278e-02 9.99442508e-01 5.17108870e-04 6.57150122e-02] [ 6.64216711e-03 -7.39243101e-04 9.99977667e-01 -4.76697848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.682414037 meters 0.0787192454907628 Centerline is valid? [True, True] Translation: X:1.74, Y:0.08, Z:-0.05 [[ 9.99429737e-01 -3.31151725e-02 -6.60196514e-03 1.73870090e+00] [ 3.31192739e-02 9.99451275e-01 5.12850311e-04 7.50133364e-02] [ 6.58135935e-03 -7.31210144e-04 9.99978075e-01 -4.78478427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.712414037 meters 0.08093801005033538 Centerline is valid? [True, True] Translation: X:1.77, Y:0.07, Z:-0.05 [[ 9.99426230e-01 -3.28784257e-02 -8.13755813e-03 1.77190244e+00] [ 3.28846567e-02 9.99458953e-01 6.33054132e-04 7.22520302e-02] [ 8.11234150e-03 -9.00291710e-04 9.99966689e-01 -5.37263199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.742414037 meters 0.0899004847067005 Centerline is valid? [True, True] Translation: X:1.80, Y:0.06, Z:-0.06 [[ 9.99411674e-01 -3.29364839e-02 -9.56524948e-03 1.80232283e+00] [ 3.29451074e-02 9.99456885e-01 7.45338639e-04 5.89445516e-02] [ 9.53550562e-03 -1.06002831e-03 9.99953974e-01 -5.76703081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.772414037 meters 0.08224095591457779 Centerline is valid? [True, True] Translation: X:1.84, Y:0.07, Z:-0.06 [[ 9.99421993e-01 -3.16992793e-02 -1.22815460e-02 1.83509347e+00] [ 3.17134136e-02 9.99496544e-01 9.57773681e-04 7.16816231e-02] [ 1.22450021e-02 -1.34670983e-03 9.99924120e-01 -6.07935701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.802414037 meters 0.08451384062228061 Centerline is valid? [True, True] Translation: X:1.87, Y:0.07, Z:-0.06 [[ 9.99454533e-01 -3.06948631e-02 -1.21844963e-02 1.86576825e+00] [ 3.07087060e-02 9.99527924e-01 9.50606106e-04 6.95533048e-02] [ 1.21495656e-02 -1.32425770e-03 9.99925314e-01 -6.09584860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.832414037 meters 0.07903862767945236 Centerline is valid? [True, True] Translation: X:1.90, Y:0.08, Z:-0.06 [[ 9.99494725e-01 -2.95018918e-02 -1.18293727e-02 1.89787280e+00] [ 2.95148622e-02 9.99563915e-01 9.23342419e-04 7.83051917e-02] [ 1.17969738e-02 -1.27201818e-03 9.99929604e-01 -5.86492338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.862414037 meters 0.07892224470376294 Centerline is valid? [True, True] Translation: X:1.93, Y:0.08, Z:-0.05 [[ 9.99595529e-01 -2.74733168e-02 -7.34812165e-03 1.92813718e+00] [ 2.74782660e-02 9.99622237e-01 5.73415415e-04 8.37472253e-02] [ 7.32959218e-03 -7.75097127e-04 9.99972838e-01 -5.23278065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.892414037 meters 0.08268563740417174 Centerline is valid? [True, True] Translation: X:1.96, Y:0.08, Z:-0.05 [[ 9.99631644e-01 -2.65653664e-02 -5.55492501e-03 1.95864411e+00] [ 2.65681823e-02 9.99646909e-01 4.33738962e-04 7.84254871e-02] [ 5.54144118e-03 -5.81163453e-04 9.99984477e-01 -5.22696878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.922414037 meters 0.07909446502967564 Centerline is valid? [True, True] Translation: X:1.99, Y:0.08, Z:-0.06 [[ 9.99637999e-01 -2.62259979e-02 -6.00568008e-03 1.99168231e+00] [ 2.62292870e-02 9.99655843e-01 4.69542405e-04 8.10807094e-02] [ 5.99129896e-03 -6.26897137e-04 9.99981856e-01 -5.70505836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.952414037 meters 0.08088190406588802 Centerline is valid? [True, True] Translation: X:2.02, Y:0.08, Z:-0.06 [[ 9.99612903e-01 -2.69041692e-02 -7.08588647e-03 2.02369702e+00] [ 2.69087681e-02 9.99637740e-01 5.54466951e-04 7.56866269e-02] [ 7.06840206e-03 -7.44924794e-04 9.99974741e-01 -6.01320162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.982414037 meters 0.08122664439086859 Centerline is valid? [True, True] Translation: X:2.06, Y:0.07, Z:-0.06 [[ 9.99583533e-01 -2.77242509e-02 -8.00794354e-03 2.05613192e+00] [ 2.77301552e-02 9.99615249e-01 6.27186647e-04 7.35099105e-02] [ 7.98747419e-03 -8.48986961e-04 9.99967739e-01 -6.17608790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0124140369999997 meters 0.08272295279457385 Centerline is valid? [True, True] Translation: X:2.09, Y:0.07, Z:-0.06 [[ 9.99595855e-01 -2.70358573e-02 -8.78576116e-03 2.08743083e+00] [ 2.70429419e-02 9.99634036e-01 6.88549984e-04 7.43072085e-02] [ 8.76393034e-03 -9.25864539e-04 9.99961167e-01 -6.09578010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.042414037 meters 0.08322522829997069 Centerline is valid? [True, True] Translation: X:2.12, Y:0.08, Z:-0.06 [[ 9.99588374e-01 -2.71840707e-02 -9.17107295e-03 2.11977146e+00] [ 2.71918027e-02 9.99629976e-01 7.19422057e-04 7.50780626e-02] [ 9.14812261e-03 -9.68503930e-04 9.99957686e-01 -6.00835706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0724140369999997 meters 0.07930371993147006 Centerline is valid? [True, True] Translation: X:2.15, Y:0.08, Z:-0.06 [[ 9.99554376e-01 -2.79466088e-02 -1.04897812e-02 2.15254698e+00] [ 2.79567739e-02 9.99608794e-01 8.23635753e-04 8.20552782e-02] [ 1.04626597e-02 -1.11652916e-03 9.99944642e-01 -5.97501389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.102414037 meters 0.0817175062248956 Centerline is valid? [True, True] Translation: X:2.18, Y:0.08, Z:-0.06 [[ 9.99507067e-01 -2.93213800e-02 -1.12195902e-02 2.18253893e+00] [ 2.93330959e-02 9.99569304e-01 8.81074237e-04 7.65218063e-02] [ 1.11889237e-02 -1.20974524e-03 9.99936670e-01 -6.21710148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1324140369999998 meters 0.0891027009601269 Centerline is valid? [True, True] Translation: X:2.21, Y:0.06, Z:-0.07 [[ 9.99454927e-01 -3.08404298e-02 -1.17778424e-02 2.21153946e+00] [ 3.08534447e-02 9.99523491e-01 9.24890966e-04 6.36802382e-02] [ 1.17437061e-02 -1.28777384e-03 9.99930211e-01 -6.58359461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.162414037 meters 0.09288254406400594 Centerline is valid? [True, True] Translation: X:2.24, Y:0.06, Z:-0.07 [[ 9.99355985e-01 -3.35495103e-02 -1.27296880e-02 2.24069142e+00] [ 3.35649285e-02 9.99436039e-01 9.99432707e-04 5.57539872e-02] [ 1.26889784e-02 -1.42606012e-03 9.99918475e-01 -6.89954011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.192414037 meters 0.08544584339317095 Centerline is valid? [True, True] Translation: X:2.27, Y:0.06, Z:-0.07 [[ 9.99361838e-01 -3.36305517e-02 -1.20375755e-02 2.27396371e+00] [ 3.36443564e-02 9.99433421e-01 9.46082862e-04 6.39503827e-02] [ 1.19989380e-02 -1.35047559e-03 9.99927098e-01 -6.69347136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2224140369999996 meters 0.08704679968794528 Centerline is valid? [True, True] Translation: X:2.31, Y:0.06, Z:-0.07 [[ 9.99372132e-01 -3.36525188e-02 -1.10837223e-02 2.30520150e+00] [ 3.36642302e-02 9.99432819e-01 8.71711213e-04 5.95818346e-02] [ 1.10481006e-02 -1.24428887e-03 9.99938194e-01 -6.66795385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.252414037 meters 0.08860825307096949 Centerline is valid? [True, True] Translation: X:2.34, Y:0.06, Z:-0.07 [[ 9.99338743e-01 -3.41723649e-02 -1.24228219e-02 2.33687339e+00] [ 3.41871283e-02 9.99414971e-01 9.77941399e-04 5.53668203e-02] [ 1.23821356e-02 -1.40199533e-03 9.99922356e-01 -6.80955073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2824140369999997 meters 0.08700205455932411 Centerline is valid? [True, True] Translation: X:2.37, Y:0.06, Z:-0.07 [[ 9.99313154e-01 -3.45269316e-02 -1.34577676e-02 2.36921361e+00] [ 3.45443026e-02 9.99402605e-01 1.06040129e-03 5.58755341e-02] [ 1.34131156e-02 -1.52456216e-03 9.99908878e-01 -6.89454055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.312414037 meters 0.09033701720544475 Centerline is valid? [True, True] Translation: X:2.40, Y:0.05, Z:-0.07 [[ 9.99310250e-01 -3.43383731e-02 -1.41386447e-02 2.40039402e+00] [ 3.43575385e-02 9.99408984e-01 1.11480293e-03 4.90932646e-02] [ 1.40920080e-02 -1.59980302e-03 9.99899423e-01 -7.08483572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3424140369999997 meters 0.09411463728441215 Centerline is valid? [True, True] Translation: X:2.43, Y:0.04, Z:-0.07 [[ 9.99275860e-01 -3.48256184e-02 -1.53274759e-02 2.43073049e+00] [ 3.48482073e-02 9.99391885e-01 1.20906645e-03 4.19843440e-02] [ 1.52760485e-02 -1.74232597e-03 9.99881796e-01 -7.45947110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.372414037 meters 0.09119319688352903 Centerline is valid? [True, True] Translation: X:2.46, Y:0.04, Z:-0.07 [[ 9.99285507e-01 -3.48004252e-02 -1.47446808e-02 2.46331412e+00] [ 3.48213423e-02 9.99392875e-01 1.16419421e-03 4.31848967e-02] [ 1.46952145e-02 -1.67679198e-03 9.99890614e-01 -7.36855418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.402414037 meters 0.089192851387264 Centerline is valid? [True, True] Translation: X:2.49, Y:0.04, Z:-0.07 [[ 9.99339044e-01 -3.42093258e-02 -1.22962112e-02 2.49481508e+00] [ 3.42238332e-02 9.99413721e-01 9.71290581e-04 4.44375653e-02] [ 1.22557750e-02 -1.39147208e-03 9.99923927e-01 -7.07073658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4324140369999996 meters 0.08953145232425092 Centerline is valid? [True, True] Translation: X:2.53, Y:0.04, Z:-0.07 [[ 9.99364706e-01 -3.38484185e-02 -1.11565232e-02 2.52716933e+00] [ 3.38603485e-02 9.99426185e-01 8.82120500e-04 4.21706753e-02] [ 1.11202631e-02 -1.25932386e-03 9.99937375e-01 -6.94374103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.462414037 meters 0.08957386842260956 Centerline is valid? [True, True] Translation: X:2.56, Y:0.04, Z:-0.07 [[ 9.99381457e-01 -3.35794844e-02 -1.04461771e-02 2.55980517e+00] [ 3.35899389e-02 9.99435357e-01 8.26922347e-04 3.99154259e-02] [ 1.04125111e-02 -1.17729731e-03 9.99945095e-01 -6.84804230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4924140369999996 meters 0.09251997759547836 Centerline is valid? [True, True] Translation: X:2.59, Y:0.03, Z:-0.07 [[ 9.99333413e-01 -3.45693824e-02 -1.17339905e-02 2.59087790e+00] [ 3.45826451e-02 9.99401409e-01 9.29206696e-04 3.35362605e-02] [ 1.16948446e-02 -1.33437973e-03 9.99930723e-01 -7.04645114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.522414037 meters 0.09281399753540238 Centerline is valid? [True, True] Translation: X:2.62, Y:0.03, Z:-0.07 [[ 9.99323604e-01 -3.47499758e-02 -1.20321577e-02 2.62262218e+00] [ 3.47639449e-02 9.99395096e-01 9.53721858e-04 2.94689129e-02] [ 1.19917376e-02 -1.37136203e-03 9.99927156e-01 -7.16667065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5524140369999997 meters 0.09151508690948008 Centerline is valid? [True, True] Translation: X:2.65, Y:0.03, Z:-0.08 [[ 9.99251351e-01 -3.58352483e-02 -1.45798714e-02 2.65364459e+00] [ 3.58558768e-02 9.99356303e-01 1.15584859e-03 2.65253351e-02] [ 1.45290663e-02 -1.67775733e-03 9.99893040e-01 -7.54283990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.582414037 meters 0.0924927192285951 Centerline is valid? [True, True] Translation: X:2.69, Y:0.02, Z:-0.08 [[ 9.99241195e-01 -3.60016336e-02 -1.48632792e-02 2.68541746e+00] [ 3.60231071e-02 9.99350261e-01 1.17946360e-03 2.20333974e-02] [ 1.48111594e-02 -1.71399012e-03 9.99888840e-01 -7.65084787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6124140369999997 meters 0.09496763711794298 Centerline is valid? [True, True] Translation: X:2.72, Y:0.02, Z:-0.08 [[ 9.99243843e-01 -3.59770454e-02 -1.47443325e-02 2.71673817e+00] [ 3.59981855e-02 9.99351169e-01 1.17080624e-03 1.61302864e-02] [ 1.46926438e-02 -1.70069014e-03 9.99890611e-01 -7.68937871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6424140369999995 meters 0.09389577004470515 Centerline is valid? [True, True] Translation: X:2.75, Y:0.01, Z:-0.08 [[ 9.99298105e-01 -3.50269815e-02 -1.32819015e-02 2.74835462e+00] [ 3.50440622e-02 9.99385211e-01 1.05539577e-03 1.41418133e-02] [ 1.32367686e-02 -1.52010678e-03 9.99911235e-01 -7.50390937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.672414037 meters 0.09402974436330766 Centerline is valid? [True, True] Translation: X:2.78, Y:0.01, Z:-0.07 [[ 9.99312906e-01 -3.47805649e-02 -1.28073398e-02 2.77996606e+00] [ 3.47964387e-02 9.99393901e-01 1.01861926e-03 1.05662824e-02] [ 1.27641491e-02 -1.46356919e-03 9.99917464e-01 -7.44247187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7024140369999996 meters 0.09483064086784111 Centerline is valid? [True, True] Translation: X:2.81, Y:0.01, Z:-0.07 [[ 9.99366110e-01 -3.36162804e-02 -1.17184972e-02 2.81057432e+00] [ 3.36294950e-02 9.99433934e-01 9.32397369e-04 5.54344390e-03] [ 1.16805200e-02 -1.32589348e-03 9.99930901e-01 -7.32636040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.732414037 meters 0.09579685422511125 Centerline is valid? [True, True] Translation: X:2.84, Y:0.00, Z:-0.07 [[ 9.99373626e-01 -3.31787787e-02 -1.23095205e-02 2.84240663e+00] [ 3.31933382e-02 9.99448469e-01 9.80317755e-04 1.21419317e-03] [ 1.22702057e-02 -1.38829779e-03 9.99923754e-01 -7.42947655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7624140369999997 meters 0.09703119287897759 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.01, Z:-0.08 [[ 9.99375127e-01 -3.21762589e-02 -1.46302403e-02 2.87293742e+00] [ 3.21967310e-02 9.99480871e-01 1.16586291e-03 -6.30435910e-03] [ 1.45851322e-02 -1.63618031e-03 9.99892293e-01 -7.95491190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.792414037 meters 0.09708571341916516 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.01, Z:-0.08 [[ 9.99384987e-01 -3.17650532e-02 -1.48535762e-02 2.90528362e+00] [ 3.17861297e-02 9.99493991e-01 1.18496937e-03 -1.14550100e-02] [ 1.48084196e-02 -1.65637830e-03 9.99888977e-01 -8.05113953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8224140369999997 meters 0.09838197694544008 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.02, Z:-0.08 [[ 9.99397355e-01 -3.13700797e-02 -1.48608453e-02 2.93571285e+00] [ 3.13911444e-02 9.99506473e-01 1.18626574e-03 -1.81136795e-02] [ 1.48162978e-02 -1.65204979e-03 9.99888868e-01 -7.94320392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.852414037 meters 0.09783997482258971 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.02, Z:-0.08 [[ 9.99463853e-01 -3.01080727e-02 -1.28650526e-02 2.96682878e+00] [ 3.01237580e-02 9.99545649e-01 1.02713503e-03 -2.02052794e-02] [ 1.28282823e-02 -1.41412807e-03 9.99916714e-01 -7.70756074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8824140369999998 meters 0.08475756902553626 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.00, Z:-0.08 [[ 9.99524935e-01 -2.72461200e-02 -1.44067123e-02 2.99854779e+00] [ 2.72654972e-02 9.99627565e-01 1.15028109e-03 -3.90131327e-03] [ 1.43700061e-02 -1.54254080e-03 9.99895556e-01 -7.50234854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9124140369999996 meters 0.09771430261201801 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.03, Z:-0.08 [[ 9.99500254e-01 -2.67921165e-02 -1.67757244e-02 3.02814260e+00] [ 2.68183442e-02 9.99639425e-01 1.34038131e-03 -2.63465664e-02] [ 1.67337638e-02 -1.78960861e-03 9.99858379e-01 -8.05885825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.942414037 meters 0.08492087356229974 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.01, Z:-0.08 [[ 9.99476372e-01 -2.53509095e-02 -2.01075455e-02 3.06086534e+00] [ 2.53883176e-02 9.99676373e-01 1.60727225e-03 -1.26101805e-02] [ 2.00602924e-02 -2.11692739e-03 9.99796531e-01 -8.23648374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9724140369999996 meters 0.08428313028202307 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.02, Z:-0.09 [[ 9.99477234e-01 -2.31022835e-02 -2.26173010e-02 3.09078434e+00] [ 2.31490354e-02 9.99730391e-01 1.80741985e-03 -1.60639102e-02] [ 2.25694476e-02 -2.33004370e-03 9.99742562e-01 -8.59451678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.002414037 meters 0.08316301222247001 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.02, Z:-0.09 [[ 9.99453623e-01 -2.17134342e-02 -2.49195013e-02 3.11830801e+00] [ 2.17697077e-02 9.99761033e-01 1.98912097e-03 -1.64763594e-02] [ 2.48703558e-02 -2.53052443e-03 9.99687482e-01 -8.69543706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0324140369999997 meters 0.08316301222247001 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.02, Z:-0.09 [[ 9.99447581e-01 -2.19891779e-02 -2.49200667e-02 3.14575367e+00] [ 2.20453612e-02 9.99755007e-01 1.98202618e-03 -1.85228106e-02] [ 2.48703783e-02 -2.53030314e-03 9.99687482e-01 -8.69869211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.062414037 meters 0.08316301222247001 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.02, Z:-0.09 [[ 9.99441462e-01 -2.22649202e-02 -2.49206125e-02 3.17319989e+00] [ 2.23210187e-02 9.99748904e-01 1.97515288e-03 -2.05618005e-02] [ 2.48703784e-02 -2.53030314e-03 9.99687482e-01 -8.70195630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0924140369999997 meters 0.0842917469943279 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.02, Z:-0.09 [[ 9.99553419e-01 -1.87214092e-02 -2.32910341e-02 3.20218518e+00] [ 1.87694470e-02 9.99822135e-01 1.84558197e-03 -2.48085641e-02] [ 2.32523395e-02 -2.28191759e-03 9.99727024e-01 -8.72016609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.122414037 meters 0.0823219230642769 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.02, Z:-0.09 [[ 9.99672895e-01 -1.30006213e-02 -2.20247056e-02 3.23160289e+00] [ 1.30421901e-02 9.99913425e-01 1.74477508e-03 -2.35293651e-02] [ 2.20001157e-02 -2.03145475e-03 9.99755904e-01 -8.61957265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.152414037 meters 0.08047848601422322 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.02, Z:-0.09 [[ 9.99639060e-01 -1.14754900e-02 -2.42912008e-02 3.26054915e+00] [ 1.15255697e-02 9.99931730e-01 1.92263454e-03 -2.24348667e-02] [ 2.42674793e-02 -2.20191051e-03 9.99703076e-01 -8.59512971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1824140369999996 meters 0.07576182241694296 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.02, Z:-0.08 [[ 9.99636332e-01 -9.18582096e-03 -2.53539940e-02 3.29080439e+00] [ 9.23964015e-03 9.99955301e-01 2.00637543e-03 -1.78314737e-02] [ 2.53344305e-02 -2.23990756e-03 9.99676522e-01 -8.43146963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.212414037 meters 0.07288755585745536 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.02, Z:-0.08 [[ 9.99715049e-01 -4.56725868e-03 -2.34298986e-02 3.32173408e+00] [ 4.61195258e-03 9.99987646e-01 1.85387686e-03 -1.74689449e-02] [ 2.34211420e-02 -1.96140618e-03 9.99723763e-01 -8.26653590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2424140369999996 meters 0.07048802046653588 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.02, Z:-0.08 [[ 9.99754709e-01 -2.59871208e-03 -2.19947544e-02 3.35195738e+00] [ 2.63761526e-03 9.99995008e-01 1.73992240e-03 -1.59594627e-02] [ 2.19901231e-02 -1.79750931e-03 9.99756572e-01 -8.12105622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.272414037 meters 0.07049227416801018 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.02, Z:-0.08 [[ 9.99832801e-01 1.41345432e-03 -1.82310685e-02 3.38114364e+00] [-1.38740102e-03 9.99997998e-01 1.44162937e-03 -1.98313641e-02] [ 1.82330696e-02 -1.41609453e-03 9.99832761e-01 -7.98591876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3024140369999997 meters 0.07033695888208101 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.02, Z:-0.08 [[ 9.99816949e-01 2.12959982e-03 -1.90140106e-02 3.40941877e+00] [-2.10148131e-03 9.99996669e-01 1.49868970e-03 -2.24979223e-02] [ 1.90171388e-02 -1.45845778e-03 9.99818094e-01 -7.99166449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.332414037 meters 0.07058041518311113 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.03, Z:-0.08 [[ 9.99810619e-01 2.62804471e-03 -1.92826051e-02 3.43823425e+00] [-2.59930710e-03 9.99995474e-01 1.51525036e-03 -2.62291111e-02] [ 1.92864999e-02 -1.46484199e-03 9.99812925e-01 -7.99154307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3624140369999997 meters 0.07100989146741105 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.03, Z:-0.08 [[ 9.99804029e-01 3.12398773e-03 -1.95485094e-02 3.46626890e+00] [-3.09456820e-03 9.99994034e-01 1.53501902e-03 -3.34718378e-02] [ 1.95531882e-02 -1.47422401e-03 9.99807731e-01 -8.20350926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3924140369999995 meters 0.07231759044905114 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.04, Z:-0.08 [[ 9.99783405e-01 2.30930993e-03 -2.06835879e-02 3.49301467e+00] [-2.27626632e-03 9.99996096e-01 1.62097698e-03 -4.05492034e-02] [ 2.06872504e-02 -1.57354453e-03 9.99784758e-01 -8.31348907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.422414037 meters 0.07372021667034225 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.05, Z:-0.09 [[ 9.99800936e-01 -1.96777403e-05 -1.99521298e-02 3.52258926e+00] [ 5.08822914e-05 9.99998776e-01 1.56346448e-03 -4.95949673e-02] [ 1.99520747e-02 -1.56416846e-03 9.99799714e-01 -8.54715094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4524140369999996 meters 0.07580523007536481 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.06, Z:-0.09 [[ 9.99780274e-01 -2.44011486e-03 -2.08194694e-02 3.55098391e+00] [ 2.47460579e-03 9.99995608e-01 1.63106508e-03 -5.74407812e-02] [ 2.08153980e-02 -1.68222667e-03 9.99781921e-01 -8.61889916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.482414037 meters 0.07604634418423337 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.06, Z:-0.08 [[ 9.99829077e-01 -4.93442454e-03 -1.78176461e-02 3.58017072e+00] [ 4.96006723e-03 9.99986725e-01 1.39526883e-03 -6.25539250e-02] [ 1.78105247e-02 -1.48340707e-03 9.99840280e-01 -8.38859849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5124140369999997 meters 0.07739531798146833 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.07, Z:-0.08 [[ 9.99790369e-01 -1.10083624e-02 -1.72636581e-02 3.61019198e+00] [ 1.10333330e-02 9.99938217e-01 1.35184624e-03 -7.38276361e-02] [ 1.72477099e-02 -1.54203854e-03 9.99850058e-01 -8.40931997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.542414037 meters 0.0807794176677903 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.09, Z:-0.09 [[ 9.99750014e-01 -1.38433178e-02 -1.75576738e-02 3.63882038e+00] [ 1.38695733e-02 9.99902868e-01 1.37449704e-03 -8.55024238e-02] [ 1.75369408e-02 -1.61767088e-03 9.99844907e-01 -8.58546635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5724140369999997 meters 0.08075569147829355 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.09, Z:-0.09 [[ 9.99683088e-01 -1.65823980e-02 -1.89406143e-02 3.66931918e+00] [ 1.66134391e-02 9.99860888e-01 1.48268288e-03 -9.00651164e-02] [ 1.89133930e-02 -1.79688174e-03 9.99819511e-01 -8.56687431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6024140369999995 meters 0.0841368612748438 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.10, Z:-0.09 [[ 9.99643644e-01 -1.94216269e-02 -1.83135411e-02 3.69813962e+00] [ 1.94511111e-02 9.99809782e-01 1.43320368e-03 -1.02076043e-01] [ 1.82822224e-02 -1.78891167e-03 9.99831266e-01 -8.60569883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6324140369999998 meters 0.08635419856592566 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.11, Z:-0.09 [[ 9.99595229e-01 -2.19157795e-02 -1.81404869e-02 3.72760013e+00] [ 2.19451140e-02 9.99758169e-01 1.41956728e-03 -1.10186532e-01] [ 1.81049891e-02 -1.81708774e-03 9.99834440e-01 -8.63986330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6624140369999996 meters 0.08331471327029011 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.11, Z:-0.08 [[ 9.99490281e-01 -2.67726021e-02 -1.73898478e-02 3.75743474e+00] [ 2.68002795e-02 9.99639882e-01 1.36045066e-03 -1.12659144e-01] [ 1.73471626e-02 -1.82580999e-03 9.99847860e-01 -8.40811611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.692414037 meters 0.08515327510557649 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.12, Z:-0.08 [[ 9.99445080e-01 -2.86843242e-02 -1.69334595e-02 3.78805818e+00] [ 2.87108495e-02 9.99586880e-01 1.32537048e-03 -1.21396451e-01] [ 1.68884466e-02 -1.81080902e-03 9.99855740e-01 -8.48539340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7224140369999996 meters 0.08562273425615878 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.13, Z:-0.08 [[ 9.99440014e-01 -2.99370940e-02 -1.49475517e-02 3.81874073e+00] [ 2.99579082e-02 9.99550476e-01 1.17047140e-03 -1.27946897e-01] [ 1.49057919e-02 -1.61761334e-03 9.99887594e-01 -8.46918763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.752414037 meters 0.08431340680742794 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.13, Z:-0.08 [[ 9.99426193e-01 -3.10858649e-02 -1.34519419e-02 3.84991431e+00] [ 3.11028313e-02 9.99515634e-01 1.05384784e-03 -1.31886257e-01] [ 1.34126664e-02 -1.47163661e-03 9.99908963e-01 -8.39322838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7824140369999997 meters 0.08868814276403043 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.15, Z:-0.08 [[ 9.99411147e-01 -3.27731124e-02 -1.01627749e-02 3.87877288e+00] [ 3.27828912e-02 9.99462179e-01 7.97084762e-04 -1.47972260e-01] [ 1.01311862e-02 -1.12978054e-03 9.99948040e-01 -8.35015080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.812414037 meters 0.09078308187371725 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.16, Z:-0.08 [[ 9.99425363e-01 -3.25520219e-02 -9.45036391e-03 3.90974527e+00] [ 3.25604724e-02 9.99469492e-01 7.41674054e-04 -1.57263297e-01] [ 9.42120743e-03 -1.04895617e-03 9.99955069e-01 -8.16897343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8424140369999997 meters 0.08952916431839238 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.16, Z:-0.08 [[ 9.99431557e-01 -3.21549869e-02 -1.01301013e-02 3.94231192e+00] [ 3.21646859e-02 9.99482266e-01 7.95941974e-04 -1.59995695e-01] [ 1.00992631e-02 -1.12132105e-03 9.99948372e-01 -8.18218801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8724140369999995 meters 0.09085990055410947 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.17, Z:-0.08 [[ 9.99435318e-01 -3.16975839e-02 -1.11493659e-02 3.97312323e+00] [ 3.17093108e-02 9.99496749e-01 8.76556484e-04 -1.68078412e-01] [ 1.11159702e-02 -1.22960022e-03 9.99937460e-01 -8.34809173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.902414037 meters 0.09189555409080007 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.18, Z:-0.09 [[ 9.99441786e-01 -3.10515972e-02 -1.23253456e-02 4.00448496e+00] [ 3.10658906e-02 9.99516868e-01 9.69871059e-04 -1.78057273e-01] [ 1.22892748e-02 -1.35222750e-03 9.99923570e-01 -8.57825512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9324140369999996 meters 0.09273418627895612 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.18, Z:-0.09 [[ 9.99474230e-01 -2.98495899e-02 -1.26595716e-02 4.03465207e+00] [ 2.98645787e-02 9.99553457e-01 9.96561116e-04 -1.84397170e-01] [ 1.26241716e-02 -1.37410993e-03 9.99919368e-01 -8.64843148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.962414037 meters 0.09353284961461808 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.19, Z:-0.09 [[ 9.99509228e-01 -2.87553304e-02 -1.24271409e-02 4.06529839e+00] [ 2.87696955e-02 9.99585588e-01 9.78685559e-04 -1.91015170e-01] [ 1.23938485e-02 -1.33573031e-03 9.99922301e-01 -8.58683723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9924140369999996 meters 0.09405419993402765 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.20, Z:-0.09 [[ 9.99553924e-01 -2.70865545e-02 -1.25806081e-02 4.09475491e+00] [ 2.71011453e-02 9.99632206e-01 9.90731311e-04 -1.96711008e-01] [ 1.25491455e-02 -1.33123826e-03 9.99920370e-01 -8.63217030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.022414037 meters 0.08763230872299681 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.19, Z:-0.09 [[ 9.99607250e-01 -2.48662526e-02 -1.29234489e-02 4.12563363e+00] [ 2.48814661e-02 9.99689890e-01 1.01773026e-03 -1.92312846e-01] [ 1.28941341e-02 -1.33888490e-03 9.99915971e-01 -8.57726442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.052414037 meters 0.09273052820311627 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.21, Z:-0.09 [[ 9.99649805e-01 -2.33305733e-02 -1.24880673e-02 4.15477947e+00] [ 2.33446603e-02 9.99726993e-01 9.83443663e-04 -2.06091514e-01] [ 1.24617136e-02 -1.27462896e-03 9.99921537e-01 -8.77916579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.082414037 meters 0.08548017069528017 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.20, Z:-0.09 [[ 9.99693247e-01 -2.08888465e-02 -1.33067106e-02 4.18645306e+00] [ 2.09046296e-02 9.99780925e-01 1.04809969e-03 -1.96388334e-01] [ 1.32819018e-02 -1.32595003e-03 9.99910913e-01 -8.64825762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.112414037 meters 0.09560120589788096 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.22, Z:-0.09 [[ 9.99712956e-01 -1.99200337e-02 -1.33115873e-02 4.21425653e+00] [ 1.99357364e-02 9.99800714e-01 1.04795841e-03 -2.16483093e-01] [ 1.32880591e-02 -1.31303389e-03 9.99910848e-01 -8.83311428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.142414037 meters 0.08575986939502031 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.20, Z:-0.08 [[ 9.99744651e-01 -1.89995313e-02 -1.22331662e-02 4.24627247e+00] [ 1.90127248e-02 9.99818778e-01 9.63097507e-04 -2.00418052e-01] [ 1.22126509e-02 -1.19543740e-03 9.99924708e-01 -8.48774701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.172414037 meters 0.08644146904926174 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.20, Z:-0.08 [[ 9.99747663e-01 -1.85423615e-02 -1.26803413e-02 4.27638845e+00] [ 1.85565008e-02 9.99827315e-01 9.98302881e-04 -2.03844574e-01] [ 1.26596407e-02 -1.23335374e-03 9.99919103e-01 -8.45818427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2024140370000005 meters 0.08922688897806538 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.22, Z:-0.09 [[ 9.99732309e-01 -1.89782774e-02 -1.32338872e-02 4.30499222e+00] [ 1.89937147e-02 9.99819060e-01 1.04178224e-03 -2.15023278e-01] [ 1.32117214e-02 -1.29286405e-03 9.99911886e-01 -8.72208281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.232414037 meters 0.08854022395439151 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.22, Z:-0.09 [[ 9.99725622e-01 -1.96628438e-02 -1.27300285e-02 4.33486261e+00] [ 1.96771800e-02 9.99805884e-01 1.00188582e-03 -2.18434162e-01] [ 1.27078574e-02 -1.25210199e-03 9.99918468e-01 -8.74366802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.262414037 meters 0.0883043187086346 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.22, Z:-0.09 [[ 9.99688666e-01 -2.09607900e-02 -1.35357436e-02 4.36546151e+00] [ 2.09771166e-02 9.99779389e-01 1.06531929e-03 -2.20967842e-01] [ 1.35104275e-02 -1.34892849e-03 9.99907820e-01 -8.73424392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.292414037 meters 0.08755426978100857 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.22, Z:-0.09 [[ 9.99657466e-01 -2.29026841e-02 -1.26656109e-02 4.39615545e+00] [ 2.29171332e-02 9.99736871e-01 9.96836227e-04 -2.21911068e-01] [ 1.26394480e-02 -1.28675427e-03 9.99919291e-01 -8.58689461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.322414037000001 meters 0.08735788116826819 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.22, Z:-0.08 [[ 9.99630253e-01 -2.38706241e-02 -1.30211272e-02 4.42682506e+00] [ 2.38859770e-02 9.99714164e-01 1.02481684e-03 -2.23675647e-01] [ 1.29929423e-02 -1.33546026e-03 9.99914696e-01 -8.44784633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.352414037 meters 0.09162250397670847 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.23, Z:-0.09 [[ 9.99569882e-01 -2.60371129e-02 -1.34951765e-02 4.45582496e+00] [ 2.60538054e-02 9.99659977e-01 1.06256587e-03 -2.34099130e-01] [ 1.34629217e-02 -1.41370955e-03 9.99908371e-01 -8.57003525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.382414037 meters 0.08987544354635175 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.23, Z:-0.09 [[ 9.99535524e-01 -2.65667584e-02 -1.49312893e-02 4.48738619e+00] [ 2.65872595e-02 9.99645804e-01 1.17616843e-03 -2.33796874e-01] [ 1.48947537e-02 -1.57260419e-03 9.99887830e-01 -8.61489953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4124140370000005 meters 0.09093428762964822 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.24, Z:-0.09 [[ 9.99518681e-01 -2.64533552e-02 -1.62057303e-02 4.51783506e+00] [ 2.64774952e-02 9.99648594e-01 1.27681791e-03 -2.39336239e-01] [ 1.61662594e-02 -1.70529050e-03 9.99867863e-01 -8.77874339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.442414037 meters 0.0943208041272285 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.25, Z:-0.09 [[ 9.99491147e-01 -2.67610266e-02 -1.73578280e-02 4.54677201e+00] [ 2.67887614e-02 9.99640182e-01 1.36724677e-03 -2.48113753e-01] [ 1.73149934e-02 -1.83154576e-03 9.99848407e-01 -8.93960919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.472414037 meters 0.09210771263932888 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.25, Z:-0.09 [[ 9.99501612e-01 -2.64661722e-02 -1.72066699e-02 4.57639271e+00] [ 2.64933723e-02 9.99648071e-01 1.35472539e-03 -2.45851148e-01] [ 1.71647600e-02 -1.80991293e-03 9.99851037e-01 -8.83165919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.502414037 meters 0.092703891992295 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.25, Z:-0.09 [[ 9.99599928e-01 -2.43778469e-02 -1.43423764e-02 4.60607499e+00] [ 2.43965274e-02 9.99701723e-01 1.12892666e-03 -2.49141669e-01] [ 1.43105776e-02 -1.47837918e-03 9.99896506e-01 -8.67237368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.532414037000001 meters 0.092703891992295 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.25, Z:-0.09 [[ 9.99599928e-01 -2.43778470e-02 -1.43423745e-02 4.63614528e+00] [ 2.43965278e-02 9.99701723e-01 1.12895074e-03 -2.51508644e-01] [ 1.43105751e-02 -1.47840322e-03 9.99896506e-01 -8.67593725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.562414037 meters 0.08665489425920905 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.24, Z:-0.09 [[ 9.99661435e-01 -2.21931977e-02 -1.35822757e-02 4.66725491e+00] [ 2.22097496e-02 9.99752762e-01 1.06899852e-03 -2.42404233e-01] [ 1.35551932e-02 -1.37029554e-03 9.99907185e-01 -8.52916974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.592414037 meters 0.08754822040473222 Centerline is valid? [True, True] Translation: X:4.70, Y:-0.25, Z:-0.09 [[ 9.99704195e-01 -1.88841511e-02 -1.53267906e-02 4.69650986e+00] [ 1.89048383e-02 9.99820560e-01 1.20596687e-03 -2.46240342e-01] [ 1.53012667e-02 -1.49536063e-03 9.99881811e-01 -8.76113861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.622414037 meters 0.08665368169215683 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.25, Z:-0.09 [[ 9.99704287e-01 -1.82176065e-02 -1.61076863e-02 4.72519887e+00] [ 1.82403021e-02 9.99832834e-01 1.26319224e-03 -2.45758170e-01] [ 1.60819813e-02 -1.55662776e-03 9.99869465e-01 -8.77882672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.652414037 meters 0.08715488525543498 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.25, Z:-0.09 [[ 9.99734107e-01 -1.71552728e-02 -1.54081481e-02 4.75352034e+00] [ 1.71759055e-02 9.99851754e-01 1.20773460e-03 -2.47993442e-01] [ 1.53851449e-02 -1.47206236e-03 9.99880558e-01 -8.74253426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.682414037 meters 0.08714428897255493 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.25, Z:-0.09 [[ 9.99752342e-01 -1.58564939e-02 -1.56149225e-02 4.78324325e+00] [ 1.58775190e-02 9.99873196e-01 1.22341788e-03 -2.50611443e-01] [ 1.55935433e-02 -1.47104112e-03 9.99877331e-01 -8.77863837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.712414037 meters 0.08756161724274139 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.26, Z:-0.09 [[ 9.99730301e-01 -1.45766038e-02 -1.80789119e-02 4.81054318e+00] [ 1.46045523e-02 9.99892347e-01 1.41484677e-03 -2.55338529e-01] [ 1.80563420e-02 -1.67849961e-03 9.99835562e-01 -9.02520308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7424140370000005 meters 0.08826304825241614 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.26, Z:-0.09 [[ 9.99727995e-01 -1.42019495e-02 -1.84997692e-02 4.83806448e+00] [ 1.42311217e-02 9.99897687e-01 1.44619455e-03 -2.59081104e-01] [ 1.84773376e-02 -1.70907365e-03 9.99827819e-01 -9.06174803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.772414037 meters 0.08905370073683067 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.26, Z:-0.09 [[ 9.99686326e-01 -1.41425317e-02 -2.06697224e-02 4.86582092e+00] [ 1.41789016e-02 9.99898172e-01 1.61407604e-03 -2.59413718e-01] [ 2.06447905e-02 -1.90664371e-03 9.99785056e-01 -9.02874502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.802414037 meters 0.08969563573330758 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.26, Z:-0.09 [[ 9.99685245e-01 -1.35524251e-02 -2.11126235e-02 4.89318571e+00] [ 1.35902027e-02 9.99906293e-01 1.64688124e-03 -2.61169954e-01] [ 2.10883258e-02 -1.93328771e-03 9.99775747e-01 -9.11853848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.832414037 meters 0.0901295741019034 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.26, Z:-0.09 [[ 9.99678757e-01 -1.33101054e-02 -2.15690632e-02 4.92149846e+00] [ 1.33493654e-02 9.99909487e-01 1.67723182e-03 -2.63483711e-01] [ 2.15447868e-02 -1.96462633e-03 9.99765954e-01 -9.19450693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.862414037 meters 0.09078526872998281 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.27, Z:-0.09 [[ 9.99685482e-01 -1.25226011e-02 -2.17283407e-02 4.94900054e+00] [ 1.25622234e-02 9.99919667e-01 1.68798853e-03 -2.68366760e-01] [ 2.17054572e-02 -1.96041390e-03 9.99762487e-01 -9.39669131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.892414037 meters 0.09138717434695394 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.27, Z:-0.10 [[ 9.99671390e-01 -1.24206983e-02 -2.24240495e-02 4.97756393e+00] [ 1.24627533e-02 9.99920829e-01 1.73666288e-03 -2.72710144e-01] [ 2.24007036e-02 -2.01555759e-03 9.99747041e-01 -9.53079720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.922414037 meters 0.09091231421923586 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.27, Z:-0.10 [[ 9.99630998e-01 -1.16074532e-02 -2.45588233e-02 5.00635947e+00] [ 1.16575165e-02 9.99930251e-01 1.89631644e-03 -2.69925230e-01] [ 2.45350990e-02 -2.18191158e-03 9.99696588e-01 -9.51724873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9524140370000005 meters 0.09091231421923586 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.27, Z:-0.10 [[ 9.99627888e-01 -1.18711528e-02 -2.45593256e-02 5.03380782e+00] [ 1.19211363e-02 9.99927155e-01 1.88980104e-03 -2.71923295e-01] [ 2.45351024e-02 -2.18187289e-03 9.99696588e-01 -9.52050776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.982414037 meters 0.09215940077506088 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.27, Z:-0.10 [[ 9.99630835e-01 -1.15226884e-02 -2.46053173e-02 5.06209549e+00] [ 1.15726163e-02 9.99931253e-01 1.88771756e-03 -2.72827626e-01] [ 2.45818742e-02 -2.17176858e-03 9.99695461e-01 -9.53127020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.012414037 meters 0.0863303472440941 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.26, Z:-0.09 [[ 9.99629176e-01 -1.13443976e-02 -2.47551102e-02 5.09169785e+00] [ 1.13947318e-02 9.99933286e-01 1.89316833e-03 -2.60438493e-01] [ 2.47319818e-02 -2.17454414e-03 9.99691753e-01 -9.04604895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.042414037 meters 0.08804276772799338 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.27, Z:-0.09 [[ 9.99675973e-01 -1.16433081e-02 -2.26358809e-02 5.11938277e+00] [ 1.16854267e-02 9.99930228e-01 1.72931329e-03 -2.66989087e-01] [ 2.26141666e-02 -1.99326287e-03 9.99742280e-01 -9.04544457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.072414037 meters 0.08897858162788881 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.27, Z:-0.09 [[ 9.99702521e-01 -1.24371010e-02 -2.09806592e-02 5.14794669e+00] [ 1.24733489e-02 9.99920928e-01 1.59769952e-03 -2.72971128e-01] [ 2.09591295e-02 -1.85892332e-03 9.99778605e-01 -9.10494793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.102414037 meters 0.08999330851582962 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.28, Z:-0.09 [[ 9.99704102e-01 -1.34684615e-02 -2.02560641e-02 5.17570785e+00] [ 1.35024275e-02 9.99907651e-01 1.54099239e-03 -2.77734636e-01] [ 2.02334387e-02 -1.81404245e-03 9.99793637e-01 -8.96793443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.132414037 meters 0.08905014956485881 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.28, Z:-0.09 [[ 9.99676834e-01 -1.44231511e-02 -2.09332213e-02 5.20447115e+00] [ 1.44595260e-02 9.99894196e-01 1.58734037e-03 -2.75374640e-01] [ 2.09081120e-02 -1.88951185e-03 9.99779616e-01 -8.86205317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1624140370000005 meters 0.08747657329035544 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.27, Z:-0.09 [[ 9.99644426e-01 -1.37975084e-02 -2.28177588e-02 5.23381637e+00] [ 1.38404423e-02 9.99902729e-01 1.72474139e-03 -2.68460650e-01] [ 2.27917422e-02 -2.03993599e-03 9.99738153e-01 -8.61277103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.192414037 meters 0.08905168757810637 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.27, Z:-0.09 [[ 9.99644271e-01 -1.36598584e-02 -2.29072058e-02 5.26184658e+00] [ 1.37029682e-02 9.99904620e-01 1.72601195e-03 -2.72323537e-01] [ 2.28814438e-02 -2.03929467e-03 9.99736106e-01 -8.77243549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.222414037 meters 0.08832360627665271 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.27, Z:-0.09 [[ 9.99633068e-01 -1.35195769e-02 -2.34723265e-02 5.29089769e+00] [ 1.35646709e-02 9.99906441e-01 1.76299564e-03 -2.73215532e-01] [ 2.34462955e-02 -2.08074312e-03 9.99722932e-01 -8.91694852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.252414037 meters 0.0868036523785285 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.27, Z:-0.09 [[ 9.99595083e-01 -1.38148495e-02 -2.48760857e-02 5.31935617e+00] [ 1.38655419e-02 9.99902127e-01 1.86645543e-03 -2.73499479e-01] [ 2.48478662e-02 -2.21062008e-03 9.99688800e-01 -9.08213898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.282414037 meters 0.08957855208437122 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.28, Z:-0.09 [[ 9.99588056e-01 -1.43333084e-02 -2.48651162e-02 5.34634531e+00] [ 1.43840617e-02 9.99894808e-01 1.86347900e-03 -2.80767315e-01] [ 2.48357908e-02 -2.22037272e-03 9.99689078e-01 -9.29393043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.312414037 meters 0.08790287173050479 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.28, Z:-0.09 [[ 9.99610182e-01 -1.54336705e-02 -2.32655456e-02 5.37510963e+00] [ 1.54783248e-02 9.99878689e-01 1.74046404e-03 -2.75261664e-01] [ 2.32358614e-02 -2.09989725e-03 9.99727806e-01 -8.97717765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.342414037 meters 0.08876794917047856 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.28, Z:-0.09 [[ 9.99568622e-01 -1.63947660e-02 -2.43676307e-02 5.40451965e+00] [ 1.64440182e-02 9.99863128e-01 1.82219681e-03 -2.77051196e-01] [ 2.43344209e-02 -2.22211252e-03 9.99701405e-01 -8.90274349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.372414037 meters 0.08826298073487596 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.28, Z:-0.09 [[ 9.99558051e-01 -1.76073908e-02 -2.39516784e-02 5.43339255e+00] [ 1.76551753e-02 9.99842542e-01 1.78501926e-03 -2.76463683e-01] [ 2.39164775e-02 -2.20710145e-03 9.99711524e-01 -8.87035414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.402414037 meters 0.09239357504065157 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.29, Z:-0.09 [[ 9.99474487e-01 -2.08113949e-02 -2.48522741e-02 5.46187063e+00] [ 2.08638195e-02 9.99780612e-01 1.85199283e-03 -2.86471709e-01] [ 2.48082792e-02 -2.36953295e-03 9.99689419e-01 -9.17298438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.432414037 meters 0.09142278120506636 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.29, Z:-0.09 [[ 9.99459766e-01 -2.20336462e-02 -2.43863527e-02 5.49141209e+00] [ 2.20844625e-02 9.99754458e-01 1.81641591e-03 -2.87767739e-01] [ 2.43403425e-02 -2.35399411e-03 9.99700959e-01 -9.16636858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.462414037 meters 0.0946208328395974 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.30, Z:-0.09 [[ 9.99395489e-01 -2.43631269e-02 -2.48011088e-02 5.52045716e+00] [ 2.44163958e-02 9.99700169e-01 1.84724454e-03 -2.96768711e-01] [ 2.47486680e-02 -2.45168155e-03 9.99690699e-01 -9.38791121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4924140370000005 meters 0.0941394401543563 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.30, Z:-0.09 [[ 9.99343325e-01 -2.53753387e-02 -2.58652462e-02 5.54949111e+00] [ 2.54335789e-02 9.99674661e-01 1.92513897e-03 -2.96840837e-01] [ 2.58079801e-02 -2.58172056e-03 9.99663585e-01 -9.29568855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.522414037 meters 0.09593035500997997 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.30, Z:-0.09 [[ 9.99290918e-01 -2.62474301e-02 -2.69950767e-02 5.57767874e+00] [ 2.63111372e-02 9.99651787e-01 2.00740554e-03 -2.98985061e-01] [ 2.69329874e-02 -2.71625329e-03 9.99633551e-01 -9.27939023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.552414037 meters 0.09617719796144299 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.30, Z:-0.09 [[ 9.99231764e-01 -2.60114921e-02 -2.93135332e-02 5.60617153e+00] [ 2.60863116e-02 9.99657333e-01 2.17279834e-03 -2.99098872e-01] [ 2.92469707e-02 -2.93581108e-03 9.99567905e-01 -9.47205886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.582414037 meters 0.09617719796144299 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.30, Z:-0.09 [[ 9.99224822e-01 -2.62761802e-02 -2.93141105e-02 5.63365521e+00] [ 2.63508859e-02 9.99650411e-01 2.16499746e-03 -3.01013113e-01] [ 2.92469747e-02 -2.93577198e-03 9.99567905e-01 -9.47532177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.612414037 meters 0.09757974596389815 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.30, Z:-0.10 [[ 9.99210815e-01 -2.59948518e-02 -3.00335720e-02 5.66147916e+00] [ 2.60730780e-02 9.99657584e-01 2.21588116e-03 -3.04810712e-01] [ 2.99656865e-02 -2.99720008e-03 9.99546434e-01 -9.61035351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.642414037 meters 0.09769717240031447 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.31, Z:-0.09 [[ 9.99306710e-01 -2.50302627e-02 -2.75605617e-02 5.69102798e+00] [ 2.50957453e-02 9.99682986e-01 2.03257400e-03 -3.06929592e-01] [ 2.75009488e-02 -2.72281767e-03 9.99618069e-01 -9.45143383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.672414037 meters 0.09140555920988919 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.30, Z:-0.09 [[ 9.99421698e-01 -2.26306739e-02 -2.53795653e-02 5.72196590e+00] [ 2.26854318e-02 9.99740900e-01 1.87168158e-03 -2.95584664e-01] [ 2.53306320e-02 -2.44634558e-03 9.99676135e-01 -8.95654961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7024140370000005 meters 0.08946880993940332 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.29, Z:-0.09 [[ 9.99443264e-01 -2.07146826e-02 -2.61546121e-02 5.75244666e+00] [ 2.07721749e-02 9.99782375e-01 1.92836855e-03 -2.92747418e-01] [ 2.61089747e-02 -2.47058314e-03 9.99656050e-01 -8.89696428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.732414037 meters 0.09101259082338131 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.30, Z:-0.09 [[ 9.99490744e-01 -1.82492975e-02 -2.61766274e-02 5.78212977e+00] [ 1.83060329e-02 9.99830569e-01 1.92939047e-03 -2.95402270e-01] [ 2.61369823e-02 -2.40759812e-03 9.99655471e-01 -9.03526591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.762414037 meters 0.09057664207545485 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.30, Z:-0.09 [[ 9.99481060e-01 -1.75938869e-02 -2.69827106e-02 5.81147915e+00] [ 1.76537687e-02 9.99842194e-01 1.98263775e-03 -2.96260838e-01] [ 2.69435703e-02 -2.45795541e-03 9.99633934e-01 -9.02744249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.792414037 meters 0.09035226876911685 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.30, Z:-0.09 [[ 9.99534863e-01 -1.65106877e-02 -2.56409007e-02 5.84167183e+00] [ 1.65644013e-02 9.99861026e-01 1.88384008e-03 -2.98079757e-01] [ 2.56062338e-02 -2.30769000e-03 9.99669443e-01 -8.97092977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.822414037 meters 0.0892249019527745 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.30, Z:-0.09 [[ 9.99539053e-01 -1.64360433e-02 -2.55252364e-02 5.87030419e+00] [ 1.64890874e-02 9.99862299e-01 1.86900348e-03 -2.96521551e-01] [ 2.54910025e-02 -2.28902982e-03 9.99672431e-01 -8.80759062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.852414037 meters 0.09124330437949668 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.30, Z:-0.09 [[ 9.99514689e-01 -1.51684630e-02 -2.72085251e-02 5.89767534e+00] [ 1.52282138e-02 9.99882063e-01 1.99016154e-03 -2.99065862e-01] [ 2.71751285e-02 -2.40353293e-03 9.99627798e-01 -8.88250987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.882414037 meters 0.09038150821563498 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.30, Z:-0.09 [[ 9.99503458e-01 -1.49072975e-02 -2.77598670e-02 5.92680954e+00] [ 1.49692110e-02 9.99885907e-01 2.02384007e-03 -2.98462924e-01] [ 2.77265298e-02 -2.43837845e-03 9.99612572e-01 -8.97054204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9124140370000005 meters 0.08949715650041377 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.30, Z:-0.09 [[ 9.99495446e-01 -1.61835635e-02 -2.73303163e-02 5.95546976e+00] [ 1.62438711e-02 9.99866087e-01 1.98603399e-03 -3.01082570e-01] [ 2.72945153e-02 -2.42898207e-03 9.99624484e-01 -9.12562943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.942414037 meters 0.09095305688340959 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.31, Z:-0.09 [[ 9.99521766e-01 -1.70847155e-02 -2.57750359e-02 5.98306328e+00] [ 1.71385980e-02 9.99851373e-01 1.87101786e-03 -3.07262388e-01] [ 2.57392392e-02 -2.31187105e-03 9.99666018e-01 -9.12468382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.972414037 meters 0.08935248983559486 Centerline is valid? [True, True] Translation: X:6.01, Y:-0.31, Z:-0.09 [[ 9.99524368e-01 -1.76614747e-02 -2.52806347e-02 6.01193527e+00] [ 1.77133350e-02 9.99841434e-01 1.82890210e-03 -3.06187595e-01] [ 2.52443250e-02 -2.27583656e-03 9.99678721e-01 -8.91387600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.002414037 meters 0.08973283881720683 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.31, Z:-0.09 [[ 9.99552453e-01 -1.74797395e-02 -2.42765998e-02 6.03966387e+00] [ 1.75274371e-02 9.99844845e-01 1.75334676e-03 -3.05800562e-01] [ 2.42421852e-02 -2.17806863e-03 9.99703742e-01 -8.76151882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.032414037 meters 0.09073828663330887 Centerline is valid? [True, True] Translation: X:6.07, Y:-0.31, Z:-0.09 [[ 9.99484527e-01 -1.71952107e-02 -2.71109734e-02 6.06752594e+00] [ 1.72545371e-02 9.99849216e-01 1.95584502e-03 -3.07752176e-01] [ 2.70732543e-02 -2.42262413e-03 9.99630517e-01 -8.88401629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.062414037 meters 0.09095310499739695 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.31, Z:-0.09 [[ 9.99445253e-01 -1.70635364e-02 -2.86010678e-02 6.09663847e+00] [ 1.71293175e-02 9.99851168e-01 2.05650807e-03 -3.09867464e-01] [ 2.85617198e-02 -2.54528400e-03 9.99588790e-01 -9.01188841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.092414037 meters 0.0940385344079877 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.32, Z:-0.09 [[ 9.99447657e-01 -1.80041356e-02 -2.79326274e-02 6.12354597e+00] [ 1.80671471e-02 9.99834765e-01 2.00508022e-03 -3.20253917e-01] [ 2.78919122e-02 -2.50863561e-03 9.99607797e-01 -9.26720566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.122414037 meters 0.09250993985148231 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.32, Z:-0.09 [[ 9.99494391e-01 -1.86279390e-02 -2.57674490e-02 6.15254230e+00] [ 1.86816067e-02 9.99823784e-01 1.84359255e-03 -3.20798485e-01] [ 2.57285661e-02 -2.32403776e-03 9.99666264e-01 -9.03159724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.152414037 meters 0.09080009166544366 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.32, Z:-0.09 [[ 9.99533850e-01 -1.90270536e-02 -2.38757823e-02 6.18164326e+00] [ 1.90731071e-02 9.99816642e-01 1.70261701e-03 -3.19567273e-01] [ 2.38390087e-02 -2.15720869e-03 9.99713483e-01 -8.67991630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.182414037 meters 0.0908513423094835 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.32, Z:-0.08 [[ 9.99555823e-01 -1.80296525e-02 -2.37294852e-02 6.20992192e+00] [ 1.80748218e-02 9.99835208e-01 1.69038636e-03 -3.16739982e-01] [ 2.36950977e-02 -2.11854175e-03 9.99716987e-01 -8.38848985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.212414037 meters 0.09046529589361586 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.32, Z:-0.08 [[ 9.99564888e-01 -1.68692833e-02 -2.41963284e-02 6.23859203e+00] [ 1.69158724e-02 9.99855433e-01 1.72206003e-03 -3.15406927e-01] [ 2.41637805e-02 -2.13061274e-03 9.99705743e-01 -8.41979134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2424140370000005 meters 0.09122849980829567 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.32, Z:-0.09 [[ 9.99601715e-01 -1.39148553e-02 -2.45517559e-02 6.26752999e+00] [ 1.39619286e-02 9.99901002e-01 1.74692059e-03 -3.19002527e-01] [ 2.45250172e-02 -2.08901468e-03 9.99697034e-01 -8.72792375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.272414037 meters 0.0907475518446782 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.32, Z:-0.09 [[ 9.99603711e-01 -1.23062953e-02 -2.53175007e-02 6.29752422e+00] [ 1.23558088e-02 9.99922044e-01 1.80019306e-03 -3.21739290e-01] [ 2.52933734e-02 -2.11229786e-03 9.99677840e-01 -8.97897212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.302414037 meters 0.09040081587963872 Centerline is valid? [True, True] Translation: X:6.33, Y:-0.32, Z:-0.09 [[ 9.99628008e-01 -1.02037341e-02 -2.52928894e-02 6.32743788e+00] [ 1.02524736e-02 9.99945825e-01 1.79807228e-03 -3.24747330e-01] [ 2.52731721e-02 -2.05671809e-03 9.99678467e-01 -9.13202087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.332414037 meters 0.08438931045285672 Centerline is valid? [True, True] Translation: X:6.36, Y:-0.31, Z:-0.09 [[ 9.99730612e-01 -4.58771140e-03 -2.27520413e-02 6.35873435e+00] [ 4.62570130e-03 9.99987993e-01 1.61738798e-03 -3.14608111e-01] [ 2.27443480e-02 -1.72219643e-03 9.99739830e-01 -8.63472877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.362414037 meters 0.08292224760195296 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.31, Z:-0.08 [[ 9.99759678e-01 -8.52632890e-04 -2.19056746e-02 6.38938359e+00] [ 8.86955356e-04 9.99998394e-01 1.55716183e-03 -3.11625154e-01] [ 2.19043117e-02 -1.57621696e-03 9.99758829e-01 -8.40768995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.392414037 meters 0.07962445158818107 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.30, Z:-0.08 [[ 9.99750353e-01 7.25132808e-03 -2.11340966e-02 6.42027400e+00] [-7.22118442e-03 9.99972798e-01 1.50227225e-03 -3.01177894e-01] [ 2.11444152e-02 -1.34928401e-03 9.99775521e-01 -7.97972507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.422414037 meters 0.08016596033704199 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.30, Z:-0.08 [[ 9.99715745e-01 1.06713013e-02 -2.13202566e-02 6.44887513e+00] [-1.06414150e-02 9.99942231e-01 1.51474336e-03 -3.03436843e-01] [ 2.13351892e-02 -1.28743508e-03 9.99771550e-01 -8.12972996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4524140370000005 meters 0.07990195127657948 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.30, Z:-0.08 [[ 9.99658163e-01 1.36976233e-02 -2.22695427e-02 6.47744335e+00] [-1.36657793e-02 9.99905368e-01 1.58149521e-03 -3.04847781e-01] [ 2.22890980e-02 -1.27662394e-03 9.99750752e-01 -8.33710309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.482414037 meters 0.07914585386941597 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.31, Z:-0.09 [[ 9.99568550e-01 1.84725136e-02 -2.28359413e-02 6.50633949e+00] [-1.84402810e-02 9.99828649e-01 1.62127889e-03 -3.10071790e-01] [ 2.28619775e-02 -1.19947822e-03 9.99737911e-01 -8.71283486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.512414037 meters 0.07592426899775377 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.30, Z:-0.08 [[ 9.99551614e-01 2.08890411e-02 -2.14527008e-02 6.53640260e+00] [-2.08611676e-02 9.99781223e-01 1.52229438e-03 -3.04382942e-01] [ 2.14798067e-02 -1.07408342e-03 9.99768705e-01 -8.36875334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.542414037 meters 0.07695129083700965 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.31, Z:-0.08 [[ 9.99518296e-01 2.26871350e-02 -2.11770937e-02 6.56430209e+00] [-2.26604082e-02 9.99742093e-01 1.50121016e-03 -3.10524785e-01] [ 2.12056901e-02 -1.02060544e-03 9.99774613e-01 -8.49627412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.572414037 meters 0.07692220610868496 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.31, Z:-0.09 [[ 9.99390934e-01 2.61218669e-02 -2.31389276e-02 6.59361578e+00] [-2.60908925e-02 9.99658230e-01 1.63956541e-03 -3.09526779e-01] [ 2.31738479e-02 -1.03485154e-03 9.99730915e-01 -8.55091452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.602414037 meters 0.07487407310462299 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.30, Z:-0.08 [[ 9.99295351e-01 2.76084836e-02 -2.54278144e-02 6.62281938e+00] [-2.75717214e-02 9.99618216e-01 1.79528057e-03 -3.03649603e-01] [ 2.54676715e-02 -1.09292692e-03 9.99675049e-01 -8.20247922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.632414037 meters 0.07530956092520821 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.31, Z:-0.09 [[ 9.99175122e-01 2.93162146e-02 -2.81004573e-02 6.64906673e+00] [-2.92720805e-02 9.99569518e-01 1.98074700e-03 -3.09307340e-01] [ 2.81464286e-02 -1.15655428e-03 9.99603142e-01 -8.56321120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6624140370000005 meters 0.0765511810796865 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.32, Z:-0.09 [[ 9.99196048e-01 2.94595935e-02 -2.71917177e-02 6.67645793e+00] [-2.94183827e-02 9.99565352e-01 1.91444991e-03 -3.17549216e-01] [ 2.72362978e-02 -1.11297442e-03 9.99628404e-01 -8.90458162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.692414037 meters 0.07660077456623678 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.32, Z:-0.09 [[ 9.99209110e-01 2.94857973e-02 -2.66784837e-02 6.70466209e+00] [-2.94463022e-02 9.99564610e-01 1.87214907e-03 -3.21944725e-01] [ 2.67220699e-02 -1.08508571e-03 9.99642313e-01 -8.95462655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.722414037 meters 0.07489860590267054 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.32, Z:-0.08 [[ 9.99342604e-01 2.73402771e-02 -2.38089981e-02 6.73288611e+00] [-2.73083771e-02 9.99625672e-01 1.66400281e-03 -3.21173739e-01] [ 2.38455800e-02 -1.01272380e-03 9.99715141e-01 -8.34537135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.752414037 meters 0.07571341070593392 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.33, Z:-0.08 [[ 9.99405093e-01 2.63938576e-02 -2.21996299e-02 6.75943156e+00] [-2.63659487e-02 9.99651158e-01 1.54898358e-03 -3.27736698e-01] [ 2.22327694e-02 -9.62747773e-04 9.99752358e-01 -8.39297818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.782414037 meters 0.07543053925787374 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.33, Z:-0.08 [[ 9.99517718e-01 2.32320634e-02 -2.06058840e-02 6.78859472e+00] [-2.32073690e-02 9.99729640e-01 1.43676946e-03 -3.31493406e-01] [ 2.06336922e-02 -9.57868178e-04 9.99786644e-01 -8.18179866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.812414037 meters 0.07700481609706762 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.34, Z:-0.08 [[ 9.99550173e-01 2.10925012e-02 -2.13203516e-02 6.81676342e+00] [-2.10656024e-02 9.99776992e-01 1.48547797e-03 -3.41150520e-01] [ 2.13469295e-02 -1.03568372e-03 9.99771592e-01 -8.36285598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.842414037 meters 0.07761855424653445 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.35, Z:-0.08 [[ 9.99607720e-01 1.89122902e-02 -2.06574812e-02 6.84545872e+00] [-1.88865952e-02 9.99820598e-01 1.43826522e-03 -3.46604337e-01] [ 2.06809761e-02 -1.04755153e-03 9.99785577e-01 -8.39910799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.872414037 meters 0.07761855424653445 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.35, Z:-0.08 [[ 9.99612689e-01 1.86473453e-02 -2.06578793e-02 6.87283029e+00] [-1.86217120e-02 9.99825575e-01 1.43253730e-03 -3.48399135e-01] [ 2.06809890e-02 -1.04729738e-03 9.99785577e-01 -8.40235010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.902414037 meters 0.07818230465772161 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.35, Z:-0.08 [[ 9.99657150e-01 1.67311268e-02 -2.01407972e-02 6.90235412e+00] [-1.67063810e-02 9.99859464e-01 1.39628240e-03 -3.54532714e-01] [ 2.01613281e-02 -1.05932385e-03 9.99796179e-01 -8.37900203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.932414037 meters 0.07836859190985193 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.36, Z:-0.08 [[ 9.99726756e-01 1.24865703e-02 -1.97610340e-02 6.93255444e+00] [-1.24619215e-02 9.99921409e-01 1.36999813e-03 -3.61246655e-01] [ 1.97765876e-02 -1.12336333e-03 9.99803793e-01 -8.27192175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.962414037 meters 0.07905339475060018 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.37, Z:-0.08 [[ 9.99732289e-01 1.04203932e-02 -2.06582903e-02 6.96127864e+00] [-1.03930380e-02 9.99944967e-01 1.43110002e-03 -3.67562859e-01] [ 2.06720660e-02 -1.21601450e-03 9.99785571e-01 -8.37413725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.992414037 meters 0.07995761333739403 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.38, Z:-0.09 [[ 9.99723335e-01 6.66290824e-03 -2.25578945e-02 6.99098241e+00] [-6.62933609e-03 9.99976805e-01 1.56272146e-03 -3.76123480e-01] [ 2.25677836e-02 -1.41274525e-03 9.99744317e-01 -8.67084582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.022414037 meters 0.08081536373436064 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.38, Z:-0.09 [[ 9.99723433e-01 4.60258323e-03 -2.30624031e-02 7.01969137e+00] [-4.56697453e-03 9.99988297e-01 1.59644762e-03 -3.81283628e-01] [ 2.30694810e-02 -1.49068068e-03 9.99732753e-01 -8.83598566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.052414037 meters 0.08117579873646912 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.38, Z:-0.09 [[ 9.99711021e-01 3.01946573e-03 -2.38486457e-02 7.04892679e+00] [-2.98096738e-03 9.99994196e-01 1.64966448e-03 -3.84590389e-01] [ 2.38534884e-02 -1.57809573e-03 9.99714220e-01 -8.84580134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.082414037 meters 0.08315704149470676 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.39, Z:-0.09 [[ 9.99667411e-01 5.15309133e-04 -2.57837550e-02 7.07807248e+00] [-4.69488556e-04 9.99998300e-01 1.78313239e-03 -3.92120761e-01] [ 2.57846301e-02 -1.77043416e-03 9.99665953e-01 -9.06767947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.112414037 meters 0.08321726880081001 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.39, Z:-0.09 [[ 9.99639688e-01 -8.22329526e-04 -2.68294269e-02 7.10788088e+00] [ 8.72398186e-04 9.99997900e-01 1.85453275e-03 -3.94505753e-01] [ 2.68278456e-02 -1.87727048e-03 9.99638306e-01 -9.08968669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.142414037 meters 0.08542702674108144 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.40, Z:-0.09 [[ 9.99661750e-01 -2.46644676e-03 -2.58901846e-02 7.13611939e+00] [ 2.51357210e-03 9.99995243e-01 1.78781508e-03 -4.03395003e-01] [ 2.58856519e-02 -1.85228720e-03 9.99663194e-01 -9.16912186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.172414037 meters 0.08309067750752978 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.40, Z:-0.09 [[ 9.99678979e-01 -3.23479318e-03 -2.51291566e-02 7.16534868e+00] [ 3.27927433e-03 9.99993128e-01 1.72909381e-03 -4.00229941e-01] [ 2.51233907e-02 -1.81094413e-03 9.99682718e-01 -8.90169384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.202414037 meters 0.08388137658144937 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.40, Z:-0.09 [[ 9.99703201e-01 -3.74121111e-03 -2.40730851e-02 7.19263455e+00] [ 3.78213242e-03 9.99991479e-01 1.65457206e-03 -4.03969215e-01] [ 2.40666899e-02 -1.74512858e-03 9.99708832e-01 -8.84033240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.232414037 meters 0.0820990128997619 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.40, Z:-0.08 [[ 9.99727135e-01 -5.10733816e-03 -2.27941085e-02 7.22151280e+00] [ 5.14424806e-03 9.99985550e-01 1.56093028e-03 -4.00534726e-01] [ 2.27858069e-02 -1.67776290e-03 9.99738962e-01 -8.44908634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.262414037 meters 0.08341313419301132 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.40, Z:-0.08 [[ 9.99734083e-01 -6.01795869e-03 -2.22608751e-02 7.24862756e+00] [ 6.05333822e-03 9.99980520e-01 1.52227078e-03 -4.04669015e-01] [ 2.22512805e-02 -1.65661859e-03 9.99751037e-01 -8.45978824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.292414037 meters 0.08275984324905909 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.40, Z:-0.09 [[ 9.99671805e-01 -7.11653336e-03 -2.46096926e-02 7.27851215e+00] [ 7.16008756e-03 9.99972951e-01 1.68213335e-03 -4.01713288e-01] [ 2.45970560e-02 -1.85778883e-03 9.99695720e-01 -8.54690840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.322414037 meters 0.08407699041253648 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.41, Z:-0.09 [[ 9.99622418e-01 -7.64073027e-03 -2.63939659e-02 7.30556819e+00] [ 7.69093976e-03 9.99968802e-01 1.80131723e-03 -4.06102917e-01] [ 2.63793790e-02 -2.00363148e-03 9.99649996e-01 -8.83086243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.352414037 meters 0.08524980006275017 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.41, Z:-0.09 [[ 9.99594068e-01 -8.26583788e-03 -2.72648936e-02 7.33315697e+00] [ 8.31958597e-03 9.99963665e-01 1.85847970e-03 -4.11233288e-01] [ 2.72485410e-02 -2.08455791e-03 9.99626516e-01 -9.04097957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.382414037 meters 0.08541483465704948 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.41, Z:-0.09 [[ 9.99604853e-01 -9.13875994e-03 -2.65823442e-02 7.36218687e+00] [ 9.18998494e-03 9.99956141e-01 1.80549976e-03 -4.13994331e-01] [ 2.65646783e-02 -2.04907766e-03 9.99644997e-01 -9.15449256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4124140370000005 meters 0.08426014616859392 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.41, Z:-0.09 [[ 9.99660810e-01 -9.26255689e-03 -2.43407029e-02 7.39162042e+00] [ 9.30540905e-03 9.99955346e-01 1.64783537e-03 -4.12720789e-01] [ 2.43243528e-02 -1.87377664e-03 9.99702363e-01 -8.89347477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.442414037 meters 0.08522597766341354 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.41, Z:-0.09 [[ 9.99680362e-01 -8.52638915e-03 -2.38007149e-02 7.41990864e+00] [ 8.56711905e-03 9.99962006e-01 1.60984600e-03 -4.11763811e-01] [ 2.37860844e-02 -1.81323499e-03 9.99715427e-01 -8.68087079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.472414037 meters 0.08381281740103996 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.41, Z:-0.09 [[ 9.99672561e-01 -8.17891415e-03 -2.42461550e-02 7.44928291e+00] [ 8.22093652e-03 9.99964873e-01 1.63398349e-03 -4.07635060e-01] [ 2.42319391e-02 -1.83277456e-03 9.99704683e-01 -8.62224136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.502414037 meters 0.08399402481791125 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.41, Z:-0.09 [[ 9.99659808e-01 -7.81139995e-03 -2.48847233e-02 7.47814764e+00] [ 7.85540554e-03 9.99967749e-01 1.67111226e-03 -4.08401726e-01] [ 2.48708670e-02 -1.86602335e-03 9.99688931e-01 -8.65941355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.532414037 meters 0.08477375861852957 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.41, Z:-0.09 [[ 9.99640250e-01 -7.58264609e-03 -2.57269118e-02 7.50503256e+00] [ 7.62953250e-03 9.99969407e-01 1.72479556e-03 -4.11391796e-01] [ 2.57130463e-02 -1.92045938e-03 9.99667520e-01 -8.87966845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.562414037 meters 0.08329602815667625 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.41, Z:-0.09 [[ 9.99697387e-01 -6.96750160e-03 -2.35921174e-02 7.53366357e+00] [ 7.00672034e-03 9.99974204e-01 1.58011009e-03 -4.10978985e-01] [ 2.35804994e-02 -1.74493530e-03 9.99720419e-01 -8.89069304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.592414037 meters 0.08352316809537658 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.41, Z:-0.09 [[ 9.99719535e-01 -6.95802039e-03 -2.26370638e-02 7.56255864e+00] [ 6.99399852e-03 9.99974401e-01 1.51056180e-03 -4.12964661e-01] [ 2.26259738e-02 -1.66846173e-03 9.99742608e-01 -8.83844145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.622414037 meters 0.08287313403054519 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.41, Z:-0.09 [[ 9.99744119e-01 -4.48028419e-03 -2.21725751e-02 7.59270135e+00] [ 4.51419187e-03 9.99988717e-01 1.47944646e-03 -4.10013716e-01] [ 2.21656966e-02 -1.57915915e-03 9.99753064e-01 -8.81363321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.652414037 meters 0.08293017804176347 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.41, Z:-0.09 [[ 9.99725259e-01 -3.10138252e-03 -2.32333384e-02 7.62037733e+00] [ 3.13819554e-03 9.99993877e-01 1.54819820e-03 -4.09771715e-01] [ 2.32283946e-02 -1.62068361e-03 9.99728871e-01 -8.95757463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.682414037 meters 0.08134983613235877 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.41, Z:-0.09 [[ 9.99681994e-01 -1.56318804e-03 -2.51687708e-02 7.65005563e+00] [ 1.60576189e-03 9.99997314e-01 1.67141289e-03 -4.05486292e-01] [ 2.51660904e-02 -1.71129642e-03 9.99681819e-01 -8.91949327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.712414037 meters 0.08146813331910818 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.41, Z:-0.09 [[ 9.99688309e-01 2.09271923e-03 -2.48777976e-02 7.67939779e+00] [-2.05225816e-03 9.99996530e-01 1.65181354e-03 -4.05232763e-01] [ 2.48811681e-02 -1.60024302e-03 9.99689135e-01 -9.01970944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.742414037 meters 0.08082663985723017 Centerline is valid? [True, True] Translation: X:7.71, Y:-0.41, Z:-0.09 [[ 9.99714022e-01 3.26059854e-03 -2.36905783e-02 7.70797307e+00] [-3.22427352e-03 9.99993567e-01 1.57134670e-03 -4.05850155e-01] [ 2.36955494e-02 -1.49451243e-03 9.99718104e-01 -8.97142579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.772414037 meters 0.08031490434672246 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.41, Z:-0.09 [[ 9.99711093e-01 5.27288365e-03 -2.34505087e-02 7.73783877e+00] [-5.23785060e-03 9.99985073e-01 1.55508764e-03 -4.07057630e-01] [ 2.34583585e-02 -1.43180810e-03 9.99723790e-01 -8.95566571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.802414037 meters 0.08024997689622972 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.41, Z:-0.09 [[ 9.99717609e-01 5.49824027e-03 -2.31186303e-02 7.76622419e+00] [-5.46428937e-03 9.99983898e-01 1.53146758e-03 -4.08475560e-01] [ 2.31266784e-02 -1.40470823e-03 9.99731556e-01 -8.94691891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.832414037 meters 0.08004948917099955 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.41, Z:-0.09 [[ 9.99742948e-01 6.72374151e-03 -2.16524739e-02 7.79584108e+00] [-6.69426251e-03 9.99976565e-01 1.43365648e-03 -4.09240508e-01] [ 2.16616061e-02 -1.28834061e-03 9.99764530e-01 -8.88398940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.862414037 meters 0.08016647126943884 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.41, Z:-0.09 [[ 9.99764484e-01 6.71232630e-03 -2.06378545e-02 7.82469328e+00] [-6.68557276e-03 9.99976720e-01 1.36505635e-03 -4.09679610e-01] [ 2.06465368e-02 -1.22675898e-03 9.99786085e-01 -8.86564794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.892414037 meters 0.08091604386741454 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.41, Z:-0.09 [[ 9.99773054e-01 6.36331466e-03 -2.03309957e-02 7.85086366e+00] [-6.33735709e-03 9.99979020e-01 1.34092324e-03 -4.14557441e-01] [ 2.03391019e-02 -1.21177414e-03 9.99792405e-01 -8.91924258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.922414037 meters 0.08037673716282323 Centerline is valid? [True, True] Translation: X:7.88, Y:-0.42, Z:-0.09 [[ 9.99799963e-01 5.07307844e-03 -1.93467720e-02 7.87978719e+00] [-5.04935563e-03 9.99986439e-01 1.27484187e-03 -4.16298834e-01] [ 1.93529770e-02 -1.17689812e-03 9.99812021e-01 -8.88924879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.952414037 meters 0.08092211593419085 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.42, Z:-0.09 [[ 9.99847669e-01 4.08764053e-03 -1.69685029e-02 7.90853026e+00] [-4.06927033e-03 9.99991097e-01 1.11699192e-03 -4.23104889e-01] [ 1.69729177e-02 -1.04777234e-03 9.99855401e-01 -8.82250470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.982414037 meters 0.07978941708177253 Centerline is valid? [True, True] Translation: X:7.94, Y:-0.42, Z:-0.09 [[ 9.99840779e-01 3.26424368e-03 -1.75431366e-02 7.93765614e+00] [-3.24450278e-03 9.99994071e-01 1.15362103e-03 -4.22397005e-01] [ 1.75467983e-02 -1.09651859e-03 9.99845442e-01 -8.65054714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.012414037 meters 0.07884896530072875 Centerline is valid? [True, True] Translation: X:7.97, Y:-0.42, Z:-0.09 [[ 9.99812919e-01 3.23586021e-03 -1.90697700e-02 7.96666745e+00] [-3.21255357e-03 9.99994055e-01 1.25268471e-03 -4.21170396e-01] [ 1.90737101e-02 -1.19118770e-03 9.99817371e-01 -8.58834445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.042414036999999 meters 0.07955732398833547 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.42, Z:-0.09 [[ 9.99729775e-01 2.39592747e-03 -2.31221876e-02 7.99540213e+00] [-2.36146301e-03 9.99996060e-01 1.51772622e-03 -4.24444359e-01] [ 2.31257328e-02 -1.46271390e-03 9.99731494e-01 -8.82756444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.072414037 meters 0.0803079406166354 Centerline is valid? [True, True] Translation: X:8.02, Y:-0.43, Z:-0.09 [[ 9.99722484e-01 1.54915846e-03 -2.35064697e-02 8.02245499e+00] [-1.51336357e-03 9.99997668e-01 1.54048070e-03 -4.28536508e-01] [ 2.35088013e-02 -1.50447936e-03 9.99722498e-01 -8.93831898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.102414036999999 meters 0.08053509602670383 Centerline is valid? [True, True] Translation: X:8.05, Y:-0.43, Z:-0.09 [[ 9.99721739e-01 5.09447206e-04 -2.35835917e-02 8.05116737e+00] [-4.73165839e-04 9.99998696e-01 1.54397035e-03 -4.32786334e-01] [ 2.35843476e-02 -1.53238177e-03 9.99720676e-01 -9.00770766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.132414036999998 meters 0.08075772435166159 Centerline is valid? [True, True] Translation: X:8.08, Y:-0.44, Z:-0.09 [[ 9.99782988e-01 -7.82820436e-04 -2.08173985e-02 8.07954931e+00] [ 8.11337125e-04 9.99998744e-01 1.36143823e-03 -4.42323661e-01] [ 2.08163066e-02 -1.37803271e-03 9.99782368e-01 -9.11146711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.162414037 meters 0.08040211291420446 Centerline is valid? [True, True] Translation: X:8.11, Y:-0.45, Z:-0.09 [[ 9.99816421e-01 -1.90513921e-03 -1.90655455e-02 8.10789810e+00] [ 1.92923527e-03 9.99997363e-01 1.24554098e-03 -4.46358113e-01] [ 1.90631223e-02 -1.28209425e-03 9.99817460e-01 -9.08320611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.192414036999999 meters 0.08137792521288363 Centerline is valid? [True, True] Translation: X:8.14, Y:-0.45, Z:-0.09 [[ 9.99817652e-01 -3.28085178e-03 -1.88121771e-02 8.13567387e+00] [ 3.30452961e-03 9.99993786e-01 1.22769633e-03 -4.51918409e-01] [ 1.88080324e-02 -1.28963785e-03 9.99822282e-01 -9.07260406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.222414036999998 meters 0.08133681238982923 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.45, Z:-0.09 [[ 9.99800115e-01 -4.40750738e-03 -1.95014079e-02 8.16441786e+00] [ 4.43307045e-03 9.99989370e-01 1.26779634e-03 -4.52820595e-01] [ 1.94956128e-02 -1.35399404e-03 9.99809026e-01 -8.92348295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.252414037 meters 0.08189552956568596 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.46, Z:-0.09 [[ 9.99794614e-01 -4.73413064e-03 -1.97057727e-02 8.19227442e+00] [ 4.76026620e-03 9.99987851e-01 1.27959328e-03 -4.55441564e-01] [ 1.96994756e-02 -1.37313519e-03 9.99805004e-01 -8.91331638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.282414036999999 meters 0.08299789601012382 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.46, Z:-0.09 [[ 9.99739816e-01 -6.02444026e-03 -2.20001676e-02 8.22046472e+00] [ 6.05729393e-03 9.99980636e-01 1.42700319e-03 -4.63147068e-01] [ 2.19911447e-02 -1.55989338e-03 9.99756949e-01 -9.12941211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.312414037 meters 0.08445036281079256 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.47, Z:-0.09 [[ 9.99712035e-01 -6.84413371e-03 -2.30000868e-02 8.24771114e+00] [ 6.88021420e-03 9.99975221e-01 1.48994327e-03 -4.72161240e-01] [ 2.29893195e-02 -1.64775974e-03 9.99734353e-01 -9.43124462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.342414037 meters 0.08448048015377115 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.48, Z:-0.10 [[ 9.99698065e-01 -8.00365998e-03 -2.32318605e-02 8.27720109e+00] [ 8.04076635e-03 9.99966541e-01 1.50424388e-03 -4.77500932e-01] [ 2.32190437e-02 -1.69059166e-03 9.99728972e-01 -9.58314062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.372414036999999 meters 0.08577438044635836 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.49, Z:-0.10 [[ 9.99695741e-01 -8.93868069e-03 -2.29896742e-02 8.30405238e+00] [ 8.97518341e-03 9.99958619e-01 1.48509440e-03 -4.85067337e-01] [ 2.29754481e-02 -1.69097909e-03 9.99734599e-01 -9.70486003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.402414037 meters 0.08587924439155567 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.49, Z:-0.10 [[ 9.99689035e-01 -9.51146427e-03 -2.30513694e-02 8.33255475e+00] [ 9.54819041e-03 9.99953314e-01 1.48368769e-03 -4.85917457e-01] [ 2.30361812e-02 -1.70332518e-03 9.99733181e-01 -9.59082447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.432414037 meters 0.08604463455535245 Centerline is valid? [True, True] Translation: X:8.36, Y:-0.49, Z:-0.10 [[ 9.99688947e-01 -9.68498574e-03 -2.29828178e-02 8.36093288e+00] [ 9.72140949e-03 9.99951660e-01 1.47362452e-03 -4.86985248e-01] [ 2.29674347e-02 -1.69659152e-03 9.99734774e-01 -9.52860036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.462414036999999 meters 0.08667152698579476 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.49, Z:-0.10 [[ 9.99686091e-01 -9.44700761e-03 -2.32050205e-02 8.38872922e+00] [ 9.48403650e-03 9.99953921e-01 1.48619024e-03 -4.91442269e-01] [ 2.31899112e-02 -1.70580098e-03 9.99729623e-01 -9.69642858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.492414037 meters 0.0871999777831668 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.50, Z:-0.10 [[ 9.99685779e-01 -9.90697052e-03 -2.30259682e-02 8.41712584e+00] [ 9.94342817e-03 9.99949483e-01 1.46937091e-03 -4.97096475e-01] [ 2.30102479e-02 -1.69786627e-03 9.99733787e-01 -9.72893885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.522414036999999 meters 0.08902766279364037 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.51, Z:-0.10 [[ 9.99653134e-01 -1.22531642e-02 -2.33124973e-02 8.44557982e+00] [ 1.22911575e-02 9.99923355e-01 1.48714271e-03 -5.06758060e-01] [ 2.32924883e-02 -1.77316444e-03 9.99727121e-01 -1.00444750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.552414036999998 meters 0.08993135150135549 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.51, Z:-0.10 [[ 9.99630033e-01 -1.40953599e-02 -2.32619244e-02 8.47461363e+00] [ 1.41336458e-02 9.99899016e-01 1.48226427e-03 -5.11756027e-01] [ 2.32386823e-02 -1.81049168e-03 9.99728306e-01 -1.01101619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.582414037 meters 0.08727450703147879 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.51, Z:-0.10 [[ 9.99549273e-01 -1.83260978e-02 -2.37782627e-02 8.50554793e+00] [ 1.83672946e-02 9.99830159e-01 1.51527563e-03 -5.08493907e-01] [ 2.37464551e-02 -1.95133501e-03 9.99716109e-01 -9.67350779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.612414036999999 meters 0.08902431497957294 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.51, Z:-0.10 [[ 9.99546939e-01 -1.99156441e-02 -2.25673143e-02 8.53341165e+00] [ 1.99531171e-02 9.99799885e-01 1.43651969e-03 -5.14394115e-01] [ 2.25341890e-02 -1.88615712e-03 9.99744294e-01 -9.67525844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.642414037 meters 0.08966078758086755 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.52, Z:-0.10 [[ 9.99500831e-01 -2.16043565e-02 -2.30508368e-02 8.56380110e+00] [ 2.16439006e-02 9.99764666e-01 1.46737869e-03 -5.18012198e-01] [ 2.30137104e-02 -1.96555624e-03 9.99733217e-01 -9.71780550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.672414037 meters 0.08976816204799919 Centerline is valid? [True, True] Translation: X:8.59, Y:-0.52, Z:-0.10 [[ 9.99463789e-01 -2.24974068e-02 -2.37907806e-02 8.59238280e+00] [ 2.25396442e-02 9.99744812e-01 1.50867230e-03 -5.20915826e-01] [ 2.37507683e-02 -2.04409907e-03 9.99715821e-01 -9.73591659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.702414036999999 meters 0.0951798683056287 Centerline is valid? [True, True] Translation: X:8.62, Y:-0.53, Z:-0.10 [[ 9.99441734e-01 -2.33496064e-02 -2.38959279e-02 8.61968323e+00] [ 2.33924172e-02 9.99725214e-01 1.51355089e-03 -5.34569359e-01] [ 2.38540209e-02 -2.07168944e-03 9.99713306e-01 -1.01075069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.732414037 meters 0.0951798683056287 Centerline is valid? [True, True] Translation: X:8.65, Y:-0.54, Z:-0.10 [[ 9.99435838e-01 -2.36002528e-02 -2.38963192e-02 8.64716078e+00] [ 2.36429878e-02 9.99719329e-01 1.50736093e-03 -5.36172494e-01] [ 2.38540381e-02 -2.07149092e-03 9.99713306e-01 -1.01107607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.762414037 meters 0.08545262078111182 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.52, Z:-0.10 [[ 9.99460989e-01 -2.35128792e-02 -2.29101781e-02 8.67720036e+00] [ 2.35520062e-02 9.99721577e-01 1.43948274e-03 -5.18586328e-01] [ 2.28699530e-02 -1.97828750e-03 9.99736491e-01 -9.52781409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.792414036999999 meters 0.08711444730079389 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.52, Z:-0.10 [[ 9.99505535e-01 -2.23321811e-02 -2.21350294e-02 8.70536049e+00] [ 2.23683964e-02 9.99748830e-01 1.38983689e-03 -5.23465719e-01] [ 2.20984317e-02 -1.88427478e-03 9.99754024e-01 -9.52012904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.822414037 meters 0.08854984788709062 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.53, Z:-0.10 [[ 9.99541449e-01 -2.16044644e-02 -2.12164774e-02 8.73271142e+00] [ 2.16375339e-02 9.99764996e-01 1.33032031e-03 -5.27408747e-01] [ 2.11827506e-02 -1.78878254e-03 9.99774020e-01 -9.64397568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.852414036999999 meters 0.08472406549286235 Centerline is valid? [True, True] Translation: X:8.76, Y:-0.52, Z:-0.09 [[ 9.99525344e-01 -2.13653424e-02 -2.21947805e-02 8.76222850e+00] [ 2.14013486e-02 9.99770004e-01 1.38599411e-03 -5.19452009e-01] [ 2.21600635e-02 -1.86033447e-03 9.99752705e-01 -9.38322042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.882414036999998 meters 0.0877201399169764 Centerline is valid? [True, True] Translation: X:8.79, Y:-0.53, Z:-0.10 [[ 9.99504338e-01 -1.92554064e-02 -2.49059892e-02 8.78943038e+00] [ 1.93000513e-02 9.99812530e-01 1.55337635e-03 -5.26510299e-01] [ 2.48714092e-02 -2.03329327e-03 9.99688591e-01 -9.82028419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.912414037 meters 0.08509997240072749 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.52, Z:-0.10 [[ 9.99489856e-01 -1.83720083e-02 -2.61246336e-02 8.81828616e+00] [ 1.84206606e-02 9.99829008e-01 1.62285778e-03 -5.21996722e-01] [ 2.60903513e-02 -2.10326290e-03 9.99657376e-01 -9.78523489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.942414036999999 meters 0.08817322559710417 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.53, Z:-0.10 [[ 9.99511862e-01 -1.67038133e-02 -2.64011358e-02 8.84630447e+00] [ 1.67528932e-02 9.99858317e-01 1.63890109e-03 -5.31108737e-01] [ 2.63700193e-02 -2.08039649e-03 9.99650086e-01 -1.01754025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.972414036999998 meters 0.08440711929501614 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.52, Z:-0.10 [[ 9.99663818e-01 -1.19852157e-02 -2.29914438e-02 8.87753995e+00] [ 1.20211900e-02 9.99926724e-01 1.42710437e-03 -5.22570481e-01] [ 2.29726549e-02 -1.70300912e-03 9.99734643e-01 -9.85525134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.002414037 meters 0.08349787163487078 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.52, Z:-0.10 [[ 9.99711294e-01 -9.31841558e-03 -2.21471400e-02 8.90775077e+00] [ 9.35113654e-03 9.99955333e-01 1.37432909e-03 -5.19685168e-01] [ 2.21333442e-02 -1.58103324e-03 9.99753777e-01 -9.62778436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.032414036999999 meters 0.0820698955197612 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.51, Z:-0.10 [[ 9.99753239e-01 -2.64223188e-03 -2.20562710e-02 8.93852099e+00] [ 2.67306802e-03 9.99995491e-01 1.36870135e-03 -5.12800067e-01] [ 2.20525551e-02 -1.42732152e-03 9.99755794e-01 -9.63217920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.062414037 meters 0.08149964062858263 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.51, Z:-0.10 [[ 9.99731199e-01 1.53314545e-03 -2.31339369e-02 8.96931168e+00] [-1.50033953e-03 9.99997844e-01 1.43537631e-03 -5.12427941e-01] [ 2.31360877e-02 -1.40028172e-03 9.99731344e-01 -9.84756953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.092414037 meters 0.08051474577895466 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.51, Z:-0.10 [[ 9.99719030e-01 4.90534631e-03 -2.31904752e-02 8.99964908e+00] [-4.87329299e-03 9.99987091e-01 1.43848921e-03 -5.10851840e-01] [ 2.31972321e-02 -1.32507106e-03 9.99730030e-01 -1.00452380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.122414036999999 meters 0.07875765251060415 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.51, Z:-0.10 [[ 9.99682984e-01 1.18540520e-02 -2.22128892e-02 9.03002858e+00] [-1.18263710e-02 9.99929118e-01 1.37712744e-03 -5.07066961e-01] [ 2.22276392e-02 -1.11399301e-03 9.99752315e-01 -9.99461691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.152414037 meters 0.07813632421566868 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.51, Z:-0.10 [[ 9.99658735e-01 1.50915961e-02 -2.13226893e-02 9.06027666e+00] [-1.50668315e-02 9.99885615e-01 1.32160361e-03 -5.06331788e-01] [ 2.13401955e-02 -9.99887224e-04 9.99771772e-01 -9.90877116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.182414037 meters 0.07660601058725228 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.50, Z:-0.10 [[ 9.99563769e-01 2.10413577e-02 -2.07251969e-02 9.09072801e+00] [-2.10192389e-02 9.99778246e-01 1.28452750e-03 -5.02445106e-01] [ 2.07476292e-02 -8.48339283e-04 9.99784385e-01 -9.76246702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.212414036999999 meters 0.07526169976082579 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.50, Z:-0.10 [[ 9.99486367e-01 2.26570080e-02 -2.26641337e-02 9.11995226e+00] [-2.26311028e-02 9.99742905e-01 1.39887652e-03 -4.97915593e-01] [ 2.26900012e-02 -8.85243667e-04 9.99742157e-01 -9.52834835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.242414037 meters 0.07534629212636992 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.50, Z:-0.10 [[ 9.99449552e-01 2.39775620e-02 -2.29274767e-02 9.14755592e+00] [-2.39514392e-02 9.99712124e-01 1.41333575e-03 -4.99024152e-01] [ 2.29547648e-02 -8.63411713e-04 9.99736132e-01 -9.68937165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.272414036999999 meters 0.07504007099843081 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.50, Z:-0.10 [[ 9.99370456e-01 2.59330291e-02 -2.42109460e-02 9.17630225e+00] [-2.59046182e-02 9.99663314e-01 1.48642073e-03 -5.00329783e-01] [ 2.42413419e-02 -8.58309654e-04 9.99705767e-01 -9.74918495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.302414036999998 meters 0.07497200863436661 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.50, Z:-0.10 [[ 9.99263824e-01 2.93510037e-02 -2.47048370e-02 9.20447876e+00] [-2.93225013e-02 9.99568855e-01 1.51526579e-03 -5.04063056e-01] [ 2.47386602e-02 -7.89742670e-04 9.99693641e-01 -1.00825685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.332414037 meters 0.07447147822669074 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.50, Z:-0.10 [[ 9.99225338e-01 3.04601466e-02 -2.49179236e-02 9.23345290e+00] [-3.04316500e-02 9.99535691e-01 1.52211493e-03 -5.03931926e-01] [ 2.49527179e-02 -7.62642276e-04 9.99688342e-01 -1.00004040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.362414036999999 meters 0.07424405943227592 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.50, Z:-0.10 [[ 9.99210906e-01 3.14705751e-02 -2.42315501e-02 9.26211972e+00] [-3.14440666e-02 9.99504426e-01 1.47431254e-03 -5.04877200e-01] [ 2.42659391e-02 -7.11210699e-04 9.99705286e-01 -9.87572912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.392414036999998 meters 0.07407693259849951 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.51, Z:-0.10 [[ 9.99154969e-01 3.37085109e-02 -2.35177410e-02 9.28958000e+00] [-3.36842238e-02 9.99431505e-01 1.42820616e-03 -5.07499639e-01] [ 2.35525140e-02 -6.34822431e-04 9.99722400e-01 -9.76287003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.422414037 meters 0.07412674652679584 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.51, Z:-0.10 [[ 9.99159816e-01 3.40984177e-02 -2.27367507e-02 9.31679295e+00] [-3.40758832e-02 9.99418299e-01 1.37791606e-03 -5.11827697e-01] [ 2.27705095e-02 -6.01983489e-04 9.99740537e-01 -9.81833809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.452414036999999 meters 0.07405443918882629 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.52, Z:-0.10 [[ 9.99118375e-01 3.39442254e-02 -2.47034814e-02 9.34563569e+00] [-3.39177254e-02 9.99423516e-01 1.49106050e-03 -5.16930904e-01] [ 2.47398531e-02 -6.51860042e-04 9.99693710e-01 -9.91087661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.482414037 meters 0.07424133615897376 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.52, Z:-0.10 [[ 9.99102662e-01 3.38437911e-02 -2.54650407e-02 9.37312673e+00] [-3.38156493e-02 9.99426909e-01 1.53505742e-03 -5.20625244e-01] [ 2.55023991e-02 -6.72563072e-04 9.99674535e-01 -1.00289965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.512414037 meters 0.07437068329922308 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.52, Z:-0.10 [[ 9.99116915e-01 3.33691483e-02 -2.55321401e-02 9.40132320e+00] [-3.33407571e-02 9.99442861e-01 1.53699031e-03 -5.22959081e-01] [ 2.55692032e-02 -6.84372138e-04 9.99672820e-01 -9.99783898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.542414036999999 meters 0.07399417661658658 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.53, Z:-0.10 [[ 9.99167591e-01 3.17507903e-02 -2.56127224e-02 9.43033204e+00] [-3.17218543e-02 9.99495556e-01 1.53536848e-03 -5.25818539e-01] [ 2.56485513e-02 -7.21607378e-04 9.99670761e-01 -9.80695342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.572414037 meters 0.07408794887366922 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.53, Z:-0.10 [[ 9.99146881e-01 3.15347903e-02 -2.66658556e-02 9.45797833e+00] [-3.15034049e-02 9.99502370e-01 1.59638122e-03 -5.32210687e-01] [ 2.67029274e-02 -7.54954065e-04 9.99643128e-01 -9.99484424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.602414036999999 meters 0.07439223264006653 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.54, Z:-0.10 [[ 9.99172113e-01 2.96041423e-02 -2.79048806e-02 9.48669771e+00] [-2.95690588e-02 9.99561346e-01 1.66914938e-03 -5.42466659e-01] [ 2.79420538e-02 -8.42646459e-04 9.99609189e-01 -1.01735107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.632414036999998 meters 0.07434933996759109 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.55, Z:-0.10 [[ 9.99223033e-01 2.83300736e-02 -2.73995870e-02 9.51502080e+00] [-2.82959611e-02 9.99598257e-01 1.63199991e-03 -5.46068400e-01] [ 2.74348141e-02 -8.55434251e-04 9.99623229e-01 -1.01624741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.662414037 meters 0.07426384203388675 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.55, Z:-0.10 [[ 9.99232594e-01 2.77058911e-02 -2.76876731e-02 9.54366512e+00] [-2.76710062e-02 9.99615735e-01 1.64236969e-03 -5.48607052e-01] [ 2.77225370e-02 -8.74963549e-04 9.99615274e-01 -1.00930044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.692414036999999 meters 0.07482013553014555 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.55, Z:-0.10 [[ 9.99305748e-01 2.62377949e-02 -2.64499379e-02 9.57156205e+00] [-2.62055027e-02 9.99655349e-01 1.56682948e-03 -5.54399838e-01] [ 2.64819320e-02 -8.72607785e-04 9.99648911e-01 -1.01299095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.722414036999998 meters 0.07436779833447413 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.56, Z:-0.10 [[ 9.99346516e-01 2.54166903e-02 -2.57008418e-02 9.59941898e+00] [-2.53861221e-02 9.99676572e-01 1.51501537e-03 -5.56967125e-01] [ 2.57310361e-02 -8.61580620e-04 9.99668531e-01 -9.92019020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.752414037 meters 0.07458062463688869 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.56, Z:-0.10 [[ 9.99421283e-01 2.35650066e-02 -2.45313846e-02 9.62806785e+00] [-2.35367473e-02 9.99721935e-01 1.44010308e-03 -5.62828211e-01] [ 2.45584993e-02 -8.61880669e-04 9.99698023e-01 -9.94303004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.782414036999999 meters 0.07621088140590059 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.58, Z:-0.10 [[ 9.99482413e-01 1.95912458e-02 -2.55164374e-02 9.65664603e+00] [-1.95593819e-02 9.99807575e-01 1.49776738e-03 -5.78059318e-01] [ 2.55408705e-02 -9.97906415e-04 9.99673281e-01 -1.04939253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.812414037 meters 0.07538690808248576 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.58, Z:-0.10 [[ 9.99476255e-01 1.76996572e-02 -2.70913001e-02 9.68616591e+00] [-1.76630700e-02 9.99842733e-01 1.58924198e-03 -5.78638017e-01] [ 2.71151685e-02 -1.10989409e-03 9.99631700e-01 -1.01689547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.842414037 meters 0.07723136576831717 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.59, Z:-0.10 [[ 9.99559517e-01 1.30573549e-02 -2.66510397e-02 9.71491411e+00] [-1.30203254e-02 9.99914011e-01 1.56248932e-03 -5.88608606e-01] [ 2.66691500e-02 -1.21479586e-03 9.99643577e-01 -1.03270229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.872414036999999 meters 0.07741610930568506 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.59, Z:-0.10 [[ 9.99581087e-01 1.04411756e-02 -2.69931858e-02 9.74447843e+00] [-1.04022617e-02 9.99944644e-01 1.58164389e-03 -5.92037420e-01] [ 2.70082057e-02 -1.30019114e-03 9.99634366e-01 -1.02238698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.902414037 meters 0.07761266269116025 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.60, Z:-0.10 [[ 9.99594119e-01 7.87395349e-03 -2.73787905e-02 9.77381573e+00] [-7.83298457e-03 9.99968036e-01 1.60330326e-03 -5.95937470e-01] [ 2.73905397e-02 -1.38819486e-03 9.99623845e-01 -1.02649615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.932414037 meters 0.07899837512427761 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.61, Z:-0.10 [[ 9.99630801e-01 2.58778342e-03 -2.70474653e-02 9.80352392e+00] [-2.54587152e-03 9.99995505e-01 1.58388981e-03 -6.08223771e-01] [ 2.70514425e-02 -1.51444567e-03 9.99632896e-01 -1.04607908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.962414036999999 meters 0.07995319698314711 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.62, Z:-0.11 [[ 9.99657376e-01 2.80820258e-04 -2.61734875e-02 9.83194179e+00] [-2.40822283e-04 9.99998799e-01 1.53132628e-03 -6.15118513e-01] [ 2.61738860e-02 -1.52449845e-03 9.99656243e-01 -1.05838514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.992414037 meters 0.08032339883917461 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.62, Z:-0.11 [[ 9.99677575e-01 -2.11258274e-03 -2.53038083e-02 9.86146776e+00] [ 2.15070870e-03 9.99996593e-01 1.47960821e-03 -6.19011758e-01] [ 2.53005963e-02 -1.53355227e-03 9.99678712e-01 -1.05095962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.022414036999999 meters 0.0812496886123187 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.63, Z:-0.11 [[ 9.99637866e-01 -5.66007334e-03 -2.63078203e-02 9.89191181e+00] [ 5.70250707e-03 9.99982557e-01 1.53822642e-03 -6.25116941e-01] [ 2.62986550e-02 -1.68768990e-03 9.99652706e-01 -1.05883227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.052414036999998 meters 0.08005751687036945 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.62, Z:-0.10 [[ 9.99620303e-01 -6.94348427e-03 -2.66652842e-02 9.92177654e+00] [ 6.98750833e-03 9.99974373e-01 1.55816325e-03 -6.24253630e-01] [ 2.66537818e-02 -1.74389552e-03 9.99643204e-01 -1.04494113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.082414037 meters 0.08329168158491937 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.64, Z:-0.11 [[ 9.99597601e-01 -9.50686899e-03 -2.67255568e-02 9.95024907e+00] [ 9.55197959e-03 9.99953161e-01 1.56076031e-03 -6.35182465e-01] [ 2.67094671e-02 -1.81541424e-03 9.99641590e-01 -1.06332370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.112414036999999 meters 0.08410151944971368 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.64, Z:-0.11 [[ 9.99568485e-01 -1.08728528e-02 -2.72878100e-02 9.97811678e+00] [ 1.09203306e-02 9.99939105e-01 1.59146812e-03 -6.39161051e-01] [ 2.72688445e-02 -1.88877328e-03 9.99626352e-01 -1.06392207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.142414036999998 meters 0.08449921939453786 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.64, Z:-0.11 [[ 9.99547995e-01 -1.17455470e-02 -2.76739559e-02 1.00065229e+01] [ 1.17945309e-02 9.99929150e-01 1.60746398e-03 -6.42314367e-01] [ 2.76531147e-02 -1.93313873e-03 9.99615710e-01 -1.07383167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.172414037 meters 0.08100110416030125 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.64, Z:-0.10 [[ 9.99492816e-01 -1.37531329e-02 -2.87221663e-02 1.00370994e+01] [ 1.38067170e-02 9.99903291e-01 1.66810570e-03 -6.35279440e-01] [ 2.86964470e-02 -2.06381849e-03 9.99586042e-01 -1.03691668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.202414036999999 meters 0.08660197798939974 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.65, Z:-0.11 [[ 9.99500785e-01 -1.42039601e-02 -2.82210609e-02 1.00637591e+01] [ 1.42557604e-02 9.99897044e-01 1.63515868e-03 -6.48948361e-01] [ 2.81949297e-02 -2.03665507e-03 9.99600369e-01 -1.08987296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.232414037 meters 0.08188646562089524 Centerline is valid? [True, True] Translation: X:10.09, Y:-0.64, Z:-0.10 [[ 9.99492285e-01 -1.54145339e-02 -2.78848401e-02 1.00930895e+01] [ 1.54653817e-02 9.99879110e-01 1.60873157e-03 -6.38775388e-01] [ 2.78566712e-02 -2.03916448e-03 9.99609848e-01 -1.04868705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.262414037 meters 0.08213755044801122 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.64, Z:-0.11 [[ 9.99504936e-01 -1.60044690e-02 -2.70876166e-02 1.01212322e+01] [ 1.60524586e-02 9.99869942e-01 1.55510870e-03 -6.40947524e-01] [ 2.70592050e-02 -1.98916167e-03 9.99631854e-01 -1.05820718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.292414036999999 meters 0.08485099247534872 Centerline is valid? [True, True] Translation: X:10.15, Y:-0.65, Z:-0.11 [[ 9.99462771e-01 -1.85509257e-02 -2.70191059e-02 1.01497619e+01] [ 1.85995962e-02 9.99825809e-01 1.55111009e-03 -6.47434339e-01] [ 2.69856249e-02 -2.05282125e-03 9.99633714e-01 -1.07824177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.322414037 meters 0.08423386436371497 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.65, Z:-0.11 [[ 9.99436906e-01 -1.96876140e-02 -2.71711200e-02 1.01786360e+01] [ 1.97370675e-02 9.99803999e-01 1.55306139e-03 -6.45650714e-01] [ 2.71352184e-02 -2.08846510e-03 9.99629591e-01 -1.06088106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.352414036999999 meters 0.0844011444536568 Centerline is valid? [True, True] Translation: X:10.21, Y:-0.64, Z:-0.11 [[ 9.99355679e-01 -2.11994522e-02 -2.89622154e-02 1.02088570e+01] [ 2.12562681e-02 9.99772690e-01 1.65522079e-03 -6.41810432e-01] [ 2.89205422e-02 -2.26978291e-03 9.99579137e-01 -1.05230295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.382414036999998 meters 0.08552846539879529 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.64, Z:-0.11 [[ 9.99312159e-01 -2.14697369e-02 -3.02367230e-02 1.02365406e+01] [ 2.15317085e-02 9.99766677e-01 1.72540496e-03 -6.44099789e-01] [ 3.01926241e-02 -2.37526646e-03 9.99541277e-01 -1.07037406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.412414037 meters 0.08620170653304084 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.65, Z:-0.11 [[ 9.99256519e-01 -2.20259356e-02 -3.16428205e-02 1.02656429e+01] [ 2.20940360e-02 9.99754269e-01 1.80408541e-03 -6.46085206e-01] [ 3.15953082e-02 -2.50186172e-03 9.99497612e-01 -1.08906140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.442414036999999 meters 0.08545768092371268 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.65, Z:-0.11 [[ 9.99317666e-01 -2.25873903e-02 -2.92234947e-02 1.02948104e+01] [ 2.26454982e-02 9.99742181e-01 1.65892461e-03 -6.45007418e-01] [ 2.91784896e-02 -2.31957327e-03 9.99571526e-01 -1.07862405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.472414036999998 meters 0.08502818124174961 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.64, Z:-0.11 [[ 9.99356729e-01 -2.27652961e-02 -2.77104635e-02 1.03241633e+01] [ 2.28174370e-02 9.99738421e-01 1.56684572e-03 -6.44290666e-01] [ 2.76675453e-02 -2.19811957e-03 9.99614763e-01 -1.06692314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.502414037 meters 0.08675306459159378 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.65, Z:-0.11 [[ 9.99367752e-01 -2.32095138e-02 -2.69335325e-02 1.03514641e+01] [ 2.32588735e-02 9.99728319e-01 1.52077655e-03 -6.47234188e-01] [ 2.68909187e-02 -2.14625867e-03 9.99636070e-01 -1.07004227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.532414036999999 meters 0.08581163583003201 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.64, Z:-0.11 [[ 9.99311299e-01 -2.31043069e-02 -2.90364891e-02 1.03806626e+01] [ 2.31614301e-02 9.99730405e-01 1.63245347e-03 -6.40980070e-01] [ 2.89909443e-02 -2.30385581e-03 9.99577019e-01 -1.05823426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.562414036999998 meters 0.08305991355574546 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.63, Z:-0.10 [[ 9.99320080e-01 -2.22352495e-02 -2.94103804e-02 1.04102036e+01] [ 2.22932822e-02 9.99750118e-01 1.64674038e-03 -6.33937330e-01] [ 2.93664156e-02 -2.30127463e-03 9.99566065e-01 -1.04235739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.592414037 meters 0.08473326891095471 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.64, Z:-0.11 [[ 9.99397326e-01 -1.82541666e-02 -2.95257401e-02 1.04396551e+01] [ 1.83109180e-02 9.99830975e-01 1.65283701e-03 -6.37379190e-01] [ 2.94905784e-02 -2.19248430e-03 9.99562654e-01 -1.08886324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.622414036999999 meters 0.08482429335192027 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.64, Z:-0.11 [[ 9.99408171e-01 -1.64147825e-02 -3.02301698e-02 1.04680276e+01] [ 1.64733918e-02 9.99862875e-01 1.69072158e-03 -6.38259275e-01] [ 3.01982717e-02 -2.18771439e-03 9.99541534e-01 -1.10610687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.652414037 meters 0.08482429335192027 Centerline is valid? [True, True] Translation: X:10.50, Y:-0.64, Z:-0.11 [[ 9.99403745e-01 -1.66812093e-02 -3.02306335e-02 1.04954834e+01] [ 1.67396898e-02 9.99858466e-01 1.68241104e-03 -6.39679552e-01] [ 3.01982902e-02 -2.18745933e-03 9.99541534e-01 -1.10643178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.682414037 meters 0.08442420957174146 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.64, Z:-0.11 [[ 9.99446427e-01 -1.44268944e-02 -2.99783915e-02 1.05258462e+01] [ 1.44833878e-02 9.99893719e-01 1.66816906e-03 -6.39157856e-01] [ 2.99511389e-02 -2.10143427e-03 9.99549155e-01 -1.10997281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.712414036999999 meters 0.08317407402168968 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.63, Z:-0.11 [[ 9.99564866e-01 -9.75738831e-03 -2.78365141e-02 1.05551246e+01] [ 9.80425656e-03 9.99950739e-01 1.54770581e-03 -6.31734460e-01] [ 2.78200412e-02 -1.81994867e-03 9.99611291e-01 -1.08163164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.742414037 meters 0.08097457321667681 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.62, Z:-0.11 [[ 9.99617289e-01 -6.87316652e-03 -2.67961652e-02 1.05859072e+01] [ 6.91555297e-03 9.99974978e-01 1.48945844e-03 -6.24537075e-01] [ 2.67852574e-02 -1.67419871e-03 9.99639809e-01 -1.05330887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.772414036999999 meters 0.08029163884329714 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.62, Z:-0.10 [[ 9.99624904e-01 -4.08796242e-03 -2.70802478e-02 1.06156155e+01] [ 4.13020931e-03 9.99990339e-01 1.50431270e-03 -6.21349532e-01] [ 2.70738366e-02 -1.61559553e-03 9.99632131e-01 -1.04813723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.802414036999998 meters 0.07964950376003374 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.62, Z:-0.11 [[ 9.99603407e-01 5.16453840e-04 -2.81560242e-02 1.06463897e+01] [-4.72605062e-04 9.99998665e-01 1.56398220e-03 -6.17955798e-01] [ 2.81567943e-02 -1.55005526e-03 9.99602317e-01 -1.06635653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.832414037 meters 0.07932802214380247 Centerline is valid? [True, True] Translation: X:10.68, Y:-0.62, Z:-0.11 [[ 9.99589315e-01 2.75052383e-03 -2.85243218e-02 1.06759084e+01] [-2.70645495e-03 9.99995084e-01 1.58345102e-03 -6.17862712e-01] [ 2.85285369e-02 -1.50560093e-03 9.99591845e-01 -1.07815911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.862414036999999 meters 0.07844309219683765 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.61, Z:-0.11 [[ 9.99567028e-01 6.81972044e-03 -2.86225165e-02 1.07060850e+01] [-6.77702435e-03 9.99975774e-01 1.58843979e-03 -6.13543424e-01] [ 2.86326558e-02 -1.39377654e-03 9.99589030e-01 -1.09415172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.892414036999998 meters 0.07802521968645705 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.61, Z:-0.11 [[ 9.99529653e-01 8.36625562e-03 -2.95038656e-02 1.07349119e+01] [-8.32177327e-03 9.99964045e-01 1.63014783e-03 -6.11725590e-01] [ 2.95164430e-02 -1.38385661e-03 9.99563337e-01 -1.10357734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.922414037 meters 0.07814195995697135 Centerline is valid? [True, True] Translation: X:10.76, Y:-0.61, Z:-0.11 [[ 9.99490368e-01 9.99535601e-03 -3.03166173e-02 1.07627127e+01] [-9.94920667e-03 9.99949106e-01 1.67271567e-03 -6.11100898e-01] [ 3.03317937e-02 -1.37023691e-03 9.99538946e-01 -1.11401151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.952414036999999 meters 0.07752181844234167 Centerline is valid? [True, True] Translation: X:10.79, Y:-0.61, Z:-0.11 [[ 9.99432859e-01 1.27571727e-02 -3.11643198e-02 1.07920592e+01] [-1.27099595e-02 9.99917759e-01 1.71261076e-03 -6.06502984e-01] [ 3.11836049e-02 -1.31554223e-03 9.99512807e-01 -1.10962682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.982414037 meters 0.07727109568181349 Centerline is valid? [True, True] Translation: X:10.82, Y:-0.61, Z:-0.11 [[ 9.99429863e-01 1.37267323e-02 -3.08467972e-02 1.08210592e+01] [-1.36811596e-02 9.99904984e-01 1.68797527e-03 -6.06242154e-01] [ 3.08670367e-02 -1.26499294e-03 9.99522699e-01 -1.10878869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.012414037 meters 0.07766612192275807 Centerline is valid? [True, True] Translation: X:10.85, Y:-0.61, Z:-0.11 [[ 9.99460917e-01 1.45734495e-02 -2.94191945e-02 1.08492917e+01] [-1.45324166e-02 9.99893106e-01 1.60810531e-03 -6.09004063e-01] [ 2.94394854e-02 -1.17970641e-03 9.99565868e-01 -1.12207574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.042414036999999 meters 0.07621537297583098 Centerline is valid? [True, True] Translation: X:10.88, Y:-0.61, Z:-0.11 [[ 9.99464376e-01 1.49926045e-02 -2.90892153e-02 1.08786407e+01] [-1.49528753e-02 9.99886947e-01 1.58283007e-03 -6.05471141e-01] [ 2.91096574e-02 -1.14701486e-03 9.99575566e-01 -1.08140843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.072414037 meters 0.07625762953857382 Centerline is valid? [True, True] Translation: X:10.91, Y:-0.61, Z:-0.11 [[ 9.99521479e-01 1.42107544e-02 -2.74748630e-02 1.09068741e+01] [-1.41752014e-02 9.99898419e-01 1.48836337e-03 -6.07766459e-01] [ 2.74932229e-02 -1.09818944e-03 9.99621387e-01 -1.08021456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.102414036999999 meters 0.0772548395670084 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.61, Z:-0.11 [[ 9.99593946e-01 1.24369423e-02 -2.56371986e-02 1.09346801e+01] [-1.24054571e-02 9.99922088e-01 1.38679458e-03 -6.13920351e-01] [ 2.56524486e-02 -1.06819030e-03 9.99670351e-01 -1.07871573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.132414036999998 meters 0.07621740999780137 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.61, Z:-0.10 [[ 9.99599838e-01 1.08999885e-02 -2.61027459e-02 1.09637908e+01] [-1.08669984e-02 9.99939965e-01 1.40538002e-03 -6.11693186e-01] [ 2.61164974e-02 -1.12115915e-03 9.99658277e-01 -1.04743791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.162414037 meters 0.07760178188341799 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.62, Z:-0.11 [[ 9.99573256e-01 1.01992815e-02 -2.73729831e-02 1.09909420e+01] [-1.01627987e-02 9.99947275e-01 1.47159376e-03 -6.18971898e-01] [ 2.73865490e-02 -1.19277965e-03 9.99624206e-01 -1.08767933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.192414036999999 meters 0.07766412051019987 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.62, Z:-0.11 [[ 9.99492103e-01 8.23270456e-03 -3.07857010e-02 1.10206309e+01] [-8.18564032e-03 9.99965128e-01 1.65448941e-03 -6.21454858e-01] [ 3.07982484e-02 -1.40164843e-03 9.99524639e-01 -1.09878563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.222414036999998 meters 0.07716442530129841 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.62, Z:-0.11 [[ 9.99521875e-01 6.81535869e-03 -3.01591002e-02 1.10493326e+01] [-6.76977865e-03 9.99975784e-01 1.61317127e-03 -6.21826786e-01] [ 3.01693642e-02 -1.40822954e-03 9.99543809e-01 -1.08164309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.252414037 meters 0.07748452793900201 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.62, Z:-0.11 [[ 9.99498432e-01 5.47736766e-03 -3.11910703e-02 1.10783233e+01] [-5.42820040e-03 9.99983888e-01 1.66078350e-03 -6.24831626e-01] [ 3.11996645e-02 -1.49063912e-03 9.99512060e-01 -1.08671115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.282414036999999 meters 0.07879415406049 Centerline is valid? [True, True] Translation: X:11.11, Y:-0.63, Z:-0.11 [[ 9.99559538e-01 2.66579111e-03 -2.95571071e-02 1.11062516e+01] [-2.62045550e-03 9.99995330e-01 1.57245986e-03 -6.33608840e-01] [ 2.95611610e-02 -1.49431417e-03 9.99561856e-01 -1.10898646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.312414036999998 meters 0.07874984030726108 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.64, Z:-0.11 [[ 9.99596417e-01 1.27960894e-03 -2.83789532e-02 1.11352103e+01] [-1.23745852e-03 9.99998105e-01 1.50278312e-03 -6.37479984e-01] [ 2.83808224e-02 -1.46705884e-03 9.99596107e-01 -1.09249427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.342414037 meters 0.07942534094881605 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.64, Z:-0.11 [[ 9.99689822e-01 -1.90235757e-03 -2.48322632e-02 1.11625648e+01] [ 1.93553033e-03 9.99997266e-01 1.31190626e-03 -6.44619050e-01] [ 2.48296996e-02 -1.35956293e-03 9.99690771e-01 -1.07614814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.372414036999999 meters 0.07973129277241185 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.65, Z:-0.11 [[ 9.99696732e-01 -3.32655669e-03 -2.44003525e-02 1.11915341e+01] [ 3.35886459e-03 9.99993536e-01 1.28320974e-03 -6.48044861e-01] [ 2.43959261e-02 -1.36477806e-03 9.99701444e-01 -1.06550932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.402414037 meters 0.07938754386293595 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.65, Z:-0.10 [[ 9.99682573e-01 -5.01753556e-03 -2.46896395e-02 1.12212759e+01] [ 5.05111336e-03 9.99986401e-01 1.29781838e-03 -6.48659472e-01] [ 2.46827919e-02 -1.42211659e-03 9.99694322e-01 -1.04934274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.432414037 meters 0.0795849667374794 Centerline is valid? [True, True] Translation: X:11.25, Y:-0.65, Z:-0.10 [[ 9.99671236e-01 -6.54745465e-03 -2.47901431e-02 1.12503925e+01] [ 6.58174295e-03 9.99977493e-01 1.30180071e-03 -6.51249998e-01] [ 2.47810617e-02 -1.46453508e-03 9.99691830e-01 -1.04332271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.462414036999999 meters 0.08035780237363163 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.66, Z:-0.11 [[ 9.99642208e-01 -8.75213071e-03 -2.52755982e-02 1.12791498e+01] [ 8.78844490e-03 9.99960502e-01 1.32600036e-03 -6.55971387e-01] [ 2.52629945e-02 -1.54765913e-03 9.99679642e-01 -1.05128008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.492414037 meters 0.0819174593231008 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.66, Z:-0.11 [[ 9.99510592e-01 -1.28902645e-02 -2.85029479e-02 1.13081435e+01] [ 1.29381205e-02 9.99915181e-01 1.49518779e-03 -6.64641790e-01] [ 2.84812569e-02 -1.86323061e-03 9.99592590e-01 -1.09213475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.522414036999999 meters 0.08324608755554981 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.67, Z:-0.11 [[ 9.99440822e-01 -1.48080081e-02 -2.99794281e-02 1.13374717e+01] [ 1.48617937e-02 9.99888322e-01 1.57204431e-03 -6.70139824e-01] [ 2.99528012e-02 -2.01671334e-03 9.99549280e-01 -1.11669468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.552414036999998 meters 0.08488121359340192 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.68, Z:-0.11 [[ 9.99382324e-01 -1.92800700e-02 -2.93810954e-02 1.13678553e+01] [ 1.93336482e-02 9.99811901e-01 1.54054099e-03 -6.77542667e-01] [ 2.93458671e-02 -2.10763319e-03 9.99567095e-01 -1.12331805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.582414037 meters 0.08622419471199338 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.68, Z:-0.11 [[ 9.99339035e-01 -2.21743781e-02 -2.88060727e-02 1.13978413e+01] [ 2.22270602e-02 9.99751808e-01 1.50990025e-03 -6.82448906e-01] [ 2.87654422e-02 -2.14917657e-03 9.99583879e-01 -1.11880889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.612414036999999 meters 0.08749821300895815 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.69, Z:-0.11 [[ 9.99335012e-01 -2.43822331e-02 -2.71116436e-02 1.14258061e+01] [ 2.44296551e-02 9.99700544e-01 1.41924300e-03 -6.86810396e-01] [ 2.70689206e-02 -2.08062733e-03 9.99631404e-01 -1.09794155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.642414036999998 meters 0.08825210099918868 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.69, Z:-0.11 [[ 9.99330939e-01 -2.47676696e-02 -2.69116435e-02 1.14536801e+01] [ 2.48144739e-02 9.99691084e-01 1.40656603e-03 -6.88743302e-01] [ 2.68684927e-02 -2.07342323e-03 9.99636827e-01 -1.09986433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.672414037 meters 0.08767941844529772 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.69, Z:-0.11 [[ 9.99290816e-01 -2.57659542e-02 -2.74587101e-02 1.14836502e+01] [ 2.58150329e-02 9.99665708e-01 1.43431461e-03 -6.88405177e-01] [ 2.74125744e-02 -2.14214492e-03 9.99621910e-01 -1.09840036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.702414036999999 meters 0.08871536321624632 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.69, Z:-0.11 [[ 9.99203061e-01 -2.77718082e-02 -2.86700191e-02 1.15136062e+01] [ 2.78261219e-02 9.99611657e-01 1.49713859e-03 -6.93301490e-01] [ 2.86173071e-02 -2.29372090e-03 9.99587809e-01 -1.11332471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.732414037 meters 0.08908704965502598 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.70, Z:-0.11 [[ 9.99140126e-01 -2.92728062e-02 -2.93617422e-02 1.15430041e+01] [ 2.93303885e-02 9.99568597e-01 1.53227505e-03 -6.95941196e-01] [ 2.93042215e-02 -2.39214879e-03 9.99567677e-01 -1.11812632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.762414037 meters 0.09002360237176024 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.70, Z:-0.11 [[ 9.99117374e-01 -3.03471081e-02 -2.90435058e-02 1.15714356e+01] [ 3.04036997e-02 9.99536562e-01 1.50878779e-03 -6.99239117e-01] [ 2.89842586e-02 -2.39048613e-03 9.99577010e-01 -1.12601144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.792414036999999 meters 0.09079036602150901 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.70, Z:-0.11 [[ 9.99073502e-01 -3.17146420e-02 -2.90915541e-02 1.16009229e+01] [ 3.17719760e-02 9.99494002e-01 1.51057093e-03 -6.99463339e-01] [ 2.90289266e-02 -2.43346755e-03 9.99575610e-01 -1.12593530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.822414037 meters 0.0852096673824112 Centerline is valid? [True, True] Translation: X:11.63, Y:-0.69, Z:-0.11 [[ 9.99054352e-01 -3.26639099e-02 -2.86961686e-02 1.16303056e+01] [ 3.27198744e-02 9.99463462e-01 1.48272056e-03 -6.86696635e-01] [ 2.86323406e-02 -2.42025346e-03 9.99587080e-01 -1.07763870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.852414036999999 meters 0.08557750080827986 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.69, Z:-0.11 [[ 9.99059666e-01 -3.42679629e-02 -2.65610811e-02 1.16590952e+01] [ 3.43162950e-02 9.99410089e-01 1.36584440e-03 -6.88595122e-01] [ 2.64986077e-02 -2.27603794e-03 9.99646259e-01 -1.06865709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.882414036999998 meters 0.08717395977540696 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.69, Z:-0.11 [[ 9.99029449e-01 -3.49772903e-02 -2.67721589e-02 1.16867803e+01] [ 3.50265894e-02 9.99385435e-01 1.37455555e-03 -6.94800240e-01] [ 2.67076274e-02 -2.31095889e-03 9.99640616e-01 -1.07663031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.912414037 meters 0.08646864296298717 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.70, Z:-0.11 [[ 9.98982483e-01 -3.60088640e-02 -2.71543719e-02 1.17157064e+01] [ 3.60597741e-02 9.99348672e-01 1.38733695e-03 -6.95450296e-01] [ 2.70867290e-02 -2.36510582e-03 9.99630289e-01 -1.07668509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.942414036999999 meters 0.08728059071344464 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.70, Z:-0.11 [[ 9.98933368e-01 -3.66349464e-02 -2.81070727e-02 1.17427361e+01] [ 3.66896227e-02 9.99325683e-01 1.43186417e-03 -6.98718954e-01] [ 2.80356633e-02 -2.46157478e-03 9.99603893e-01 -1.09761505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.972414036999998 meters 0.0882369720861165 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.70, Z:-0.11 [[ 9.98818789e-01 -3.74272015e-02 -3.09875987e-02 1.17709217e+01] [ 3.74939812e-02 9.99295610e-01 1.57659347e-03 -6.98815066e-01] [ 3.09067639e-02 -2.73657963e-03 9.99518526e-01 -1.11588963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.002414037 meters 0.08972293566533376 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.70, Z:-0.11 [[ 9.98833342e-01 -3.70949029e-02 -3.09179991e-02 1.17991598e+01] [ 3.71609914e-02 9.99308066e-01 1.56548201e-03 -7.01086216e-01] [ 3.08385345e-02 -2.71259913e-03 9.99520698e-01 -1.13108951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.032414036999999 meters 0.08800214777704497 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.70, Z:-0.11 [[ 9.98918935e-01 -3.51270417e-02 -3.04475315e-02 1.18294271e+01] [ 3.51902182e-02 9.99379444e-01 1.54140074e-03 -6.95154965e-01] [ 3.03744922e-02 -2.61118966e-03 9.99535178e-01 -1.10859474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.062414036999998 meters 0.0893971436013865 Centerline is valid? [True, True] Translation: X:11.86, Y:-0.70, Z:-0.11 [[ 9.98992980e-01 -3.44106336e-02 -2.87912321e-02 1.18582048e+01] [ 3.44667967e-02 9.99404782e-01 1.45656068e-03 -6.98765178e-01] [ 2.87239738e-02 -2.44743544e-03 9.99584385e-01 -1.11104292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.092414037 meters 0.0884290444243627 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.70, Z:-0.11 [[ 9.99010887e-01 -3.45458637e-02 -2.79969801e-02 1.18875983e+01] [ 3.45988449e-02 9.99400286e-01 1.41003378e-03 -6.97128363e-01] [ 2.79314791e-02 -2.37730228e-03 9.99607013e-01 -1.10741589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.122414036999999 meters 0.0897719610800221 Centerline is valid? [True, True] Translation: X:11.91, Y:-0.70, Z:-0.11 [[ 9.98991355e-01 -3.45143886e-02 -2.87233305e-02 1.19148975e+01] [ 3.45700790e-02 9.99401232e-01 1.44438535e-03 -6.99572804e-01] [ 2.86562798e-02 -2.43589628e-03 9.99586356e-01 -1.14066424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.152414037 meters 0.09031117970486394 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.70, Z:-0.12 [[ 9.98925193e-01 -3.54472115e-02 -2.98655830e-02 1.19440120e+01] [ 3.55077922e-02 9.99368273e-01 1.50038032e-03 -7.00286196e-01] [ 2.97935318e-02 -2.55922861e-03 9.99552798e-01 -1.15250912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.182414037 meters 0.09036742130946027 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.70, Z:-0.11 [[ 9.98881571e-01 -3.74058698e-02 -2.89207081e-02 1.19738186e+01] [ 3.74634634e-02 9.99296943e-01 1.45196438e-03 -6.97373243e-01] [ 2.88460632e-02 -2.53381035e-03 9.99580654e-01 -1.13351873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.212414036999999 meters 0.08904256519046047 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.69, Z:-0.11 [[ 9.98846619e-01 -3.93476197e-02 -2.75171978e-02 1.20031936e+01] [ 3.94004481e-02 9.99222548e-01 1.38006785e-03 -6.93684106e-01] [ 2.74415021e-02 -2.46266603e-03 9.99620378e-01 -1.09775717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.242414037 meters 0.0899420255077494 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.70, Z:-0.11 [[ 9.98841778e-01 -4.07205248e-02 -2.56308743e-02 1.20322251e+01] [ 4.07666427e-02 9.99167876e-01 1.27914283e-03 -6.95102827e-01] [ 2.55574589e-02 -2.32254600e-03 9.99670657e-01 -1.08487151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.272414036999999 meters 0.09235142782002982 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.70, Z:-0.11 [[ 9.98689852e-01 -4.29058091e-02 -2.78867513e-02 1.20613227e+01] [ 4.29612433e-02 9.99075771e-01 1.39146479e-03 -6.98187065e-01] [ 2.78012756e-02 -2.58769127e-03 9.99610120e-01 -1.10906703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.302414036999998 meters 0.09169715840320489 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.70, Z:-0.11 [[ 9.98602818e-01 -4.40858589e-02 -2.91350291e-02 1.20908329e+01] [ 4.41468021e-02 9.99024000e-01 1.45151497e-03 -6.97689581e-01] [ 2.90426021e-02 -2.73570530e-03 9.99574431e-01 -1.11914918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.332414037 meters 0.09281888510844812 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.70, Z:-0.11 [[ 9.98430941e-01 -4.63162849e-02 -3.14715546e-02 1.21211688e+01] [ 4.63885007e-02 9.98922243e-01 1.56799351e-03 -6.99211065e-01] [ 3.13650123e-02 -3.02545146e-03 9.99503418e-01 -1.14848819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.362414036999999 meters 0.09390912349214026 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.70, Z:-0.12 [[ 9.98384919e-01 -4.70602996e-02 -3.18257931e-02 1.21495235e+01] [ 4.71344729e-02 9.98887297e-01 1.58398205e-03 -7.00301139e-01] [ 3.17158378e-02 -3.08151577e-03 9.99492176e-01 -1.16154380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.392414036999998 meters 0.09482265912905172 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.70, Z:-0.12 [[ 9.98387931e-01 -4.76469072e-02 -3.08433446e-02 1.21770063e+01] [ 4.77165850e-02 9.98859748e-01 1.52657995e-03 -7.00795819e-01] [ 3.07354386e-02 -2.99585807e-03 9.99523065e-01 -1.15641313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.422414037 meters 0.09057484774225562 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.69, Z:-0.11 [[ 9.98434321e-01 -4.85850982e-02 -2.77199262e-02 1.22068903e+01] [ 4.86417104e-02 9.98815350e-01 1.37126210e-03 -6.89894969e-01] [ 2.76204649e-02 -2.71745977e-03 9.99614788e-01 -1.09283766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.452414036999999 meters 0.09352187577995887 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.70, Z:-0.11 [[ 9.98505501e-01 -4.81553487e-02 -2.58423497e-02 1.22365346e+01] [ 4.82044071e-02 9.98836674e-01 1.27841966e-03 -6.96562552e-01] [ 2.57507239e-02 -2.52222421e-03 9.99665213e-01 -1.09743486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.482414037 meters 0.0915774230540019 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.69, Z:-0.11 [[ 9.98556164e-01 -4.68618302e-02 -2.62593838e-02 1.22673326e+01] [ 4.69120424e-02 9.98898179e-01 1.29905031e-03 -6.92165118e-01] [ 2.61695748e-02 -2.52905602e-03 9.99654319e-01 -1.08251526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.512414037 meters 0.09358655893559603 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.70, Z:-0.11 [[ 9.98586175e-01 -4.63264121e-02 -2.60674829e-02 1.22971542e+01] [ 4.63757120e-02 9.98923235e-01 1.28955698e-03 -6.95545608e-01] [ 2.59796738e-02 -2.49663186e-03 9.99659354e-01 -1.09232808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.542414036999999 meters 0.09358655893559603 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.70, Z:-0.11 [[ 9.98586175e-01 -4.63264121e-02 -2.60674829e-02 1.23272668e+01] [ 4.63757120e-02 9.98923235e-01 1.28955698e-03 -6.97035275e-01] [ 2.59796738e-02 -2.49663186e-03 9.99659354e-01 -1.09268420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.572414037 meters 0.0915054890358623 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.69, Z:-0.11 [[ 9.98588305e-01 -4.57326013e-02 -2.70171401e-02 1.23580203e+01] [ 4.57853450e-02 9.98950407e-01 1.33653648e-03 -6.92456629e-01] [ 2.69276599e-02 -2.57163878e-03 9.99634077e-01 -1.08307640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.602414036999999 meters 0.0936991603613617 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.70, Z:-0.11 [[ 9.98603596e-01 -4.49222796e-02 -2.78001149e-02 1.23875073e+01] [ 4.49778013e-02 9.98987041e-01 1.37477855e-03 -6.96588702e-01] [ 2.77101964e-02 -2.62324685e-03 9.99612557e-01 -1.10458168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.632414036999998 meters 0.09191847403707851 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.69, Z:-0.11 [[ 9.98620290e-01 -4.40749126e-02 -2.85467845e-02 1.24170957e+01] [ 4.41330871e-02 9.99024665e-01 1.41071806e-03 -6.92476558e-01] [ 2.84567646e-02 -2.66862941e-03 9.99591462e-01 -1.10528142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.662414037 meters 0.09152712751359975 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.69, Z:-0.11 [[ 9.98685139e-01 -4.14157609e-02 -3.02113949e-02 1.24471496e+01] [ 4.14797006e-02 9.99138232e-01 1.49249508e-03 -6.89755738e-01] [ 3.01235468e-02 -2.74369227e-03 9.99542417e-01 -1.12396796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.692414036999999 meters 0.09194661067270371 Centerline is valid? [True, True] Translation: X:12.48, Y:-0.69, Z:-0.11 [[ 9.98749831e-01 -4.02656276e-02 -2.96218522e-02 1.24764115e+01] [ 4.03265636e-02 9.99185483e-01 1.46236582e-03 -6.90291155e-01] [ 2.95388416e-02 -2.65508512e-03 9.99560107e-01 -1.13062975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.722414036999998 meters 0.09175129034286153 Centerline is valid? [True, True] Translation: X:12.51, Y:-0.69, Z:-0.11 [[ 9.98902555e-01 -3.77360028e-02 -2.77430994e-02 1.25062122e+01] [ 3.77884684e-02 9.99284823e-01 1.36908856e-03 -6.88584791e-01] [ 2.76715943e-02 -2.41595529e-03 9.99614149e-01 -1.12518929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.752414037 meters 0.0917001932375867 Centerline is valid? [True, True] Translation: X:12.54, Y:-0.69, Z:-0.11 [[ 9.98942707e-01 -3.65895978e-02 -2.78328983e-02 1.25351498e+01] [ 3.66419103e-02 9.99327518e-01 1.37165100e-03 -6.88402206e-01] [ 2.77639931e-02 -2.39005132e-03 9.99611649e-01 -1.11946274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.782414036999999 meters 0.09170349437555197 Centerline is valid? [True, True] Translation: X:12.56, Y:-0.69, Z:-0.11 [[ 9.98978055e-01 -3.65490919e-02 -2.65896381e-02 1.25638084e+01] [ 3.65966529e-02 9.99329267e-01 1.30411445e-03 -6.87959771e-01] [ 2.65241394e-02 -2.27587348e-03 9.99645582e-01 -1.10975717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.812414036999998 meters 0.0910913801132453 Centerline is valid? [True, True] Translation: X:12.59, Y:-0.69, Z:-0.11 [[ 9.98985350e-01 -3.64056499e-02 -2.65122292e-02 1.25937908e+01] [ 3.64528672e-02 9.99334528e-01 1.29967889e-03 -6.85438903e-01] [ 2.64472704e-02 -2.26480694e-03 9.99647644e-01 -1.11511645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.842414037 meters 0.09347869881456435 Centerline is valid? [True, True] Translation: X:12.62, Y:-0.69, Z:-0.11 [[ 9.98973674e-01 -3.65536410e-02 -2.67475164e-02 1.26226057e+01] [ 3.66017178e-02 9.99329074e-01 1.30988948e-03 -6.90289164e-01] [ 2.66816896e-02 -2.28755015e-03 9.99641363e-01 -1.13799042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.872414036999999 meters 0.09360752274536607 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.69, Z:-0.12 [[ 9.98930689e-01 -3.68899215e-02 -2.78677480e-02 1.26514576e+01] [ 3.69420626e-02 9.99316486e-01 1.35832324e-03 -6.90539547e-01] [ 2.77985916e-02 -2.38636286e-03 9.99610696e-01 -1.15683013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.902414037 meters 0.09547350008029643 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.69, Z:-0.12 [[ 9.98799428e-01 -3.82087387e-02 -3.06560596e-02 1.26802572e+01] [ 3.82724459e-02 9.99266225e-01 1.49383100e-03 -6.92045668e-01] [ 3.05764875e-02 -2.66531993e-03 9.99528876e-01 -1.19747007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.932414037 meters 0.09098728634265461 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.68, Z:-0.12 [[ 9.98761643e-01 -3.87809227e-02 -3.11644082e-02 1.27098824e+01] [ 3.88468049e-02 9.99244035e-01 1.51111319e-03 -6.82525156e-01] [ 3.10822467e-02 -2.71987958e-03 9.99513130e-01 -1.16973406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.962414036999999 meters 0.091092297261081 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.68, Z:-0.12 [[ 9.98783973e-01 -3.86234996e-02 -3.06398468e-02 1.27392524e+01] [ 3.86869069e-02 9.99250287e-01 1.47910342e-03 -6.81224892e-01] [ 3.05597476e-02 -2.66266569e-03 9.99529395e-01 -1.16332534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.992414037 meters 0.09237825229176024 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.68, Z:-0.12 [[ 9.98843456e-01 -3.71314538e-02 -3.05451484e-02 1.27681714e+01] [ 3.71937372e-02 9.99306988e-01 1.47322091e-03 -6.79628920e-01] [ 3.04692774e-02 -2.60760529e-03 9.99532302e-01 -1.17848145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.022414036999999 meters 0.0882421412343668 Centerline is valid? [True, True] Translation: X:12.80, Y:-0.67, Z:-0.12 [[ 9.98857884e-01 -3.64354664e-02 -3.09092978e-02 1.27977497e+01] [ 3.64986979e-02 9.99332599e-01 1.48378863e-03 -6.71115510e-01] [ 3.08346063e-02 -2.61024309e-03 9.99521092e-01 -1.15390004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.052414036999998 meters 0.08832804866655708 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.67, Z:-0.12 [[ 9.98928642e-01 -3.51281764e-02 -3.01260752e-02 1.28279684e+01] [ 3.51876440e-02 9.99379677e-01 1.44591780e-03 -6.71286766e-01] [ 3.00565948e-02 -2.50443431e-03 9.99545061e-01 -1.15997248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.082414037 meters 0.08800841154920432 Centerline is valid? [True, True] Translation: X:12.86, Y:-0.67, Z:-0.12 [[ 9.99010005e-01 -3.37471677e-02 -2.89851424e-02 1.28576033e+01] [ 3.38016083e-02 9.99427596e-01 1.39016811e-03 -6.70014980e-01] [ 2.89216369e-02 -2.36853628e-03 9.99578876e-01 -1.15339246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.112414036999999 meters 0.08768812058066174 Centerline is valid? [True, True] Translation: X:12.89, Y:-0.67, Z:-0.11 [[ 9.99055502e-01 -3.17854179e-02 -2.96275236e-02 1.28877423e+01] [ 3.18414287e-02 9.99491924e-01 1.42050588e-03 -6.67613411e-01] [ 2.95673192e-02 -2.36254690e-03 9.99559999e-01 -1.14152469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.142414036999998 meters 0.08613007589031417 Centerline is valid? [True, True] Translation: X:12.92, Y:-0.66, Z:-0.11 [[ 9.99223487e-01 -2.66634492e-02 -2.90083510e-02 1.29186444e+01] [ 2.67150022e-02 9.99642123e-01 1.39100141e-03 -6.58990086e-01] [ 2.89608807e-02 -2.16487944e-03 9.99578201e-01 -1.12556786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.172414037 meters 0.08482151495926281 Centerline is valid? [True, True] Translation: X:12.95, Y:-0.65, Z:-0.11 [[ 9.99283158e-01 -2.42351800e-02 -2.90830880e-02 1.29485898e+01] [ 2.42859469e-02 9.99704082e-01 1.39356998e-03 -6.54941455e-01] [ 2.90407083e-02 -2.09888134e-03 9.99576026e-01 -1.11251266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.202414036999999 meters 0.08439436712186942 Centerline is valid? [True, True] Translation: X:12.98, Y:-0.65, Z:-0.11 [[ 9.99329645e-01 -2.25213961e-02 -2.88625698e-02 1.29779959e+01] [ 2.25706568e-02 9.99744295e-01 1.38204010e-03 -6.54825898e-01] [ 2.88240640e-02 -2.03256080e-03 9.99582434e-01 -1.12094046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.232414036999998 meters 0.08226005757340746 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.65, Z:-0.11 [[ 9.99366200e-01 -2.05780328e-02 -2.90472500e-02 1.30076936e+01] [ 2.06270805e-02 9.99786273e-01 1.38988530e-03 -6.49940436e-01] [ 2.90124407e-02 -1.98816435e-03 9.99577073e-01 -1.12052669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.262414037 meters 0.0837957350009256 Centerline is valid? [True, True] Translation: X:13.04, Y:-0.65, Z:-0.11 [[ 9.99429662e-01 -1.92202958e-02 -2.77656308e-02 1.30368655e+01] [ 1.92645613e-02 9.99813540e-01 1.32761176e-03 -6.53862769e-01] [ 2.77349365e-02 -1.86174727e-03 9.99613579e-01 -1.12610994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.292414036999999 meters 0.08157324704012603 Centerline is valid? [True, True] Translation: X:13.07, Y:-0.64, Z:-0.11 [[ 9.99455722e-01 -1.69766790e-02 -2.82852002e-02 1.30674792e+01] [ 1.70217099e-02 9.99854206e-01 1.35199522e-03 -6.44611566e-01] [ 2.82581240e-02 -1.83272183e-03 9.99598979e-01 -1.10078685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.322414037 meters 0.08189171290197661 Centerline is valid? [True, True] Translation: X:13.10, Y:-0.64, Z:-0.11 [[ 9.99460000e-01 -1.63038279e-02 -2.85288379e-02 1.30967918e+01] [ 1.63491797e-02 9.99865422e-01 1.35713150e-03 -6.44709872e-01] [ 2.85028721e-02 -1.82282174e-03 9.99592049e-01 -1.11321333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.352414036999999 meters 0.08180259052766643 Centerline is valid? [True, True] Translation: X:13.12, Y:-0.65, Z:-0.11 [[ 9.99451664e-01 -1.49889369e-02 -2.95246090e-02 1.31245895e+01] [ 1.50368719e-02 9.99885957e-01 1.40219062e-03 -6.45125511e-01] [ 2.95002245e-02 -1.84537951e-03 9.99563070e-01 -1.11648332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.382414036999998 meters 0.08287561201844294 Centerline is valid? [True, True] Translation: X:13.15, Y:-0.65, Z:-0.11 [[ 9.99516281e-01 -1.17459148e-02 -2.87964681e-02 1.31537735e+01] [ 1.17901561e-02 9.99929559e-01 1.36702789e-03 -6.48850233e-01] [ 2.87783826e-02 -1.70588149e-03 9.99584361e-01 -1.14608949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.412414037 meters 0.08064257433839499 Centerline is valid? [True, True] Translation: X:13.18, Y:-0.64, Z:-0.11 [[ 9.99546567e-01 -9.78892013e-03 -2.84751994e-02 1.31834514e+01] [ 9.83136088e-03 9.99950759e-01 1.35082157e-03 -6.43414263e-01] [ 2.84605742e-02 -1.63015902e-03 9.99593587e-01 -1.12537118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.442414036999999 meters 0.07986337179574367 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.64, Z:-0.11 [[ 9.99532021e-01 -7.54405531e-03 -2.96449878e-02 1.32126600e+01] [ 7.58901266e-03 9.99970217e-01 1.40430276e-03 -6.40187823e-01] [ 2.96335107e-02 -1.62862176e-03 9.99559504e-01 -1.12285907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.472414036999998 meters 0.07942810073901137 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.64, Z:-0.11 [[ 9.99526076e-01 -5.95586602e-03 -3.02018436e-02 1.32419504e+01] [ 6.00169926e-03 9.99980971e-01 1.42713872e-03 -6.37428796e-01] [ 3.01927690e-02 -1.60772474e-03 9.99542801e-01 -1.12507234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.502414037 meters 0.07977743286601433 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.64, Z:-0.11 [[ 9.99536587e-01 -2.22075651e-03 -3.03591904e-02 1.32709578e+01] [ 2.26532331e-03 9.99996406e-01 1.43366789e-03 -6.35916441e-01] [ 3.03558975e-02 -1.50177689e-03 9.99538025e-01 -1.14904622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.532414036999999 meters 0.07871182468588879 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.63, Z:-0.11 [[ 9.99526645e-01 -1.18972904e-03 -3.07419968e-02 1.33000619e+01] [ 1.23471467e-03 9.99998195e-01 1.44438624e-03 -6.32985525e-01] [ 3.07402228e-02 -1.48166013e-03 9.99526310e-01 -1.13583890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.562414036999998 meters 0.08754982348471649 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.66, Z:-0.13 [[ 9.99682540e-01 3.49526700e-04 -2.51932075e-02 1.33286875e+01] [-3.19815056e-04 9.99999249e-01 1.18337095e-03 -6.56300359e-01] [ 2.51936022e-02 -1.17493811e-03 9.99681900e-01 -1.25611036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.592414037 meters 0.07755688554812833 Centerline is valid? [True, True] Translation: X:13.36, Y:-0.63, Z:-0.11 [[ 9.99591242e-01 4.32967120e-04 -2.85860239e-02 1.33589763e+01] [-3.94945401e-04 9.99999030e-01 1.33571346e-03 -6.30661545e-01] [ 2.85865745e-02 -1.32387755e-03 9.99590444e-01 -1.11345445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.622414036999999 meters 0.07835813212577009 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.63, Z:-0.11 [[ 9.99600328e-01 4.82741441e-04 -2.82657118e-02 1.33870404e+01] [-4.45649271e-04 9.99999031e-01 1.31855218e-03 -6.34139135e-01] [ 2.82663209e-02 -1.30542860e-03 9.99599575e-01 -1.12711362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.652414037 meters 0.07790561280766325 Centerline is valid? [True, True] Translation: X:13.42, Y:-0.63, Z:-0.11 [[ 9.99602241e-01 -1.77516363e-04 -2.82015766e-02 1.34163230e+01] [ 2.14511812e-04 9.99999121e-01 1.30880203e-03 -6.32520470e-01] [ 2.82013194e-02 -1.31433101e-03 9.99601400e-01 -1.11650753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.682414037 meters 0.07833235928461095 Centerline is valid? [True, True] Translation: X:13.45, Y:-0.63, Z:-0.11 [[ 9.99607710e-01 -1.02109443e-03 -2.79889996e-02 1.34453227e+01] [ 1.05768242e-03 9.99998605e-01 1.29245396e-03 -6.34938468e-01] [ 2.79876408e-02 -1.32155041e-03 9.99607396e-01 -1.12307503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.712414036999999 meters 0.0786161299309873 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.64, Z:-0.11 [[ 9.99575444e-01 -1.81197156e-03 -2.90800256e-02 1.34743357e+01] [ 1.85160659e-03 9.99997393e-01 1.33609372e-03 -6.37123351e-01] [ 2.90775289e-02 -1.38937124e-03 9.99576194e-01 -1.13788566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.742414037 meters 0.07856919385554584 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.64, Z:-0.11 [[ 9.99538162e-01 -2.50221227e-03 -3.02853426e-02 1.35025199e+01] [ 2.54544788e-03 9.99995795e-01 1.38913891e-03 -6.38696338e-01] [ 3.02817394e-02 -1.46558711e-03 9.99540329e-01 -1.13825606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.772414036999999 meters 0.07866399492738532 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.64, Z:-0.11 [[ 9.99558156e-01 -2.38807625e-03 -2.96275070e-02 1.35307858e+01] [ 2.42919446e-03 9.99996136e-01 1.35192317e-03 -6.39827724e-01] [ 2.96241640e-02 -1.42329681e-03 9.99560095e-01 -1.13778125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.802414036999998 meters 0.07795155327492556 Centerline is valid? [True, True] Translation: X:13.56, Y:-0.64, Z:-0.11 [[ 9.99593503e-01 -1.04272426e-03 -2.84910894e-02 1.35593873e+01] [ 1.08015348e-03 9.99998574e-01 1.29835781e-03 -6.40118502e-01] [ 2.84896949e-02 -1.32860478e-03 9.99593203e-01 -1.11205823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.832414037 meters 0.07861966372623785 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.64, Z:-0.11 [[ 9.99605555e-01 -1.46340216e-03 -2.80462778e-02 1.35863649e+01] [ 1.49969033e-03 9.99998065e-01 1.27287680e-03 -6.43730402e-01] [ 2.80443608e-02 -1.31443546e-03 9.99605815e-01 -1.12437482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.862414036999999 meters 0.07865061117375667 Centerline is valid? [True, True] Translation: X:13.61, Y:-0.65, Z:-0.11 [[ 9.99591257e-01 -1.31858767e-03 -2.85583787e-02 1.36136391e+01] [ 1.35600912e-03 9.99998247e-01 1.29102197e-03 -6.46668069e-01] [ 2.85566263e-02 -1.32921970e-03 9.99591293e-01 -1.12913632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.892414036999998 meters 0.07867381812847093 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.65, Z:-0.11 [[ 9.99560166e-01 -5.03631732e-04 -2.96516725e-02 1.36417084e+01] [ 5.43549522e-04 9.99998957e-01 1.33817893e-03 -6.48918623e-01] [ 2.96509677e-02 -1.35370751e-03 9.99559397e-01 -1.12730508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.922414037 meters 0.0779101455750614 Centerline is valid? [True, True] Translation: X:13.67, Y:-0.65, Z:-0.11 [[ 9.99597596e-01 3.60603385e-04 -2.83639911e-02 1.36707418e+01] [-3.24478049e-04 9.99999130e-01 1.27822609e-03 -6.48034456e-01] [ 2.83644274e-02 -1.26850824e-03 9.99596844e-01 -1.10440176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.952414036999999 meters 0.07832390171135437 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.65, Z:-0.11 [[ 9.99605093e-01 1.51493560e-03 -2.80599965e-02 1.36987761e+01] [-1.48021337e-03 9.99998113e-01 1.25815809e-03 -6.50736204e-01] [ 2.80618496e-02 -1.21612645e-03 9.99605449e-01 -1.11192013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.982414036999998 meters 0.0781760757328016 Centerline is valid? [True, True] Translation: X:13.73, Y:-0.65, Z:-0.11 [[ 9.99588768e-01 4.04803530e-03 -2.83885395e-02 1.37280218e+01] [-4.01359248e-03 9.99991139e-01 1.27014180e-03 -6.52257839e-01] [ 2.83934296e-02 -1.15567945e-03 9.99596157e-01 -1.12338866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.012414037 meters 0.07817402857112345 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.65, Z:-0.11 [[ 9.99552134e-01 4.92574938e-03 -2.95172689e-02 1.37564744e+01] [-4.88908934e-03 9.99987185e-01 1.31402993e-03 -6.54305360e-01] [ 2.95233633e-02 -1.16912886e-03 9.99563407e-01 -1.14112024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.042414036999999 meters 0.07762426223137535 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.65, Z:-0.12 [[ 9.99499787e-01 5.84708058e-03 -3.10803229e-02 1.37841276e+01] [-5.80712396e-03 9.99982192e-01 1.37570316e-03 -6.54515748e-01] [ 3.10878133e-02 -1.19452773e-03 9.99515943e-01 -1.15077291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.072414037 meters 0.07712398556700549 Centerline is valid? [True, True] Translation: X:13.81, Y:-0.65, Z:-0.12 [[ 9.99439391e-01 8.46761055e-03 -3.23914041e-02 1.38125159e+01] [-8.42581395e-03 9.99963485e-01 1.42664355e-03 -6.54064689e-01] [ 3.24023016e-02 -1.15291982e-03 9.99474243e-01 -1.15974637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.102414036999999 meters 0.07701599514267547 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.65, Z:-0.12 [[ 9.99450221e-01 9.30894533e-03 -3.18213650e-02 1.38411870e+01] [-9.26925621e-03 9.99956067e-01 1.39454077e-03 -6.53958209e-01] [ 3.18329487e-02 -1.09881369e-03 9.99492599e-01 -1.15615494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.132414036999998 meters 0.07726441976948313 Centerline is valid? [True, True] Translation: X:13.87, Y:-0.66, Z:-0.12 [[ 9.99453520e-01 1.09696906e-02 -3.11821676e-02 1.38687023e+01] [-1.09324584e-02 9.99939308e-01 1.36426832e-03 -6.57597422e-01] [ 3.11952407e-02 -1.02262502e-03 9.99512787e-01 -1.16989277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.162414037 meters 0.0775752401811763 Centerline is valid? [True, True] Translation: X:13.90, Y:-0.66, Z:-0.12 [[ 9.99461573e-01 1.06412279e-02 -3.10375293e-02 1.38960084e+01] [-1.06042549e-02 9.99942854e-01 1.35560044e-03 -6.61046432e-01] [ 3.10501809e-02 -1.02574068e-03 9.99517301e-01 -1.17333685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.192414036999999 meters 0.0772120423785836 Centerline is valid? [True, True] Translation: X:13.92, Y:-0.66, Z:-0.12 [[ 9.99470318e-01 9.57893980e-03 -3.11018949e-02 1.39243153e+01] [-9.54151551e-03 9.99953565e-01 1.35147627e-03 -6.62792073e-01] [ 3.11133964e-02 -1.05400120e-03 9.99515305e-01 -1.15559358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.222414036999998 meters 0.07819731346030938 Centerline is valid? [True, True] Translation: X:13.95, Y:-0.67, Z:-0.12 [[ 9.99516632e-01 8.64053943e-03 -2.98637477e-02 1.39522592e+01] [-8.60568270e-03 9.99962131e-01 1.29552486e-03 -6.68327342e-01] [ 2.98738108e-02 -1.03790071e-03 9.99553139e-01 -1.16949132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.252414037 meters 0.07782022042892243 Centerline is valid? [True, True] Translation: X:13.98, Y:-0.67, Z:-0.11 [[ 9.99561490e-01 6.07779453e-03 -2.89808352e-02 1.39811992e+01] [-6.04407978e-03 9.99980952e-01 1.25080508e-03 -6.68376126e-01] [ 2.89878853e-02 -1.07509411e-03 9.99579185e-01 -1.11163702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.282414036999999 meters 0.07815811042234738 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.67, Z:-0.11 [[ 9.99565962e-01 4.83690151e-03 -2.90601446e-02 1.40096800e+01] [-4.80265975e-03 9.99987688e-01 1.24798912e-03 -6.71692620e-01] [ 2.90658232e-02 -1.10788146e-03 9.99576886e-01 -1.10783230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.312414036999998 meters 0.07680178120335102 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.67, Z:-0.11 [[ 9.99544037e-01 2.88680459e-03 -3.00563574e-02 1.40391455e+01] [-2.84933253e-03 9.99995109e-01 1.28948218e-03 -6.69549614e-01] [ 3.00599329e-02 -1.20325367e-03 9.99547374e-01 -1.05748556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.342414037 meters 0.08002753143608257 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.69, Z:-0.11 [[ 9.99515417e-01 -4.49602352e-04 -3.11244168e-02 1.40676852e+01] [ 4.91393305e-04 9.99998988e-01 1.33507038e-03 -6.85421386e-01] [ 3.11237851e-02 -1.34971776e-03 9.99514626e-01 -1.13673180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.372414036999999 meters 0.07844129026545685 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.68, Z:-0.11 [[ 9.99454844e-01 -1.53881202e-03 -3.29794912e-02 1.40969232e+01] [ 1.58627279e-03 9.99997744e-01 1.41298333e-03 -6.83461601e-01] [ 3.29772424e-02 -1.46452751e-03 9.99455030e-01 -1.10594771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.402414036999998 meters 0.07907803074447411 Centerline is valid? [True, True] Translation: X:14.12, Y:-0.69, Z:-0.11 [[ 9.99416944e-01 -2.97406867e-03 -3.40136332e-02 1.41248650e+01] [ 3.02530803e-03 9.99994365e-01 1.45506923e-03 -6.88005762e-01] [ 3.40091140e-02 -1.55712256e-03 9.99420310e-01 -1.13588391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.432414037 meters 0.07840412534682097 Centerline is valid? [True, True] Translation: X:14.15, Y:-0.69, Z:-0.11 [[ 9.99375795e-01 -5.51785608e-03 -3.48937487e-02 1.41539934e+01] [ 5.57326931e-03 9.99983358e-01 1.49098887e-03 -6.89299323e-01] [ 3.48849409e-02 -1.68453044e-03 9.99389916e-01 -1.12653303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.462414036999999 meters 0.07840412534682097 Centerline is valid? [True, True] Translation: X:14.18, Y:-0.69, Z:-0.11 [[ 9.99374260e-01 -5.78664670e-03 -3.48941592e-02 1.41813951e+01] [ 5.84188763e-03 9.99981839e-01 1.48135156e-03 -6.90363978e-01] [ 3.48849534e-02 -1.68427238e-03 9.99389916e-01 -1.12685718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.492414037 meters 0.07998815321359197 Centerline is valid? [True, True] Translation: X:14.21, Y:-0.70, Z:-0.12 [[ 9.99410782e-01 -5.95915717e-03 -3.38020313e-02 1.42093046e+01] [ 6.01100251e-03 9.99980908e-01 1.43237891e-03 -6.97956165e-01] [ 3.37928502e-02 -1.63471902e-03 9.99427522e-01 -1.15397643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.522414036999999 meters 0.07985102730464295 Centerline is valid? [True, True] Translation: X:14.24, Y:-0.70, Z:-0.11 [[ 9.99416551e-01 -5.93312449e-03 -3.36356345e-02 1.42380391e+01] [ 5.98418719e-03 9.99981090e-01 1.41764613e-03 -6.99790324e-01] [ 3.36265874e-02 -1.61810094e-03 9.99433157e-01 -1.14902128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.552414036999998 meters 0.07838183778826702 Centerline is valid? [True, True] Translation: X:14.27, Y:-0.70, Z:-0.11 [[ 9.99499725e-01 -5.86188249e-03 -3.10795501e-02 1.42669502e+01] [ 5.90538198e-03 9.99981708e-01 1.30801116e-03 -6.99491244e-01] [ 3.10713142e-02 -1.49089341e-03 9.99516058e-01 -1.10723282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.582414037 meters 0.07830008018303711 Centerline is valid? [True, True] Translation: X:14.29, Y:-0.70, Z:-0.11 [[ 9.99503718e-01 -6.10020543e-03 -3.09047790e-02 1.42945753e+01] [ 6.14306854e-03 9.99980296e-01 1.29218232e-03 -7.01853561e-01] [ 3.08962874e-02 -1.48139121e-03 9.99521498e-01 -1.09026316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.612414036999999 meters 0.08014566457625255 Centerline is valid? [True, True] Translation: X:14.32, Y:-0.71, Z:-0.11 [[ 9.99559567e-01 -6.01903767e-03 -2.90592899e-02 1.43218862e+01] [ 6.05683413e-03 9.99980922e-01 1.21281925e-03 -7.09769673e-01] [ 2.90514355e-02 -1.38829238e-03 9.99576954e-01 -1.11763668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.642414036999998 meters 0.08095495204216573 Centerline is valid? [True, True] Translation: X:14.35, Y:-0.71, Z:-0.11 [[ 9.99557042e-01 -7.43979145e-03 -2.88161144e-02 1.43498544e+01] [ 7.47748247e-03 9.99971323e-01 1.20044489e-03 -7.14618859e-01] [ 2.88063569e-02 -1.41538513e-03 9.99584009e-01 -1.10916445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.672414037 meters 0.07783804947269257 Centerline is valid? [True, True] Translation: X:14.38, Y:-0.71, Z:-0.10 [[ 9.99541552e-01 -7.64139395e-03 -2.92966871e-02 1.43784885e+01] [ 7.68036663e-03 9.99969764e-01 1.21797642e-03 -7.07002344e-01] [ 2.92864942e-02 -1.44242734e-03 9.99570018e-01 -1.04689689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.702414036999999 meters 0.07853378648219773 Centerline is valid? [True, True] Translation: X:14.41, Y:-0.71, Z:-0.11 [[ 9.99493908e-01 -8.37651927e-03 -3.06881303e-02 1.44062713e+01] [ 8.41950868e-03 9.99963746e-01 1.27189384e-03 -7.11364073e-01] [ 3.06763637e-02 -1.52962913e-03 9.99528199e-01 -1.06321673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.732414036999998 meters 0.07870639837106426 Centerline is valid? [True, True] Translation: X:14.44, Y:-0.72, Z:-0.11 [[ 9.99366175e-01 -8.36037160e-03 -3.46027670e-02 1.44356882e+01] [ 8.41499023e-03 9.99963566e-01 1.43311087e-03 -7.15832437e-01] [ 3.45895250e-02 -1.72338448e-03 9.99400117e-01 -1.08743304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.762414037 meters 0.07800448244442797 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.72, Z:-0.11 [[ 9.99329373e-01 -7.91994175e-03 -3.57502139e-02 1.44646485e+01] [ 7.97765169e-03 9.99967095e-01 1.47189399e-03 -7.16512971e-01] [ 3.57373803e-02 -1.75610966e-03 9.99359673e-01 -1.09164984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.792414036999999 meters 0.07962459313021288 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.72, Z:-0.11 [[ 9.99260031e-01 -7.08160262e-03 -3.78053040e-02 1.44922805e+01] [ 7.14543193e-03 9.99973264e-01 1.55351858e-03 -7.22608014e-01] [ 3.77932919e-02 -1.82250425e-03 9.99283916e-01 -1.14271689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.822414037 meters 0.07898162899464015 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.72, Z:-0.11 [[ 9.99264184e-01 -4.90109138e-03 -3.80403595e-02 1.45215025e+01] [ 4.96383238e-03 9.99986471e-01 1.55505474e-03 -7.22729008e-01] [ 3.80322233e-02 -1.74273648e-03 9.99274994e-01 -1.14060165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.852414036999999 meters 0.07704435050360914 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.72, Z:-0.11 [[ 9.99328177e-01 -2.60345761e-04 -3.66487066e-02 1.45517115e+01] [ 3.15467273e-04 9.99998828e-01 1.49827603e-03 -7.17557178e-01] [ 3.66482736e-02 -1.50883092e-03 9.99327087e-01 -1.09412027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.882414036999998 meters 0.07648098665418486 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.72, Z:-0.11 [[ 9.99375790e-01 2.90253824e-03 -3.52080449e-02 1.45817107e+01] [-2.85367275e-03 9.99994894e-01 1.43807948e-03 -7.17243806e-01] [ 3.52120393e-02 -1.33670957e-03 9.99378970e-01 -1.08958480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.912414037 meters 0.07599533725190687 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.72, Z:-0.11 [[ 9.99367638e-01 6.17175944e-03 -3.50176154e-02 1.46116659e+01] [-6.12544452e-03 9.99980217e-01 1.42974661e-03 -7.17167109e-01] [ 3.50257467e-02 -1.21434404e-03 9.99385673e-01 -1.08462165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.942414036999999 meters 0.07467690238779467 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.71, Z:-0.11 [[ 9.99371160e-01 1.29454108e-02 -3.30106189e-02 1.46421627e+01] [-1.29079492e-02 9.99915781e-01 1.34769788e-03 -7.14242189e-01] [ 3.30252853e-02 -9.20751000e-04 9.99454092e-01 -1.06638410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.972414036999998 meters 0.07448510411128229 Centerline is valid? [True, True] Translation: X:14.67, Y:-0.72, Z:-0.11 [[ 9.99316773e-01 1.61050788e-02 -3.32658109e-02 1.46704813e+01] [-1.60688605e-02 9.99869968e-01 1.35582930e-03 -7.15313412e-01] [ 3.32833210e-02 -8.20359284e-04 9.99445620e-01 -1.07634706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.002414037 meters 0.07414383342142498 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.72, Z:-0.11 [[ 9.99266580e-01 1.87625135e-02 -3.33806826e-02 1.46993708e+01] [-1.87277956e-02 9.99823705e-01 1.35244195e-03 -7.15337776e-01] [ 3.34001729e-02 -7.26303444e-04 9.99441795e-01 -1.07356851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.032414036999999 meters 0.07361757992552925 Centerline is valid? [True, True] Translation: X:14.73, Y:-0.71, Z:-0.11 [[ 9.99191239e-01 2.25756013e-02 -3.32747658e-02 1.47287332e+01] [-2.25434608e-02 9.99744965e-01 1.34081098e-03 -7.14601762e-01] [ 3.32965492e-02 -5.89598202e-04 9.99445342e-01 -1.05389402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.062414036999998 meters 0.07360778809250394 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.72, Z:-0.11 [[ 9.99153808e-01 2.35022184e-02 -3.37537166e-02 1.47551726e+01] [-2.34698042e-02 9.99723626e-01 1.35625933e-03 -7.15335833e-01] [ 3.37762630e-02 -5.62918558e-04 9.99429261e-01 -1.06097167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.092414037 meters 0.07335019559481988 Centerline is valid? [True, True] Translation: X:14.78, Y:-0.72, Z:-0.10 [[ 9.99116980e-01 2.47509495e-02 -3.39507093e-02 1.47843100e+01] [-2.47191626e-02 9.99693516e-01 1.35574826e-03 -7.15359194e-01] [ 3.39738600e-02 -5.15318005e-04 9.99422589e-01 -1.03557486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.122414036999999 meters 0.07357603159833577 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.72, Z:-0.11 [[ 9.99022182e-01 2.56481914e-02 -3.60118022e-02 1.48113769e+01] [-2.56132005e-02 9.99670901e-01 1.43272798e-03 -7.19178577e-01] [ 3.60366976e-02 -5.08949518e-04 9.99350338e-01 -1.05214795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.152414036999998 meters 0.0737746722375955 Centerline is valid? [True, True] Translation: X:14.84, Y:-0.72, Z:-0.11 [[ 9.99008068e-01 2.47657127e-02 -3.70072798e-02 1.48392545e+01] [-2.47283273e-02 9.99693131e-01 1.46766955e-03 -7.22957412e-01] [ 3.70322713e-02 -5.51085596e-04 9.99313918e-01 -1.06953944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.182414037 meters 0.07406349796094569 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.73, Z:-0.11 [[ 9.99185655e-01 1.99863887e-02 -3.50509855e-02 1.48668035e+01] [-1.99502550e-02 9.99800021e-01 1.38036709e-03 -7.31072298e-01] [ 3.50715646e-02 -6.79966893e-04 9.99384572e-01 -1.07293615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.212414036999999 meters 0.07454946706651272 Centerline is valid? [True, True] Translation: X:14.89, Y:-0.74, Z:-0.11 [[ 9.99263798e-01 1.67233072e-02 -3.45281602e-02 1.48945635e+01] [-1.66863905e-02 9.99859852e-01 1.35708157e-03 -7.38305627e-01] [ 3.45460161e-02 -7.79932122e-04 9.99402804e-01 -1.09450537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.242414037 meters 0.07498541421376838 Centerline is valid? [True, True] Translation: X:14.92, Y:-0.74, Z:-0.11 [[ 9.99395105e-01 1.29522031e-02 -3.22748407e-02 1.49230238e+01] [-1.29182309e-02 9.99915761e-01 1.26089795e-03 -7.44672585e-01] [ 3.22884533e-02 -8.43201398e-04 9.99478236e-01 -1.09106116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.272414036999999 meters 0.07482462621819737 Centerline is valid? [True, True] Translation: X:14.95, Y:-0.75, Z:-0.11 [[ 9.99467801e-01 8.90561740e-03 -3.13816040e-02 1.49513529e+01] [-8.87174650e-03 9.99959903e-01 1.21839990e-03 -7.48206664e-01] [ 3.13911963e-02 -9.39341830e-04 9.99506734e-01 -1.05467097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.302414036999998 meters 0.07592568124855394 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.76, Z:-0.11 [[ 9.99508710e-01 1.81771977e-03 -3.12895433e-02 1.49803446e+01] [-1.78058444e-03 9.99997677e-01 1.21465153e-03 -7.57841004e-01] [ 3.12916785e-02 -1.15834111e-03 9.99509624e-01 -1.05008443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.332414037 meters 0.07659693016165217 Centerline is valid? [True, True] Translation: X:15.01, Y:-0.76, Z:-0.11 [[ 9.99519219e-01 -8.35015204e-04 -3.09941020e-02 1.50083289e+01] [ 8.72657188e-04 9.99998898e-01 1.20098163e-03 -7.63827410e-01] [ 3.09930650e-02 -1.22745145e-03 9.99518846e-01 -1.05717842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.362414036999999 meters 0.07679271406660047 Centerline is valid? [True, True] Translation: X:15.04, Y:-0.77, Z:-0.10 [[ 9.99504767e-01 -3.51534827e-03 -3.12707974e-02 1.50377511e+01] [ 3.55494317e-03 9.99992948e-01 1.21068772e-03 -7.67514488e-01] [ 3.12663209e-02 -1.32125405e-03 9.99510216e-01 -1.04912073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.392414036999998 meters 0.07834774648449032 Centerline is valid? [True, True] Translation: X:15.07, Y:-0.78, Z:-0.11 [[ 9.99476075e-01 -8.87609577e-03 -3.11253987e-02 1.50667038e+01] [ 8.91789101e-03 9.99959510e-01 1.20423617e-03 -7.80472142e-01] [ 3.11134496e-02 -1.48117816e-03 9.99514762e-01 -1.08021608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.422414037 meters 0.0778926199964215 Centerline is valid? [True, True] Translation: X:15.10, Y:-0.78, Z:-0.11 [[ 9.99443495e-01 -1.13092664e-02 -3.13815321e-02 1.50962616e+01] [ 1.13529149e-02 9.99934818e-01 1.21306143e-03 -7.81978471e-01] [ 3.13657677e-02 -1.56865822e-03 9.99506742e-01 -1.05616460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.452414036999999 meters 0.07936515204798612 Centerline is valid? [True, True] Translation: X:15.12, Y:-0.79, Z:-0.11 [[ 9.99427333e-01 -1.36737373e-02 -3.09521397e-02 1.51248584e+01] [ 1.37172589e-02 9.99905201e-01 1.19417878e-03 -7.89245644e-01] [ 3.09328766e-02 -1.61807343e-03 9.99520154e-01 -1.07944381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.482414036999998 meters 0.07968303885878894 Centerline is valid? [True, True] Translation: X:15.15, Y:-0.79, Z:-0.11 [[ 9.99410867e-01 -1.68008859e-02 -2.99273821e-02 1.51545518e+01] [ 1.68429408e-02 9.99857482e-01 1.15368012e-03 -7.92428171e-01] [ 2.99037340e-02 -1.65706557e-03 9.99551410e-01 -1.07161679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.512414037 meters 0.07952482852876527 Centerline is valid? [True, True] Translation: X:15.18, Y:-0.79, Z:-0.11 [[ 9.99434085e-01 -1.81678279e-02 -2.83097055e-02 1.51831407e+01] [ 1.82058066e-02 9.99833673e-01 1.08434744e-03 -7.94268336e-01] [ 2.82852966e-02 -1.59913482e-03 9.99598612e-01 -1.05871994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.542414036999999 meters 0.07949355387076751 Centerline is valid? [True, True] Translation: X:15.21, Y:-0.80, Z:-0.10 [[ 9.99437900e-01 -1.96566152e-02 -2.71569684e-02 1.52120035e+01] [ 1.96919340e-02 9.99805561e-01 1.03369091e-03 -7.96678279e-01] [ 2.71313692e-02 -1.56788310e-03 9.99630647e-01 -1.04881732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.572414037 meters 0.08123233063486998 Centerline is valid? [True, True] Translation: X:15.24, Y:-0.81, Z:-0.11 [[ 9.99447337e-01 -2.22376537e-02 -2.47084661e-02 1.52402965e+01] [ 2.22676484e-02 9.99751604e-01 9.39433612e-04 -8.07793329e-01] [ 2.46814378e-02 -1.48911386e-03 9.99694258e-01 -1.06671509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.602414036999999 meters 0.0811102525439378 Centerline is valid? [True, True] Translation: X:15.27, Y:-0.81, Z:-0.11 [[ 9.99394210e-01 -2.36565665e-02 -2.55260670e-02 1.52695807e+01] [ 2.36890194e-02 9.99718906e-01 9.69679277e-04 -8.11274982e-01] [ 2.54959525e-02 -1.57377935e-03 9.99673687e-01 -1.07183122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.632414036999998 meters 0.08179692962029467 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.82, Z:-0.11 [[ 9.99328372e-01 -2.49919800e-02 -2.67993630e-02 1.52978951e+01] [ 2.50281944e-02 9.99686229e-01 1.01668392e-03 -8.15922417e-01] [ 2.67655452e-02 -1.68674075e-03 9.99640316e-01 -1.09085055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.662414037 meters 0.08235136342668496 Centerline is valid? [True, True] Translation: X:15.33, Y:-0.82, Z:-0.11 [[ 9.99219595e-01 -2.65277769e-02 -2.92656541e-02 1.53278221e+01] [ 2.65716096e-02 9.99646296e-01 1.10980310e-03 -8.17851024e-01] [ 2.92258621e-02 -1.88657254e-03 9.99571053e-01 -1.09874444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.692414036999999 meters 0.08185417619353544 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.82, Z:-0.11 [[ 9.99214331e-01 -2.71270161e-02 -2.88937060e-02 1.53570340e+01] [ 2.71697855e-02 9.99630241e-01 1.08859094e-03 -8.17597260e-01] [ 2.88534920e-02 -1.87277147e-03 9.99581897e-01 -1.09129820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.722414036999998 meters 0.08358332889599139 Centerline is valid? [True, True] Translation: X:15.38, Y:-0.82, Z:-0.11 [[ 9.99190065e-01 -2.84489147e-02 -2.84582702e-02 1.53844471e+01] [ 2.84908750e-02 9.99593480e-01 1.06997508e-03 -8.23304698e-01] [ 2.84162617e-02 -1.87990949e-03 9.99594409e-01 -1.10154305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.752414037 meters 0.08186516198020595 Centerline is valid? [True, True] Translation: X:15.41, Y:-0.82, Z:-0.11 [[ 9.99182598e-01 -2.90632092e-02 -2.80974264e-02 1.54135793e+01] [ 2.91041590e-02 9.99575833e-01 1.04947713e-03 -8.21002796e-01] [ 2.80550072e-02 -1.86637125e-03 9.99604638e-01 -1.07915210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.782414036999999 meters 0.08479656356059645 Centerline is valid? [True, True] Translation: X:15.44, Y:-0.83, Z:-0.11 [[ 9.99213011e-01 -2.99109270e-02 -2.60517764e-02 1.54413357e+01] [ 2.99463314e-02 9.99551038e-01 9.69831216e-04 -8.31651292e-01] [ 2.60110716e-02 -1.74922310e-03 9.99660124e-01 -1.10928112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.812414036999998 meters 0.08202691983853633 Centerline is valid? [True, True] Translation: X:15.47, Y:-0.83, Z:-0.11 [[ 9.99174493e-01 -3.13333798e-02 -2.58563738e-02 1.54704909e+01] [ 3.13685643e-02 9.99507428e-01 9.56184307e-04 -8.25608165e-01] [ 2.58136772e-02 -1.76647229e-03 9.99665211e-01 -1.07461566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.842414037 meters 0.0860164107906138 Centerline is valid? [True, True] Translation: X:15.50, Y:-0.84, Z:-0.11 [[ 9.99152615e-01 -3.27718438e-02 -2.49009658e-02 1.54974577e+01] [ 3.28048600e-02 9.99461354e-01 9.18450515e-04 -8.35751228e-01] [ 2.48574537e-02 -1.73454493e-03 9.99689501e-01 -1.09622463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.872414036999999 meters 0.0834267500676078 Centerline is valid? [True, True] Translation: X:15.53, Y:-0.83, Z:-0.11 [[ 9.99113414e-01 -3.44161568e-02 -2.42469226e-02 1.55276746e+01] [ 3.44479245e-02 9.99406095e-01 8.93579425e-04 -8.30107710e-01] [ 2.42017687e-02 -1.72804335e-03 9.99705601e-01 -1.06946249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.902414036999998 meters 0.08394432285341702 Centerline is valid? [True, True] Translation: X:15.56, Y:-0.83, Z:-0.11 [[ 9.98959515e-01 -3.81737498e-02 -2.49530141e-02 1.55580758e+01] [ 3.82085617e-02 9.99269363e-01 9.19631145e-04 -8.32281198e-01] [ 2.48996767e-02 -1.87209306e-03 9.99688202e-01 -1.06517200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.932414037 meters 0.08622529598928536 Centerline is valid? [True, True] Translation: X:15.59, Y:-0.84, Z:-0.11 [[ 9.98898742e-01 -3.98076898e-02 -2.48324466e-02 1.55869523e+01] [ 3.98426458e-02 9.99205548e-01 9.14299294e-04 -8.38875472e-01] [ 2.47763223e-02 -1.90268279e-03 9.99691209e-01 -1.08406355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.962414036999999 meters 0.08850874046507531 Centerline is valid? [True, True] Translation: X:15.62, Y:-0.84, Z:-0.11 [[ 9.98763136e-01 -4.24897223e-02 -2.58228845e-02 1.56161521e+01] [ 4.25283975e-02 9.99094807e-01 9.50119038e-04 -8.44986995e-01] [ 2.57591395e-02 -2.04714977e-03 9.99666082e-01 -1.10663678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.992414037 meters 0.0897206266768845 Centerline is valid? [True, True] Translation: X:15.65, Y:-0.85, Z:-0.11 [[ 9.98641274e-01 -4.52084046e-02 -2.59192080e-02 1.56463403e+01] [ 4.52482682e-02 9.98975318e-01 9.53261799e-04 -8.49493977e-01] [ 2.58495536e-02 -2.12476585e-03 9.99663586e-01 -1.11855537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.022414037 meters 0.08902922492497375 Centerline is valid? [True, True] Translation: X:15.68, Y:-0.85, Z:-0.11 [[ 9.98596600e-01 -4.64372717e-02 -2.54639149e-02 1.56766041e+01] [ 4.64761437e-02 9.98918961e-01 9.36535400e-04 -8.48581850e-01] [ 2.53928973e-02 -2.11868564e-03 9.99675303e-01 -1.10474870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.052414037000002 meters 0.08783117250623167 Centerline is valid? [True, True] Translation: X:15.71, Y:-0.85, Z:-0.11 [[ 9.98557358e-01 -4.78808639e-02 -2.43027843e-02 1.57077935e+01] [ 4.79167171e-02 9.98850934e-01 8.94748008e-04 -8.45564168e-01] [ 2.42320174e-02 -2.05796685e-03 9.99704243e-01 -1.08546205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.082414037 meters 0.08942920328320525 Centerline is valid? [True, True] Translation: X:15.74, Y:-0.85, Z:-0.11 [[ 9.98454997e-01 -5.03812563e-02 -2.34381534e-02 1.57378177e+01] [ 5.04153096e-02 9.98727966e-01 8.63898294e-04 -8.46418447e-01] [ 2.33648150e-02 -2.04420533e-03 9.99724915e-01 -1.07343776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.112414037 meters 0.09083782031863137 Centerline is valid? [True, True] Translation: X:15.77, Y:-0.85, Z:-0.11 [[ 9.98412717e-01 -5.12852201e-02 -2.32781514e-02 1.57680146e+01] [ 5.13190620e-02 9.98681940e-01 8.58362102e-04 -8.49629777e-01] [ 2.32034481e-02 -2.05161253e-03 9.99728659e-01 -1.07998694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.142414037 meters 0.0912983355013678 Centerline is valid? [True, True] Translation: X:15.80, Y:-0.85, Z:-0.11 [[ 9.98384981e-01 -5.18752054e-02 -2.31601519e-02 1.57991274e+01] [ 5.19088808e-02 9.98651459e-01 8.54801271e-04 -8.51552965e-01] [ 2.30845765e-02 -2.05563831e-03 9.99731402e-01 -1.09408576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.172414037 meters 0.09168969103424879 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.85, Z:-0.11 [[ 9.98388961e-01 -5.16130079e-02 -2.35707561e-02 1.58316215e+01] [ 5.16478535e-02 9.98664979e-01 8.71560712e-04 -8.52866824e-01] [ 2.34943048e-02 -2.08753555e-03 9.99721791e-01 -1.09409567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.202414037 meters 0.09270622930319822 Centerline is valid? [True, True] Translation: X:15.86, Y:-0.85, Z:-0.11 [[ 9.98397839e-01 -5.14641083e-02 -2.35202079e-02 1.58631680e+01] [ 5.14987904e-02 9.98672677e-01 8.70836850e-04 -8.54589305e-01] [ 2.34441722e-02 -2.08070389e-03 9.99722982e-01 -1.09282491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.232414037 meters 0.09073694597909923 Centerline is valid? [True, True] Translation: X:15.90, Y:-0.85, Z:-0.11 [[ 9.98421502e-01 -5.05868593e-02 -2.44023262e-02 1.58953670e+01] [ 5.06239624e-02 9.98717375e-01 9.04719094e-04 -8.47018453e-01] [ 2.43252603e-02 -2.13863344e-03 9.99701810e-01 -1.07983960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.262414037 meters 0.09342910415940564 Centerline is valid? [True, True] Translation: X:15.93, Y:-0.85, Z:-0.11 [[ 9.98432002e-01 -5.01614400e-02 -2.48468949e-02 1.59256822e+01] [ 5.01997863e-02 9.98738771e-01 9.21570653e-04 -8.51342505e-01] [ 2.47693299e-02 -2.16743444e-03 9.99690843e-01 -1.10116705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.292414037 meters 0.09138191224723245 Centerline is valid? [True, True] Translation: X:15.96, Y:-0.85, Z:-0.11 [[ 9.98437436e-01 -5.02269404e-02 -2.44937020e-02 1.59573196e+01] [ 5.02642437e-02 9.98735540e-01 9.09300860e-04 -8.47059244e-01] [ 2.44170592e-02 -2.13903742e-03 9.99699571e-01 -1.09359935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.322414037 meters 0.09121698954453436 Centerline is valid? [True, True] Translation: X:15.99, Y:-0.85, Z:-0.11 [[ 9.98376100e-01 -5.13953228e-02 -2.45699914e-02 1.59880595e+01] [ 5.14332195e-02 9.98676019e-01 9.12522635e-04 -8.47154908e-01] [ 2.44905618e-02 -2.17475455e-03 9.99697696e-01 -1.08854437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.352414037 meters 0.09121698954453436 Centerline is valid? [True, True] Translation: X:16.02, Y:-0.85, Z:-0.11 [[ 9.98377808e-01 -5.13621314e-02 -2.45699604e-02 1.60190147e+01] [ 5.14000385e-02 9.98677727e-01 9.13358824e-04 -8.48340052e-01] [ 2.44905601e-02 -2.17477409e-03 9.99697696e-01 -1.08891022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.382414037 meters 0.09407444909412267 Centerline is valid? [True, True] Translation: X:16.05, Y:-0.86, Z:-0.11 [[ 9.98383491e-01 -5.24878626e-02 -2.18043182e-02 1.60501050e+01] [ 5.25180043e-02 9.98619648e-01 8.11658805e-04 -8.55077710e-01] [ 2.17316183e-02 -1.95546603e-03 9.99761928e-01 -1.08977366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.412414037 meters 0.09337285969778532 Centerline is valid? [True, True] Translation: X:16.08, Y:-0.85, Z:-0.11 [[ 9.98370179e-01 -5.32729879e-02 -2.04688576e-02 1.60825698e+01] [ 5.32997412e-02 9.98578267e-01 7.63315746e-04 -8.54150301e-01] [ 2.03990923e-02 -1.85305649e-03 9.99790200e-01 -1.07746600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.442414037 meters 0.09614686819217039 Centerline is valid? [True, True] Translation: X:16.11, Y:-0.86, Z:-0.11 [[ 9.98352143e-01 -5.31328060e-02 -2.16772796e-02 1.61136367e+01] [ 5.31628019e-02 9.98585530e-01 8.09418284e-04 -8.57437812e-01] [ 2.16036111e-02 -1.96050940e-03 9.99764693e-01 -1.09098774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.472414037 meters 0.09612858543097691 Centerline is valid? [True, True] Translation: X:16.15, Y:-0.86, Z:-0.11 [[ 9.98340201e-01 -5.27138116e-02 -2.31969239e-02 1.61457009e+01] [ 5.27480843e-02 9.98607474e-01 8.67652087e-04 -8.56738263e-01] [ 2.31188844e-02 -2.08980526e-03 9.99730539e-01 -1.10305632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.502414037 meters 0.09664861878661003 Centerline is valid? [True, True] Translation: X:16.18, Y:-0.86, Z:-0.11 [[ 9.98350962e-01 -5.21467968e-02 -2.40014031e-02 1.61777862e+01] [ 5.21833626e-02 9.98637115e-01 8.99259412e-04 -8.56624669e-01] [ 2.39217984e-02 -2.15025042e-03 9.99711520e-01 -1.11829330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.532414037000002 meters 0.09510522350904702 Centerline is valid? [True, True] Translation: X:16.21, Y:-0.85, Z:-0.11 [[ 9.98392422e-01 -5.09822136e-02 -2.47666060e-02 1.62091637e+01] [ 5.10208121e-02 9.98697158e-01 9.28684485e-04 -8.50366024e-01] [ 2.46869926e-02 -2.19080390e-03 9.99692829e-01 -1.11756207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.562414037 meters 0.09140553163790734 Centerline is valid? [True, True] Translation: X:16.24, Y:-0.84, Z:-0.11 [[ 9.98435281e-01 -5.03189273e-02 -2.43925245e-02 1.62410063e+01] [ 5.03561916e-02 9.98730903e-01 9.15467905e-04 -8.42764071e-01] [ 2.43155027e-02 -2.14235009e-03 9.99702039e-01 -1.09715214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.592414037 meters 0.09088625284704219 Centerline is valid? [True, True] Translation: X:16.27, Y:-0.84, Z:-0.11 [[ 9.98473168e-01 -4.98670941e-02 -2.37614522e-02 1.62721604e+01] [ 4.99023463e-02 9.98753703e-01 8.92577042e-04 -8.41663810e-01] [ 2.36873281e-02 -2.07696644e-03 9.99717258e-01 -1.10242042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.622414037000002 meters 0.08923549446488006 Centerline is valid? [True, True] Translation: X:16.30, Y:-0.84, Z:-0.11 [[ 9.98466480e-01 -4.99488203e-02 -2.38705555e-02 1.63049136e+01] [ 4.99844601e-02 9.98749592e-01 8.98346284e-04 -8.38141600e-01] [ 2.37958362e-02 -2.09012548e-03 9.99714654e-01 -1.09278096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.652414037 meters 0.09597145799541647 Centerline is valid? [True, True] Translation: X:16.33, Y:-0.85, Z:-0.11 [[ 9.98416265e-01 -5.14523108e-02 -2.27513146e-02 1.63348263e+01] [ 5.14850804e-02 9.98673396e-01 8.56552047e-04 -8.49213307e-01] [ 2.26770610e-02 -2.02654875e-03 9.99740788e-01 -1.11776821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.682414037 meters 0.09191956876914556 Centerline is valid? [True, True] Translation: X:16.37, Y:-0.84, Z:-0.11 [[ 9.98404079e-01 -5.21479890e-02 -2.16767504e-02 1.63675102e+01] [ 5.21779306e-02 9.98637469e-01 8.17601663e-04 -8.41623184e-01] [ 2.16045789e-02 -1.94734481e-03 9.99764697e-01 -1.08554226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.712414037000002 meters 0.09293860155007615 Centerline is valid? [True, True] Translation: X:16.40, Y:-0.84, Z:-0.11 [[ 9.98373288e-01 -5.31535451e-02 -2.06271323e-02 1.63995176e+01] [ 5.31808976e-02 9.98584591e-01 7.79384741e-04 -8.43149613e-01] [ 2.05565094e-02 -1.87508631e-03 9.99786934e-01 -1.08129702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.742414037 meters 0.09235663124903576 Centerline is valid? [True, True] Translation: X:16.43, Y:-0.84, Z:-0.11 [[ 9.98289197e-01 -5.47087434e-02 -2.06308723e-02 1.64308348e+01] [ 5.47364410e-02 9.98500533e-01 7.79813707e-04 -8.39081920e-01] [ 2.05572743e-02 -1.90774012e-03 9.99786857e-01 -1.07410605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.772414037 meters 0.09371454289607932 Centerline is valid? [True, True] Translation: X:16.46, Y:-0.84, Z:-0.11 [[ 9.98246588e-01 -5.50467890e-02 -2.17623884e-02 1.64622597e+01] [ 5.50777359e-02 9.98481729e-01 8.24765774e-04 -8.41290668e-01] [ 2.16839465e-02 -2.02194270e-03 9.99762831e-01 -1.08410785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.802414037000002 meters 0.09407292679806038 Centerline is valid? [True, True] Translation: X:16.49, Y:-0.84, Z:-0.11 [[ 9.98219361e-01 -5.54213675e-02 -2.20585404e-02 1.64940252e+01] [ 5.54532762e-02 9.98460932e-01 8.37032994e-04 -8.41787527e-01] [ 2.19782013e-02 -2.05876087e-03 9.99756330e-01 -1.08999769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.832414037 meters 0.09397316262950241 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.84, Z:-0.11 [[ 9.98158702e-01 -5.62513222e-02 -2.26934829e-02 1.65257503e+01] [ 5.62853557e-02 9.98414350e-01 8.63257838e-04 -8.40988106e-01] [ 2.26089396e-02 -2.13897908e-03 9.99742097e-01 -1.11769112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.862414037 meters 0.09468532643511589 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.84, Z:-0.11 [[ 9.98102370e-01 -5.69573589e-02 -2.33990905e-02 1.65582634e+01] [ 5.69937702e-02 9.98374136e-01 8.91623053e-04 -8.42515929e-01] [ 2.33102623e-02 -2.22353347e-03 9.99725806e-01 -1.12484651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.892414037 meters 0.09503114602986222 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.84, Z:-0.11 [[ 9.98105657e-01 -5.68599625e-02 -2.34955626e-02 1.65903560e+01] [ 5.68966845e-02 9.98379669e-01 8.96854720e-04 -8.43305519e-01] [ 2.34064969e-02 -2.23197538e-03 9.99723539e-01 -1.12507972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.922414037 meters 0.09565440249226398 Centerline is valid? [True, True] Translation: X:16.62, Y:-0.84, Z:-0.11 [[ 9.98108591e-01 -5.69215803e-02 -2.32201395e-02 1.66227225e+01] [ 5.69574979e-02 9.98376209e-01 8.87869062e-04 -8.43801538e-01] [ 2.31318959e-02 -2.20875078e-03 9.99729982e-01 -1.11387324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.952414037 meters 0.09647354085850891 Centerline is valid? [True, True] Translation: X:16.65, Y:-0.84, Z:-0.11 [[ 9.98122008e-01 -5.70580853e-02 -2.22897143e-02 1.66543284e+01] [ 5.70912389e-02 9.98368600e-01 8.53369344e-04 -8.44668266e-01] [ 2.22046592e-02 -2.12431413e-03 9.99751189e-01 -1.10558379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.982414037 meters 0.09355654489051803 Centerline is valid? [True, True] Translation: X:16.69, Y:-0.84, Z:-0.11 [[ 9.98112866e-01 -5.72138408e-02 -2.22998284e-02 1.66866458e+01] [ 5.72470970e-02 9.98359674e-01 8.55280664e-04 -8.37515840e-01] [ 2.22143155e-02 -2.13026707e-03 9.99750962e-01 -1.08997329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.012414037 meters 0.09781212443101286 Centerline is valid? [True, True] Translation: X:16.72, Y:-0.85, Z:-0.11 [[ 9.98134552e-01 -5.69396328e-02 -2.20294023e-02 1.67171297e+01] [ 5.69720447e-02 9.98375416e-01 8.45996643e-04 -8.46553776e-01] [ 2.19454429e-02 -2.09947857e-03 9.99756965e-01 -1.11167724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.042414037 meters 0.09504282716351568 Centerline is valid? [True, True] Translation: X:16.75, Y:-0.84, Z:-0.11 [[ 9.98139123e-01 -5.66043607e-02 -2.26768027e-02 1.67498576e+01] [ 5.66386549e-02 9.98394362e-01 8.72379396e-04 -8.42068888e-01] [ 2.25910115e-02 -2.15513961e-03 9.99742468e-01 -1.10510171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.072414037 meters 0.0994564426198791 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.85, Z:-0.11 [[ 9.98160385e-01 -5.64455522e-02 -2.21301982e-02 1.67808027e+01] [ 5.64782277e-02 9.98403466e-01 8.53787605e-04 -8.50707585e-01] [ 2.20466741e-02 -2.10209134e-03 9.99754733e-01 -1.13003604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.102414037 meters 0.09531686204157507 Centerline is valid? [True, True] Translation: X:16.81, Y:-0.84, Z:-0.11 [[ 9.98146153e-01 -5.61578316e-02 -2.34638926e-02 1.68130697e+01] [ 5.61945217e-02 9.98419428e-01 9.06735879e-04 -8.42525672e-01] [ 2.33758859e-02 -2.22359715e-03 9.99724274e-01 -1.11998665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.132414037 meters 0.10026412073112796 Centerline is valid? [True, False] Translation: X:16.80, Y:-0.84, Z:-0.12 [[ 9.98692990e-01 -5.09757559e-02 -3.71258158e-03 1.68047572e+01] [ 5.09770626e-02 9.98699791e-01 2.58129604e-04 -8.43140961e-01] [ 3.69459610e-03 -4.47048730e-04 9.99993075e-01 -1.20441347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.162414037 meters 0.09488368828502898 Centerline is valid? [False, True] Translation: X:16.81, Y:-0.84, Z:-0.12 [[ 9.98681665e-01 -5.11960321e-02 -3.72803346e-03 1.68050898e+01] [ 5.11957001e-02 9.98688623e-01 -1.84491565e-04 -8.41244669e-01] [ 3.73258984e-03 -6.61093978e-06 9.99993034e-01 -1.20999234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.192414037 meters 0.09768504218166739 Centerline is valid? [True, True] Translation: X:16.84, Y:-0.85, Z:-0.12 [[ 9.98688149e-01 -5.11041446e-02 -3.21676525e-03 1.68372416e+01] [ 5.11048851e-02 9.98693281e-01 1.48372764e-04 -8.47864903e-01] [ 3.20497938e-03 -3.12570539e-04 9.99994815e-01 -1.23807241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.222414037 meters 0.09816148904101012 Centerline is valid? [True, True] Translation: X:16.87, Y:-0.85, Z:-0.12 [[ 9.98744395e-01 -5.00641935e-02 -1.79139718e-03 1.68674712e+01] [ 5.00644162e-02 9.98745988e-01 7.96634044e-05 -8.49784605e-01] [ 1.78516246e-03 -1.69248633e-04 9.99998392e-01 -1.24574383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.252414037 meters 0.09831983675285431 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.85, Z:-0.12 [[ 9.98790984e-01 -4.91286668e-02 -1.71586807e-03 1.68977937e+01] [ 4.91288699e-02 9.98792445e-01 7.63409184e-05 -8.50408245e-01] [ 1.71004554e-03 -1.60547280e-04 9.99998525e-01 -1.24705228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.282414037000002 meters 0.09491574421920836 Centerline is valid? [True, True] Translation: X:16.93, Y:-0.84, Z:-0.12 [[ 9.98991152e-01 -4.49061634e-02 -3.39090049e-04 1.69291073e+01] [ 4.49061712e-02 9.98991209e-01 1.54137201e-05 -8.41905470e-01] [ 3.38055807e-04 -3.06254058e-05 9.99999942e-01 -1.23112585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.312414037 meters 0.09414454288726981 Centerline is valid? [True, True] Translation: X:16.96, Y:-0.84, Z:-0.12 [[ 9.99065930e-01 -4.32023582e-02 -9.07833776e-04 1.69606537e+01] [ 4.32024132e-02 9.99066339e-01 4.10249801e-05 -8.40418505e-01] [ 9.05213791e-04 -8.02072698e-05 9.99999587e-01 -1.22322196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.342414037 meters 0.08968335529745051 Centerline is valid? [True, True] Translation: X:16.99, Y:-0.83, Z:-0.12 [[ 9.99145651e-01 -4.13268914e-02 2.39019110e-04 1.69919896e+01] [ 4.13268950e-02 9.99145679e-01 -1.01804565e-05 -8.31492581e-01] [-2.38394185e-04 2.00496765e-05 9.99999971e-01 -1.20783268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.372414037000002 meters 0.08933973310695847 Centerline is valid? [True, True] Translation: X:17.02, Y:-0.83, Z:-0.12 [[ 9.99213947e-01 -3.96404019e-02 3.55693091e-04 1.70234665e+01] [ 3.96404097e-02 9.99214010e-01 -1.49447528e-05 -8.30436148e-01] [-3.54821104e-04 2.90328253e-05 9.99999937e-01 -1.22236706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.402414037 meters 0.08885359039589578 Centerline is valid? [True, True] Translation: X:17.06, Y:-0.83, Z:-0.12 [[ 9.99262187e-01 -3.84004840e-02 -6.96029013e-04 1.70562782e+01] [ 3.84005163e-02 9.99262428e-01 3.30146440e-05 -8.30095148e-01] [ 6.94247863e-04 -5.97181588e-05 9.99999757e-01 -1.23965645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.432414037 meters 0.09512686473217204 Centerline is valid? [True, True] Translation: X:17.09, Y:-0.84, Z:-0.13 [[ 9.99296245e-01 -3.75026716e-02 -7.51043035e-04 1.70865168e+01] [ 3.75027082e-02 9.99296525e-01 3.46595251e-05 -8.43106292e-01] [ 7.49214871e-04 -6.28012810e-05 9.99999717e-01 -1.29076025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.462414037000002 meters 0.09024704181972622 Centerline is valid? [True, True] Translation: X:17.12, Y:-0.83, Z:-0.13 [[ 9.99350512e-01 -3.60280929e-02 -7.28543095e-04 1.71183340e+01] [ 3.60281266e-02 9.99350776e-01 3.32517521e-05 -8.31524193e-01] [ 7.26872110e-04 -5.94781983e-05 9.99999734e-01 -1.26680937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.492414037 meters 0.08866565000468772 Centerline is valid? [True, True] Translation: X:17.15, Y:-0.83, Z:-0.13 [[ 9.99368107e-01 -3.54966886e-02 -1.83631095e-03 1.71510518e+01] [ 3.54969016e-02 9.99369783e-01 8.35399709e-05 -8.28569572e-01] [ 1.83218828e-03 -1.48670532e-04 9.99998310e-01 -1.27043574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.522414037 meters 0.08812541792821642 Centerline is valid? [True, True] Translation: X:17.18, Y:-0.83, Z:-0.13 [[ 9.99386113e-01 -3.49706261e-02 -2.11007044e-03 1.71836040e+01] [ 3.49709060e-02 9.99388326e-01 9.59033144e-05 -8.29569295e-01] [ 2.10542596e-03 -1.69635516e-04 9.99997769e-01 -1.28515570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.552414037000002 meters 0.08877654838975375 Centerline is valid? [True, True] Translation: X:17.21, Y:-0.83, Z:-0.13 [[ 9.99386369e-01 -3.49524700e-02 -2.28266892e-03 1.72148675e+01] [ 3.49527965e-02 9.99388959e-01 1.03303054e-04 -8.32764814e-01] [ 2.27766342e-03 -1.83025326e-04 9.99997389e-01 -1.30182658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.582414037 meters 0.08850947944269999 Centerline is valid? [True, True] Translation: X:17.25, Y:-0.83, Z:-0.13 [[ 9.99417086e-01 -3.41363004e-02 -4.47987657e-04 1.72467200e+01] [ 3.41363134e-02 9.99417186e-01 2.12900568e-05 -8.33444164e-01] [ 4.46999800e-04 -3.65702936e-05 9.99999899e-01 -1.30613192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.612414037 meters 0.08991058913500359 Centerline is valid? [True, True] Translation: X:17.28, Y:-0.84, Z:-0.13 [[ 9.99431684e-01 -3.37068057e-02 3.99301260e-04 1.72781228e+01] [ 3.37068142e-02 9.99431764e-01 -1.46505268e-05 -8.36611019e-01] [-3.98580540e-04 2.81013741e-05 9.99999920e-01 -1.31354363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.642414037 meters 0.09065482647299819 Centerline is valid? [True, True] Translation: X:17.31, Y:-0.84, Z:-0.13 [[ 9.99461954e-01 -3.27993039e-02 9.48428291e-05 1.73091683e+01] [ 3.27993043e-02 9.99461958e-01 -3.06286108e-06 -8.37943150e-01] [-9.46913400e-05 6.17199194e-06 9.99999995e-01 -1.32357847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.672414037 meters 0.08752286134102875 Centerline is valid? [True, True] Translation: X:17.34, Y:-0.83, Z:-0.13 [[ 9.99469834e-01 -3.25544128e-02 -5.10289718e-04 1.73422117e+01] [ 3.25544300e-02 9.99469964e-01 2.54887424e-05 -8.32721083e-01] [ 5.09189475e-04 -4.20874201e-05 9.99999869e-01 -1.31040113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.702414037 meters 0.08797049902528058 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.84, Z:-0.13 [[ 9.99474424e-01 -3.24129976e-02 -5.23709383e-04 1.73748653e+01] [ 3.24130157e-02 9.99474560e-01 2.61320293e-05 -8.35703260e-01] [ 5.22587188e-04 -4.30932953e-05 9.99999863e-01 -1.32252756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.732414037 meters 0.0918542079889646 Centerline is valid? [True, True] Translation: X:17.41, Y:-0.85, Z:-0.14 [[ 9.99499195e-01 -3.16256753e-02 -1.08404529e-03 1.74051064e+01] [ 3.16257482e-02 9.99499780e-01 5.02287483e-05 -8.46400829e-01] [ 1.08191451e-03 -8.44873368e-05 9.99999411e-01 -1.35899085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.762414037 meters 0.09181651645405499 Centerline is valid? [True, True] Translation: X:17.43, Y:-0.85, Z:-0.14 [[ 9.99553446e-01 -2.98804363e-02 -2.61956743e-04 1.74344219e+01] [ 2.98804409e-02 9.99553480e-01 1.33400269e-05 -8.46394544e-01] [ 2.61441169e-04 -2.11614528e-05 9.99999966e-01 -1.37730886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.792414037 meters 0.09231123419228365 Centerline is valid? [True, True] Translation: X:17.47, Y:-0.85, Z:-0.14 [[ 9.99570977e-01 -2.92759635e-02 -8.82958149e-04 1.74656655e+01] [ 2.92760112e-02 9.99571365e-01 4.11516789e-05 -8.47782997e-01] [ 8.81374928e-04 -6.69835166e-05 9.99999609e-01 -1.39158097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.822414037 meters 0.08669041269105497 Centerline is valid? [True, True] Translation: X:17.50, Y:-0.84, Z:-0.14 [[ 9.99616696e-01 -2.76637002e-02 -1.08620576e-03 1.74981327e+01] [ 2.76637713e-02 9.99617283e-01 5.04974817e-05 -8.35846799e-01] [ 1.08439311e-03 -8.05266737e-05 9.99999409e-01 -1.37015061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.852414037 meters 0.0859281838888796 Centerline is valid? [True, True] Translation: X:17.53, Y:-0.83, Z:-0.14 [[ 9.99637005e-01 -2.69229932e-02 -1.00581646e-03 1.75305408e+01] [ 2.69230544e-02 9.99637508e-01 4.73499997e-05 -8.34835569e-01] [ 1.00417705e-03 -7.44124630e-05 9.99999493e-01 -1.37266753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.882414037 meters 0.08694590313321092 Centerline is valid? [True, True] Translation: X:17.56, Y:-0.84, Z:-0.14 [[ 9.99652295e-01 -2.63664786e-02 -3.13420303e-04 1.75619257e+01] [ 2.63664854e-02 9.99652344e-01 1.75969635e-05 -8.38298402e-01] [ 3.12847371e-04 -2.58546367e-05 9.99999951e-01 -1.39036414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.912414037 meters 0.08474820690758188 Centerline is valid? [True, True] Translation: X:17.59, Y:-0.84, Z:-0.14 [[ 9.99685360e-01 -2.50479951e-02 1.33392822e-03 1.75938840e+01] [ 2.50480968e-02 9.99686245e-01 -5.95788936e-05 -8.35100646e-01] [-1.33201736e-03 9.29725108e-05 9.99999109e-01 -1.38094182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.942414037 meters 0.0846082288329804 Centerline is valid? [True, True] Translation: X:17.62, Y:-0.84, Z:-0.14 [[ 9.99732700e-01 -2.28308089e-02 3.64446221e-03 1.76237017e+01] [ 2.28315658e-02 9.99739312e-01 -1.66214211e-04 -8.36313245e-01] [-3.63971734e-03 2.49378561e-04 9.99993345e-01 -1.37605845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.972414037 meters 0.08735715975733224 Centerline is valid? [True, True] Translation: X:17.65, Y:-0.84, Z:-0.14 [[ 9.99755484e-01 -2.18701361e-02 3.26644902e-03 1.76542332e+01] [ 2.18707355e-02 9.99760796e-01 -1.47904439e-04 -8.43857646e-01] [-3.26243298e-03 2.19307917e-04 9.99994654e-01 -1.41158259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.002414037 meters 0.08486598427290247 Centerline is valid? [True, True] Translation: X:17.69, Y:-0.84, Z:-0.14 [[ 9.99774283e-01 -2.11833024e-02 1.62793753e-03 1.76875849e+01] [ 2.11834476e-02 9.99775603e-01 -7.20339674e-05 -8.39951545e-01] [-1.62604631e-03 1.06503037e-04 9.99998672e-01 -1.40743361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.032414037 meters 0.08504333093094123 Centerline is valid? [True, True] Translation: X:17.72, Y:-0.84, Z:-0.14 [[ 9.99777984e-01 -2.10648837e-02 5.02711893e-04 1.77198034e+01] [ 2.10648971e-02 9.99778110e-01 -2.14084077e-05 -8.41899192e-01] [-5.02149380e-04 3.19932290e-05 9.99999873e-01 -1.42482534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.062414037 meters 0.0858102346445434 Centerline is valid? [True, True] Translation: X:17.75, Y:-0.85, Z:-0.14 [[ 9.99783278e-01 -2.08134011e-02 4.45707118e-04 1.77511290e+01] [ 2.08134108e-02 9.99783377e-01 -1.72968828e-05 -8.45992211e-01] [-4.45250560e-04 2.65698195e-05 9.99999901e-01 -1.43642639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.092414037 meters 0.08585505007408173 Centerline is valid? [True, True] Translation: X:17.78, Y:-0.85, Z:-0.14 [[ 9.99790499e-01 -2.04684498e-02 1.40902534e-05 1.77833427e+01] [ 2.04684497e-02 9.99790499e-01 9.48035601e-07 -8.48260933e-01] [-1.41067063e-05 -6.59431341e-07 1.00000000e+00 -1.44864979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.122414037000002 meters 0.08629056269376052 Centerline is valid? [True, True] Translation: X:17.81, Y:-0.85, Z:-0.15 [[ 9.99789006e-01 -2.05317506e-02 -6.25273048e-04 1.78141661e+01] [ 2.05317734e-02 9.99789200e-01 2.99942070e-05 -8.51055782e-01] [ 6.24525408e-04 -4.28258430e-05 9.99999804e-01 -1.45442116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.152414037 meters 0.08603763371024929 Centerline is valid? [True, True] Translation: X:17.85, Y:-0.85, Z:-0.15 [[ 9.99814283e-01 -1.92712679e-02 1.34784990e-04 1.78457689e+01] [ 1.92712687e-02 9.99814292e-01 -5.02947886e-06 -8.52562557e-01] [-1.34663035e-04 7.62602256e-06 9.99999991e-01 -1.45292238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.182414037 meters 0.08548905785579136 Centerline is valid? [True, True] Translation: X:17.87, Y:-0.85, Z:-0.14 [[ 9.99866121e-01 -1.61621190e-02 2.55447777e-03 1.78749750e+01] [ 1.61624733e-02 9.99869372e-01 -1.18118629e-04 -8.52909168e-01] [-2.55223503e-03 1.59389495e-04 9.99996730e-01 -1.44644226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.212414037000002 meters 0.08499933020498764 Centerline is valid? [True, True] Translation: X:17.91, Y:-0.85, Z:-0.15 [[ 9.99895617e-01 -1.42273394e-02 2.51767651e-03 1.79061200e+01] [ 1.42276748e-02 9.99898775e-01 -1.15364049e-04 -8.52982536e-01] [-2.51578034e-03 1.51172690e-04 9.99996824e-01 -1.45021838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.242414037 meters 0.08474288934913804 Centerline is valid? [True, True] Translation: X:17.94, Y:-0.85, Z:-0.15 [[ 9.99912639e-01 -1.30028933e-02 2.37473688e-03 1.79384623e+01] [ 1.30031867e-02 9.99915449e-01 -1.08156000e-04 -8.53650615e-01] [-2.37312975e-03 1.39025698e-04 9.99997174e-01 -1.46332333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.272414037 meters 0.08474288934913804 Centerline is valid? [True, True] Translation: X:17.97, Y:-0.86, Z:-0.15 [[ 9.99913853e-01 -1.29091912e-02 2.37476251e-03 1.79710227e+01] [ 1.29094830e-02 9.99916663e-01 -1.07603174e-04 -8.55266007e-01] [-2.37317554e-03 1.38250861e-04 9.99997174e-01 -1.47136844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.302414037000002 meters 0.08458906070652254 Centerline is valid? [True, True] Translation: X:18.00, Y:-0.86, Z:-0.15 [[ 9.99943584e-01 -1.05679824e-02 1.07121627e-03 1.80011456e+01] [ 1.05680411e-02 9.99944155e-01 -4.92135880e-05 -8.57396684e-01] [-1.07063636e-03 6.05314692e-05 9.99999425e-01 -1.50725956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.332414037 meters 0.08468577779443935 Centerline is valid? [True, True] Translation: X:18.03, Y:-0.86, Z:-0.15 [[ 9.99952378e-01 -9.75918970e-03 1.78399459e-05 1.80334498e+01] [ 9.75918969e-03 9.99952378e-01 6.86588118e-07 -8.59741876e-01] [-1.78457968e-05 -5.12452003e-07 1.00000000e+00 -1.53110798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.362414037 meters 0.08445726126258919 Centerline is valid? [True, True] Translation: X:18.07, Y:-0.86, Z:-0.15 [[ 9.99963624e-01 -8.52426193e-03 -2.94734754e-04 1.80658201e+01] [ 8.52426678e-03 9.99963668e-01 1.51853617e-05 -8.61839038e-01] [ 2.94594601e-04 -1.76972070e-05 9.99999956e-01 -1.54458844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.392414037 meters 0.08399018311566432 Centerline is valid? [True, True] Translation: X:18.10, Y:-0.86, Z:-0.16 [[ 9.99982687e-01 -5.84486346e-03 6.80766133e-04 1.80959038e+01] [ 5.84488633e-03 9.99982918e-01 -3.16041549e-05 -8.62261174e-01] [-6.80569782e-04 3.55826084e-05 9.99999768e-01 -1.55691018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.422414037 meters 0.08350727782718434 Centerline is valid? [True, True] Translation: X:18.13, Y:-0.86, Z:-0.15 [[ 9.99989950e-01 -4.31106348e-03 1.23036142e-03 1.81270404e+01] [ 4.31113615e-03 9.99990705e-01 -5.64133678e-05 -8.62055429e-01] [-1.23010678e-03 6.17170564e-05 9.99999242e-01 -1.54415880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.452414037 meters 0.08338880982767155 Centerline is valid? [True, True] Translation: X:18.16, Y:-0.86, Z:-0.15 [[ 9.99993340e-01 -3.38423849e-03 1.36650191e-03 1.81582260e+01] [ 3.38432745e-03 9.99994271e-01 -6.27885684e-05 -8.62780824e-01] [-1.36628159e-03 6.74128401e-05 9.99999064e-01 -1.54114368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.482414037 meters 0.08329754130002112 Centerline is valid? [True, True] Translation: X:18.19, Y:-0.86, Z:-0.15 [[ 9.99995602e-01 -2.76905926e-03 1.06219307e-03 1.81906037e+01] [ 2.76911178e-03 9.99996165e-01 -4.79762439e-05 -8.63654365e-01] [-1.06205615e-03 5.09173642e-05 9.99999435e-01 -1.54451052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.512414037 meters 0.08317282888993259 Centerline is valid? [True, True] Translation: X:18.22, Y:-0.86, Z:-0.16 [[ 9.99997308e-01 -2.05532687e-03 1.07641253e-03 1.82224620e+01] [ 2.05538049e-03 9.99997887e-01 -4.87076943e-05 -8.64878025e-01] [-1.07631015e-03 5.09200006e-05 9.99999419e-01 -1.56188550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.542414037 meters 0.08416588258579702 Centerline is valid? [True, True] Translation: X:18.25, Y:-0.87, Z:-0.16 [[ 9.99995546e-01 -2.78632944e-03 1.07007432e-03 1.82530193e+01] [ 2.78638328e-03 9.99996117e-01 -4.88302528e-05 -8.71605123e-01] [-1.06993410e-03 5.18116725e-05 9.99999426e-01 -1.58447024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.572414037 meters 0.08016318821000952 Centerline is valid? [True, True] Translation: X:18.29, Y:-0.86, Z:-0.15 [[ 9.99994802e-01 -3.01197520e-03 1.15021811e-03 1.82853517e+01] [ 3.01203715e-03 9.99995462e-01 -5.21316615e-05 -8.64209640e-01] [-1.15005588e-03 5.55958902e-05 9.99999337e-01 -1.54692010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.602414037 meters 0.07899823214122516 Centerline is valid? [True, True] Translation: X:18.32, Y:-0.86, Z:-0.15 [[ 9.99996075e-01 -2.78216469e-03 3.29936916e-04 1.83175954e+01] [ 2.78216939e-03 9.99996130e-01 -1.37900221e-05 -8.63100659e-01] [-3.29897273e-04 1.47079083e-05 9.99999945e-01 -1.54117397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.632414037 meters 0.07964519863265097 Centerline is valid? [True, True] Translation: X:18.35, Y:-0.87, Z:-0.16 [[ 9.99998240e-01 -1.80734633e-03 5.03888240e-04 1.83484591e+01] [ 1.80735783e-03 9.99998366e-01 -2.23732168e-05 -8.66614041e-01] [-5.03846981e-04 2.32838837e-05 9.99999873e-01 -1.55374287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.662414037 meters 0.08004521348985126 Centerline is valid? [True, True] Translation: X:18.38, Y:-0.87, Z:-0.16 [[ 9.99999695e-01 -3.54597768e-04 6.95479414e-04 1.83784279e+01] [ 3.54620235e-04 9.99999937e-01 -3.21811387e-05 -8.69694099e-01] [-6.95467958e-04 3.24277600e-05 9.99999758e-01 -1.56828710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.692414037 meters 0.0785086319802765 Centerline is valid? [True, True] Translation: X:18.41, Y:-0.87, Z:-0.15 [[ 9.99999749e-01 3.23547596e-04 6.30333263e-04 1.84086912e+01] [-3.23529048e-04 9.99999947e-01 -2.95271323e-05 -8.67171891e-01] [-6.30342783e-04 2.93231937e-05 9.99999801e-01 -1.54861299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.722414037 meters 0.07756723619698086 Centerline is valid? [True, True] Translation: X:18.44, Y:-0.87, Z:-0.16 [[ 9.99996575e-01 2.61114607e-03 -1.78851496e-04 1.84398161e+01] [-2.61114454e-03 9.99996591e-01 8.79328679e-06 -8.67053547e-01] [ 1.78873846e-04 -8.32624957e-06 9.99999984e-01 -1.55190175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.752414037 meters 0.077787032105774 Centerline is valid? [True, True] Translation: X:18.47, Y:-0.87, Z:-0.16 [[ 9.99993197e-01 3.36337836e-03 -1.51430686e-03 1.84685765e+01] [-3.36327672e-03 9.99994342e-01 6.96582439e-05 -8.69716846e-01] [ 1.51453257e-03 -6.45647370e-05 9.99998851e-01 -1.56950999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.782414037 meters 0.07957643081082658 Centerline is valid? [True, True] Translation: X:18.50, Y:-0.88, Z:-0.16 [[ 9.99989182e-01 4.13575527e-03 -2.12893763e-03 1.84961506e+01] [-4.13555715e-03 9.99991444e-01 9.74551109e-05 -8.78185592e-01] [ 2.12932247e-03 -8.86497133e-05 9.99997729e-01 -1.63339389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.812414037 meters 0.07855236030037192 Centerline is valid? [True, True] Translation: X:18.53, Y:-0.88, Z:-0.16 [[ 9.99984624e-01 5.16420717e-03 -2.02060674e-03 1.85255216e+01] [-5.16402948e-03 9.99986662e-01 9.31476719e-05 -8.76957954e-01] [ 2.02106082e-03 -8.27117670e-05 9.99997954e-01 -1.62637778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.842414037 meters 0.07832954561453578 Centerline is valid? [True, True] Translation: X:18.55, Y:-0.88, Z:-0.16 [[ 9.99974984e-01 6.59386870e-03 -2.55960968e-03 1.85532468e+01] [-6.59358993e-03 9.99978255e-01 1.17333529e-04 -8.77901286e-01] [ 2.56032770e-03 -1.00453577e-04 9.99996717e-01 -1.63421239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.872414037000002 meters 0.07837409047688725 Centerline is valid? [True, True] Translation: X:18.58, Y:-0.88, Z:-0.16 [[ 9.99974659e-01 6.70996790e-03 -2.37846627e-03 1.85821099e+01] [-6.70972726e-03 9.99977484e-01 1.09140206e-04 -8.79771258e-01] [ 2.37914504e-03 -9.31785808e-05 9.99997165e-01 -1.64627507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.902414037 meters 0.07840727179261596 Centerline is valid? [True, True] Translation: X:18.61, Y:-0.88, Z:-0.17 [[ 9.99973016e-01 7.21412164e-03 -1.38664315e-03 1.86095313e+01] [-7.21404181e-03 9.99973977e-01 6.25599646e-05 -8.82211827e-01] [ 1.38705838e-03 -5.25549748e-05 9.99999037e-01 -1.65494877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.932414037 meters 0.07676773048747652 Centerline is valid? [True, True] Translation: X:18.64, Y:-0.88, Z:-0.16 [[ 9.99975905e-01 6.91527711e-03 6.07163579e-04 1.86385433e+01] [-6.91526028e-03 9.99976089e-01 -2.98095280e-05 -8.82212636e-01] [-6.07355202e-04 2.56101156e-05 9.99999815e-01 -1.61212927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.962414037000002 meters 0.07675195366297785 Centerline is valid? [True, True] Translation: X:18.67, Y:-0.89, Z:-0.16 [[ 9.99980038e-01 6.21762536e-03 1.12478331e-03 1.86672829e+01] [-6.21756883e-03 9.99980669e-01 -5.37420397e-05 -8.85554156e-01] [-1.12509572e-03 4.67475492e-05 9.99999366e-01 -1.60960420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.992414037 meters 0.07603450099857298 Centerline is valid? [True, True] Translation: X:18.70, Y:-0.89, Z:-0.16 [[ 9.99987304e-01 4.80378276e-03 1.52179214e-03 1.86964945e+01] [-4.80367946e-03 9.99988460e-01 -7.15250421e-05 -8.85842143e-01] [-1.52211817e-03 6.42139324e-05 9.99998840e-01 -1.59296184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.022414037 meters 0.0763147837253235 Centerline is valid? [True, True] Translation: X:18.73, Y:-0.89, Z:-0.16 [[ 9.99991398e-01 3.35209059e-03 2.44270076e-03 1.87261860e+01] [-3.35182253e-03 9.99994376e-01 -1.13824342e-04 -8.90297895e-01] [-2.44306857e-03 1.05635863e-04 9.99997010e-01 -1.59958398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.052414037000002 meters 0.07792988350513048 Centerline is valid? [True, True] Translation: X:18.76, Y:-0.90, Z:-0.16 [[ 9.99998783e-01 -1.51403288e-03 3.75424499e-04 1.87551338e+01] [ 1.51403936e-03 9.99998854e-01 -1.69842378e-05 -9.00302403e-01] [-3.75398354e-04 1.75526246e-05 9.99999929e-01 -1.62514557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.082414037 meters 0.07798543577244413 Centerline is valid? [True, True] Translation: X:18.79, Y:-0.90, Z:-0.16 [[ 9.99993904e-01 -3.47140172e-03 -3.75612413e-04 1.87863213e+01] [ 3.47140881e-03 9.99993974e-01 1.82244346e-05 -9.04705710e-01] [ 3.75546885e-04 -1.95282278e-05 9.99999929e-01 -1.63956242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.112414037 meters 0.07777695001684799 Centerline is valid? [True, True] Translation: X:18.82, Y:-0.91, Z:-0.16 [[ 9.99982598e-01 -5.82176240e-03 -9.53966311e-04 1.88170400e+01] [ 5.82180760e-03 9.99983052e-01 4.46144912e-05 -9.07641360e-01] [ 9.53690408e-04 -5.01675232e-05 9.99999544e-01 -1.63528719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.142414037 meters 0.07937463328252821 Centerline is valid? [True, True] Translation: X:18.85, Y:-0.92, Z:-0.17 [[ 9.99964170e-01 -7.90354110e-03 -3.03210934e-03 1.88466437e+01] [ 7.90400937e-03 9.99968753e-01 1.42485284e-04 -9.15703125e-01] [ 3.03088846e-03 -1.66445999e-04 9.99995393e-01 -1.66684361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.172414037 meters 0.08236046966648447 Centerline is valid? [True, True] Translation: X:18.88, Y:-0.93, Z:-0.17 [[ 9.99937291e-01 -1.03623792e-02 -4.24668726e-03 1.88757218e+01] [ 1.03633090e-02 9.99946280e-01 1.97014958e-04 -9.27152145e-01] [ 4.24441759e-03 -2.41012336e-04 9.99990963e-01 -1.71854226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.202414037 meters 0.07997975417475855 Centerline is valid? [True, True] Translation: X:18.91, Y:-0.92, Z:-0.17 [[ 9.99929586e-01 -1.06747431e-02 -5.18394076e-03 1.89086641e+01] [ 1.06761434e-02 9.99942979e-01 2.42515675e-04 -9.22485477e-01] [ 5.18105637e-03 -2.97843093e-04 9.99986534e-01 -1.68841684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.232414037 meters 0.08009262657902969 Centerline is valid? [True, True] Translation: X:18.94, Y:-0.93, Z:-0.17 [[ 9.99931057e-01 -1.06276657e-02 -4.99343393e-03 1.89395379e+01] [ 1.06289613e-02 9.99943484e-01 2.32994262e-04 -9.26124556e-01] [ 4.99067554e-03 -2.86053215e-04 9.99987506e-01 -1.69677840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.262414037 meters 0.08250446848926926 Centerline is valid? [True, True] Translation: X:18.97, Y:-0.94, Z:-0.17 [[ 9.99931491e-01 -1.07044612e-02 -4.73572661e-03 1.89697865e+01] [ 1.07056307e-02 9.99942669e-01 2.21659679e-04 -9.35308997e-01] [ 4.73308236e-03 -2.72343434e-04 9.99988762e-01 -1.74129672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.292414037 meters 0.08057835554959887 Centerline is valid? [True, True] Translation: X:19.00, Y:-0.93, Z:-0.17 [[ 9.99938029e-01 -1.04381799e-02 -3.87077159e-03 1.90020333e+01] [ 1.04389626e-02 9.99945496e-01 1.82060479e-04 -9.32935354e-01] [ 3.86866024e-03 -2.22456036e-04 9.99992492e-01 -1.71947601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.322414037 meters 0.0803339509407301 Centerline is valid? [True, True] Translation: X:19.03, Y:-0.93, Z:-0.17 [[ 9.99946636e-01 -9.59293325e-03 -3.83419582e-03 1.90333913e+01] [ 9.59369244e-03 9.99953963e-01 1.79660259e-04 -9.34564156e-01] [ 3.83229583e-03 -2.16434767e-04 9.99992633e-01 -1.71757720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.352414037 meters 0.08004004798511953 Centerline is valid? [True, True] Translation: X:19.06, Y:-0.93, Z:-0.17 [[ 9.99968047e-01 -6.83815442e-03 -4.14067103e-03 1.90635122e+01] [ 6.83901433e-03 9.99976595e-01 1.93550466e-04 -9.34254772e-01] [ 4.13925059e-03 -2.21862390e-04 9.99991409e-01 -1.72695202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.382414037 meters 0.07933855386847968 Centerline is valid? [True, True] Translation: X:19.09, Y:-0.93, Z:-0.17 [[ 9.99977823e-01 -4.40938521e-03 -4.99115258e-03 1.90937489e+01] [ 4.41060235e-03 9.99990246e-01 2.32878733e-04 -9.33646877e-01] [ 4.99007705e-03 -2.54887558e-04 9.99987517e-01 -1.73753905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.412414037 meters 0.07883589480818105 Centerline is valid? [True, True] Translation: X:19.12, Y:-0.93, Z:-0.17 [[ 9.99976270e-01 -2.64120564e-03 -6.36274038e-03 1.91239713e+01] [ 2.64313499e-03 9.99996463e-01 2.94836442e-04 -9.33094553e-01] [ 6.36193916e-03 -3.11647027e-04 9.99979714e-01 -1.74927695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.442414037 meters 0.07857800300086955 Centerline is valid? [True, True] Translation: X:19.15, Y:-0.93, Z:-0.18 [[ 9.99970274e-01 -2.42687609e-04 -7.70661721e-03 1.91515340e+01] [ 2.45441801e-04 9.99999906e-01 3.56436437e-04 -9.33881620e-01] [ 7.70652999e-03 -3.58317367e-04 9.99970240e-01 -1.77053384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.472414037 meters 0.07773171425972492 Centerline is valid? [True, True] Translation: X:19.18, Y:-0.93, Z:-0.18 [[ 9.99935865e-01 5.35670147e-03 -9.97860234e-03 1.91812702e+01] [-5.35234739e-03 9.99985569e-01 4.62995989e-04 -9.32099049e-01] [ 9.98093847e-03 -4.09557349e-04 9.99950105e-01 -1.80417882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.502414037 meters 0.07769491004351675 Centerline is valid? [True, True] Translation: X:19.21, Y:-0.93, Z:-0.18 [[ 9.99921199e-01 7.27610463e-03 -1.02300714e-02 1.92093113e+01] [-7.27164888e-03 9.99973449e-01 4.72683056e-04 -9.32569460e-01] [ 1.02332391e-02 -3.98256321e-04 9.99947560e-01 -1.82404774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.532414037 meters 0.07721887333102252 Centerline is valid? [True, True] Translation: X:19.24, Y:-0.93, Z:-0.18 [[ 9.99917476e-01 9.36200473e-03 -8.79740767e-03 1.92393282e+01] [-9.35878765e-03 9.99956123e-01 4.06781784e-04 -9.32499463e-01] [ 8.80082996e-03 -3.24415144e-04 9.99961219e-01 -1.82423303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.562414037 meters 0.07640012862506251 Centerline is valid? [True, True] Translation: X:19.27, Y:-0.93, Z:-0.18 [[ 9.99926077e-01 1.19517496e-02 -2.23540870e-03 1.92689680e+01] [-1.19515489e-02 9.99928572e-01 1.03132553e-04 -9.32998336e-01] [ 2.23648165e-03 -7.64083328e-05 9.99997496e-01 -1.78082299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.592414037 meters 0.07468749485582159 Centerline is valid? [True, True] Translation: X:19.30, Y:-0.93, Z:-0.17 [[ 9.99921093e-01 1.25524806e-02 -4.92069770e-04 1.92978121e+01] [-1.25524718e-02 9.99921214e-01 2.10840463e-05 -9.29367429e-01] [ 4.92295660e-04 -1.49056907e-05 9.99999879e-01 -1.72159642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.622414037000002 meters 0.07502441559259332 Centerline is valid? [True, True] Translation: X:19.33, Y:-0.93, Z:-0.17 [[ 9.99915933e-01 1.29343560e-02 9.10519805e-04 1.93255542e+01] [-1.29343211e-02 9.99916347e-01 -4.41398022e-05 -9.34137313e-01] [-9.11014558e-04 3.23591359e-05 9.99999585e-01 -1.72858474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.652414037 meters 0.074814218367216 Centerline is valid? [True, True] Translation: X:19.35, Y:-0.94, Z:-0.17 [[ 9.99923480e-01 1.23290538e-02 1.01417622e-03 1.93541800e+01] [-1.23290110e-02 9.99923994e-01 -4.84430275e-05 -9.35552458e-01] [-1.01469640e-03 3.59355309e-05 9.99999485e-01 -1.72419901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.682414037 meters 0.07528380723081743 Centerline is valid? [True, True] Translation: X:19.38, Y:-0.94, Z:-0.18 [[ 9.99947994e-01 9.88020766e-03 -2.52792759e-03 1.93841497e+01] [-9.87994562e-03 9.99951185e-01 1.16122798e-04 -9.42827913e-01] [ 2.52895150e-03 -9.11409718e-05 9.99996798e-01 -1.75064107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.712414037000002 meters 0.07645649132382752 Centerline is valid? [True, True] Translation: X:19.41, Y:-0.95, Z:-0.18 [[ 9.99962215e-01 7.68888612e-03 -4.05576673e-03 1.94119774e+01] [-7.68819872e-03 9.99970428e-01 1.85049764e-04 -9.50047453e-01] [ 4.05706962e-03 -1.53861231e-04 9.99991758e-01 -1.78794424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.742414037 meters 0.07626119524057443 Centerline is valid? [True, True] Translation: X:19.44, Y:-0.95, Z:-0.18 [[ 9.99966239e-01 5.65791638e-03 -5.95889817e-03 1.94412594e+01] [-5.65639122e-03 9.99983965e-01 2.72768775e-04 -9.52606763e-01] [ 5.96034593e-03 -2.39053707e-04 9.99982208e-01 -1.79364927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.772414037 meters 0.077550398564986 Centerline is valid? [True, True] Translation: X:19.47, Y:-0.96, Z:-0.18 [[ 9.99965950e-01 2.10564820e-04 -8.24945837e-03 1.94701657e+01] [-2.07447073e-04 9.99999907e-01 3.78787327e-04 -9.62512829e-01] [ 8.24953736e-03 -3.77063103e-04 9.99965901e-01 -1.82384225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.802414037000002 meters 0.07810385053562678 Centerline is valid? [True, True] Translation: X:19.50, Y:-0.97, Z:-0.18 [[ 9.99963725e-01 -2.03365855e-03 -8.27118525e-03 1.94998966e+01] [ 2.03686373e-03 9.99997854e-01 3.79105323e-04 -9.68058817e-01] [ 8.27039653e-03 -3.95938848e-04 9.99965721e-01 -1.82944996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.832414037 meters 0.0787240163797856 Centerline is valid? [True, True] Translation: X:19.53, Y:-0.97, Z:-0.18 [[ 9.99969520e-01 -4.09458094e-03 -6.64782625e-03 1.95274065e+01] [ 4.09668407e-03 9.99991563e-01 3.02777653e-04 -9.73888002e-01] [ 6.64653041e-03 -3.30002468e-04 9.99977857e-01 -1.84171074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.862414037 meters 0.07943941841668987 Centerline is valid? [True, True] Translation: X:19.56, Y:-0.98, Z:-0.18 [[ 9.99960841e-01 -6.30501919e-03 -6.20993997e-03 1.95568872e+01] [ 6.30690240e-03 9.99980071e-01 2.83721582e-04 -9.79527262e-01] [ 6.20802734e-03 -3.22875957e-04 9.99980678e-01 -1.84982056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.892414037 meters 0.08058994508927311 Centerline is valid? [True, True] Translation: X:19.59, Y:-0.99, Z:-0.18 [[ 9.99933710e-01 -1.02454127e-02 -5.25422638e-03 1.95865185e+01] [ 1.02468162e-02 9.99947471e-01 2.40250709e-04 -9.87921506e-01] [ 5.25148891e-03 -2.94073874e-04 9.99986168e-01 -1.84902946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.922414037 meters 0.08150525758590686 Centerline is valid? [True, True] Translation: X:19.62, Y:-0.99, Z:-0.19 [[ 9.99922965e-01 -1.12911338e-02 -5.15512158e-03 1.96165865e+01] [ 1.12925031e-02 9.99936210e-01 2.36596988e-04 -9.93351330e-01] [ 5.15212128e-03 -2.94792988e-04 9.99986684e-01 -1.86839738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.952414037 meters 0.07962587086385536 Centerline is valid? [True, True] Translation: X:19.65, Y:-0.99, Z:-0.19 [[ 9.99904030e-01 -1.23657798e-02 -6.24645546e-03 1.96481896e+01] [ 1.23678148e-02 9.99923474e-01 2.87253015e-04 -9.90408800e-01] [ 6.24242534e-03 -3.64480451e-04 9.99980449e-01 -1.85526337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.982414037 meters 0.0791414668510661 Centerline is valid? [True, True] Translation: X:19.68, Y:-0.99, Z:-0.19 [[ 9.99885214e-01 -1.35417371e-02 -6.79558838e-03 1.96796049e+01] [ 1.35441738e-02 9.99908225e-01 3.12687212e-04 -9.91576575e-01] [ 6.79073039e-03 -4.04691950e-04 9.99976861e-01 -1.85921537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.012414037 meters 0.08068338290763968 Centerline is valid? [True, True] Translation: X:19.71, Y:-1.00, Z:-0.19 [[ 9.99855217e-01 -1.55716118e-02 -6.86069911e-03 1.97093324e+01] [ 1.55741409e-02 9.99878666e-01 3.15361690e-04 -1.00122507e+00] [ 6.85495598e-03 -4.22165525e-04 9.99976415e-01 -1.89234571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042414037 meters 0.08028079148071257 Centerline is valid? [True, True] Translation: X:19.74, Y:-1.00, Z:-0.19 [[ 9.99845862e-01 -1.63264001e-02 -6.45769575e-03 1.97412834e+01] [ 1.63286677e-02 9.99866634e-01 2.98578471e-04 -1.00424660e+00] [ 6.45195980e-03 -4.03978016e-04 9.99979104e-01 -1.88535712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.072414037 meters 0.08082933502103747 Centerline is valid? [True, True] Translation: X:19.77, Y:-1.01, Z:-0.19 [[ 9.99836042e-01 -1.71250015e-02 -5.88410780e-03 1.97732471e+01] [ 1.71269011e-02 9.99853287e-01 2.72597105e-04 -1.00933380e+00] [ 5.87857629e-03 -3.73328943e-04 9.99982651e-01 -1.88497190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.102414037 meters 0.0809551396773053 Centerline is valid? [True, True] Translation: X:19.80, Y:-1.01, Z:-0.19 [[ 9.99845253e-01 -1.71944904e-02 -3.71742070e-03 1.98034769e+01] [ 1.71952469e-02 9.99852136e-01 1.71636064e-04 -1.01319384e+00] [ 3.71391983e-03 -2.35531470e-04 9.99993076e-01 -1.86467639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.132414037 meters 0.08054535411041999 Centerline is valid? [True, True] Translation: X:19.84, Y:-1.01, Z:-0.19 [[ 9.99873978e-01 -1.56883071e-02 -2.43000732e-03 1.98353451e+01] [ 1.56886286e-02 9.99876919e-01 1.13297702e-04 -1.01473016e+00] [ 2.42793079e-03 -1.51406907e-04 9.99997041e-01 -1.86167960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.162414037 meters 0.08054535411041999 Centerline is valid? [True, True] Translation: X:19.87, Y:-1.02, Z:-0.19 [[ 9.99875033e-01 -1.56209464e-02 -2.42998072e-03 1.98670644e+01] [ 1.56212691e-02 9.99877974e-01 1.13873229e-04 -1.01626080e+00] [ 2.42790540e-03 -1.51818381e-04 9.99997041e-01 -1.86951830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.192414037 meters 0.08046561763539055 Centerline is valid? [True, True] Translation: X:19.90, Y:-1.02, Z:-0.19 [[ 9.99891395e-01 -1.45599756e-02 -2.28165076e-03 1.98994383e+01] [ 1.45602579e-02 9.99893988e-01 1.07170211e-04 -1.01880940e+00] [ 2.27984848e-03 -1.40379995e-04 9.99997391e-01 -1.87840119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.222414037 meters 0.08034820337143081 Centerline is valid? [True, True] Translation: X:19.93, Y:-1.02, Z:-0.19 [[ 9.99912429e-01 -1.30000046e-02 -2.47667087e-03 1.99305751e+01] [ 1.30003303e-02 9.99915485e-01 1.15442772e-04 -1.02132742e+00] [ 2.47496080e-03 -1.47630202e-04 9.99996926e-01 -1.89188667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.252414037 meters 0.08051791258680609 Centerline is valid? [True, True] Translation: X:19.96, Y:-1.03, Z:-0.19 [[ 9.99930439e-01 -1.09804463e-02 -4.30651818e-03 1.99612033e+01] [ 1.09814103e-02 9.99939682e-01 2.00254954e-04 -1.02579701e+00] [ 4.30405953e-03 -2.47532667e-04 9.99990707e-01 -1.92286339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.282414037 meters 0.07990699403596366 Centerline is valid? [True, True] Translation: X:19.99, Y:-1.03, Z:-0.19 [[ 9.99937030e-01 -9.95891311e-03 -5.17255293e-03 1.99921498e+01] [ 9.96029018e-03 9.99950366e-01 2.40535549e-04 -1.02717118e+00] [ 5.16990072e-03 -2.92040531e-04 9.99986593e-01 -1.92786054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.312414037 meters 0.07998890751392017 Centerline is valid? [True, True] Translation: X:20.02, Y:-1.03, Z:-0.19 [[ 9.99944315e-01 -9.20898225e-03 -5.15388492e-03 2.00230108e+01] [ 9.21034034e-03 9.99957555e-01 2.39835524e-04 -1.03013596e+00] [ 5.15145752e-03 -2.87291203e-04 9.99986690e-01 -1.94477472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.342414037 meters 0.08062396739360368 Centerline is valid? [True, True] Translation: X:20.05, Y:-1.04, Z:-0.20 [[ 9.99951222e-01 -8.27765487e-03 -5.38830906e-03 2.00527634e+01] [ 8.27912391e-03 9.99965696e-01 2.50385861e-04 -1.03566342e+00] [ 5.38605161e-03 -2.94984126e-04 9.99985452e-01 -1.97478347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.372414037000002 meters 0.07894242119724082 Centerline is valid? [True, True] Translation: X:20.08, Y:-1.03, Z:-0.20 [[ 9.99949002e-01 -7.61730913e-03 -6.63097644e-03 2.00835016e+01] [ 7.61951614e-03 9.99970924e-01 3.07633130e-04 -1.03347391e+00] [ 6.62844030e-03 -3.58142274e-04 9.99977968e-01 -1.96284965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.402414037 meters 0.07917975857523635 Centerline is valid? [True, True] Translation: X:20.11, Y:-1.04, Z:-0.20 [[ 9.99945773e-01 -7.31418751e-03 -7.41309675e-03 2.01132472e+01] [ 7.31692964e-03 9.99973172e-01 3.42849681e-04 -1.03645572e+00] [ 7.41039020e-03 -3.97072197e-04 9.99972464e-01 -1.98023259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.432414037 meters 0.07824233137413508 Centerline is valid? [True, True] Translation: X:20.14, Y:-1.04, Z:-0.20 [[ 9.99950095e-01 -6.66615340e-03 -7.44116033e-03 2.01427252e+01] [ 6.66889640e-03 9.99977704e-01 3.43873405e-04 -1.03611088e+00] [ 7.43870210e-03 -3.93480571e-04 9.99972255e-01 -1.97808598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.462414037000002 meters 0.07869631430004027 Centerline is valid? [True, True] Translation: X:20.17, Y:-1.04, Z:-0.20 [[ 9.99947297e-01 -5.77742193e-03 -8.48674656e-03 2.01707775e+01] [ 5.78095185e-03 9.99983214e-01 3.91461293e-04 -1.04106999e+00] [ 8.48434246e-03 -4.40502135e-04 9.99963910e-01 -1.98551935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.492414037 meters 0.0781350607831751 Centerline is valid? [True, True] Translation: X:20.20, Y:-1.04, Z:-0.20 [[ 9.99950459e-01 -5.98879021e-03 -7.95069964e-03 2.01992431e+01] [ 5.99184275e-03 9.99981984e-01 3.60169056e-04 -1.04137962e+00] [ 7.94839942e-03 -4.07790555e-04 9.99968328e-01 -1.98088973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522414037 meters 0.07771357581215346 Centerline is valid? [True, True] Translation: X:20.23, Y:-1.04, Z:-0.20 [[ 9.99946147e-01 -6.01706510e-03 -8.45570062e-03 2.02278966e+01] [ 6.02050422e-03 9.99981804e-01 3.81326456e-04 -1.04166222e+00] [ 8.45325229e-03 -4.32213502e-04 9.99964177e-01 -1.97409399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.552414037000002 meters 0.0779281236355264 Centerline is valid? [True, True] Translation: X:20.26, Y:-1.04, Z:-0.20 [[ 9.99945425e-01 -6.50545011e-03 -8.17467941e-03 2.02570308e+01] [ 6.50866342e-03 9.99978751e-01 3.66538251e-04 -1.04375506e+00] [ 8.17212121e-03 -4.19724484e-04 9.99966520e-01 -1.97880845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.582414037 meters 0.07810923152030148 Centerline is valid? [True, True] Translation: X:20.29, Y:-1.05, Z:-0.20 [[ 9.99948397e-01 -7.05563332e-03 -7.30902846e-03 2.02859571e+01] [ 7.05819972e-03 9.99975038e-01 3.25391858e-04 -1.04925208e+00] [ 7.30655016e-03 -3.76963649e-04 9.99973236e-01 -1.98075020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.612414037 meters 0.07850515839283016 Centerline is valid? [True, True] Translation: X:20.31, Y:-1.05, Z:-0.20 [[ 9.99949621e-01 -7.86374459e-03 -6.23828746e-03 2.03140509e+01] [ 7.86564817e-03 9.99969026e-01 2.80669217e-04 -1.05432138e+00] [ 6.23588712e-03 -3.29723252e-04 9.99980502e-01 -1.98667883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.642414037 meters 0.07847703245933758 Centerline is valid? [True, True] Translation: X:20.34, Y:-1.06, Z:-0.20 [[ 9.99946247e-01 -8.26243829e-03 -6.26379499e-03 2.03440748e+01] [ 8.26436907e-03 9.99965810e-01 2.82423336e-04 -1.05677367e+00] [ 6.26124733e-03 -3.34174469e-04 9.99980342e-01 -1.99038190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.672414037 meters 0.07923881325264318 Centerline is valid? [True, True] Translation: X:20.37, Y:-1.06, Z:-0.20 [[ 9.99925429e-01 -8.68294762e-03 -8.58738412e-03 2.03736345e+01] [ 8.68659708e-03 9.99962196e-01 3.87771361e-04 -1.05889653e+00] [ 8.58369249e-03 -4.62337591e-04 9.99963053e-01 -2.01442096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.702414037 meters 0.07936561477317515 Centerline is valid? [True, True] Translation: X:20.40, Y:-1.06, Z:-0.20 [[ 9.99916298e-01 -9.03548692e-03 -9.26050799e-03 2.04023661e+01] [ 9.03967756e-03 9.99959057e-01 4.10769336e-04 -1.05983850e+00] [ 9.25641734e-03 -4.94446960e-04 9.99957036e-01 -2.02420160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.732414037 meters 0.07955270148191304 Centerline is valid? [True, True] Translation: X:20.43, Y:-1.06, Z:-0.20 [[ 9.99922256e-01 -8.57118021e-03 -9.05636422e-03 2.04312500e+01] [ 8.57520461e-03 9.99963150e-01 4.05633985e-04 -1.06235150e+00] [ 9.05255373e-03 -4.83262626e-04 9.99958908e-01 -2.04053692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.762414037 meters 0.0796544152059481 Centerline is valid? [True, True] Translation: X:20.46, Y:-1.06, Z:-0.21 [[ 9.99923889e-01 -8.74799851e-03 -8.69997919e-03 2.04599918e+01] [ 8.75166283e-03 9.99961630e-01 3.83205551e-04 -1.06441532e+00] [ 8.69629309e-03 -4.59315669e-04 9.99962081e-01 -2.05849317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.792414037 meters 0.07993238504351777 Centerline is valid? [True, True] Translation: X:20.49, Y:-1.07, Z:-0.21 [[ 9.99935495e-01 -6.65736827e-03 -9.20245990e-03 2.04881798e+01] [ 6.66141957e-03 9.99977729e-01 4.09659195e-04 -1.06846791e+00] [ 9.19952769e-03 -4.70934216e-04 9.99957573e-01 -2.10207362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.822414037 meters 0.0796326098621328 Centerline is valid? [True, True] Translation: X:20.52, Y:-1.07, Z:-0.21 [[ 9.99924973e-01 -6.68519191e-03 -1.02643172e-02 2.05167740e+01] [ 6.69016613e-03 9.99977519e-01 4.50353514e-04 -1.06912473e+00] [ 1.02610757e-02 -5.18989713e-04 9.99947219e-01 -2.10009551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.852414037 meters 0.07705481425596346 Centerline is valid? [True, True] Translation: X:20.55, Y:-1.06, Z:-0.20 [[ 9.99925877e-01 -7.08560473e-03 -9.90124876e-03 2.05450022e+01] [ 7.09021057e-03 9.99974772e-01 4.30152830e-04 -1.06220045e+00] [ 9.89795108e-03 -5.00322884e-04 9.99950889e-01 -2.04787290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.882414037 meters 0.07780321596689696 Centerline is valid? [True, True] Translation: X:20.57, Y:-1.07, Z:-0.20 [[ 9.99945920e-01 -7.20319367e-03 -7.50143337e-03 2.05725567e+01] [ 7.20585895e-03 9.99973984e-01 3.28335980e-04 -1.06500300e+00] [ 7.49887314e-03 -3.82372494e-04 9.99971810e-01 -2.04600326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.912414037 meters 0.07675586457459335 Centerline is valid? [True, True] Translation: X:20.60, Y:-1.06, Z:-0.20 [[ 9.99949221e-01 -7.65163623e-03 -6.55805376e-03 2.06022022e+01] [ 7.65368796e-03 9.99970669e-01 2.87816759e-04 -1.06389142e+00] [ 6.55565913e-03 -3.37995441e-04 9.99978454e-01 -2.02462327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.942414037 meters 0.07711941375302306 Centerline is valid? [True, True] Translation: X:20.63, Y:-1.07, Z:-0.20 [[ 9.99943290e-01 -8.43411906e-03 -6.50254523e-03 2.06320063e+01] [ 8.43615120e-03 9.99964374e-01 2.85148192e-04 -1.06721237e+00] [ 6.49990860e-03 -3.39988476e-04 9.99978818e-01 -2.03332180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.972414037 meters 0.07884170150904479 Centerline is valid? [True, True] Translation: X:20.66, Y:-1.08, Z:-0.21 [[ 9.99912371e-01 -1.14948516e-02 -6.56646780e-03 2.06610923e+01] [ 1.14969939e-02 9.99933866e-01 2.88606388e-04 -1.07725266e+00] [ 6.56271604e-03 -3.64075738e-04 9.99978399e-01 -2.06571385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.002414037 meters 0.07861723555483226 Centerline is valid? [True, True] Translation: X:20.69, Y:-1.08, Z:-0.21 [[ 9.99892548e-01 -1.27176519e-02 -7.29072223e-03 2.06917126e+01] [ 1.27203267e-02 9.99919042e-01 3.20625235e-04 -1.07858518e+00] [ 7.28605438e-03 -4.13331152e-04 9.99973371e-01 -2.06385174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.032414037 meters 0.0789754279054739 Centerline is valid? [True, True] Translation: X:20.72, Y:-1.08, Z:-0.21 [[ 9.99876449e-01 -1.33468441e-02 -8.30347086e-03 2.07222230e+01] [ 1.33503399e-02 9.99910813e-01 3.65722888e-04 -1.08096660e+00] [ 8.29784906e-03 -4.76531861e-04 9.99965459e-01 -2.08789959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.062414037 meters 0.08049140557454067 Centerline is valid? [True, True] Translation: X:20.75, Y:-1.08, Z:-0.21 [[ 9.99863514e-01 -1.37766895e-02 -9.11904779e-03 2.07513625e+01] [ 1.37809143e-02 9.99904958e-01 4.00615795e-04 -1.08471747e+00] [ 9.11266194e-03 -5.26229933e-04 9.99958340e-01 -2.11674048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.092414037 meters 0.07965029696765495 Centerline is valid? [True, True] Translation: X:20.78, Y:-1.08, Z:-0.21 [[ 9.99856950e-01 -1.35944643e-02 -1.00632991e-02 2.07819677e+01] [ 1.35996048e-02 9.99907423e-01 4.42556707e-04 -1.08138194e+00] [ 1.00563511e-02 -5.79350289e-04 9.99949266e-01 -2.12181250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.122414037 meters 0.0799252172002582 Centerline is valid? [True, True] Translation: X:20.81, Y:-1.08, Z:-0.21 [[ 9.99851461e-01 -1.32824813e-02 -1.09832491e-02 2.08116233e+01] [ 1.32885729e-02 9.99911587e-01 4.81825817e-04 -1.08260046e+00] [ 1.09758782e-02 -6.27705953e-04 9.99939566e-01 -2.13624997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.152414037 meters 0.07994167670309334 Centerline is valid? [True, True] Translation: X:20.84, Y:-1.08, Z:-0.22 [[ 9.99874844e-01 -1.26588841e-02 -9.48939833e-03 2.08408829e+01] [ 1.26633992e-02 9.99919729e-01 4.15868604e-04 -1.08439283e+00] [ 9.48337218e-03 -5.35984594e-04 9.99954888e-01 -2.15655564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.182414037 meters 0.08053667462705665 Centerline is valid? [True, True] Translation: X:20.87, Y:-1.09, Z:-0.22 [[ 9.99892683e-01 -1.24346398e-02 -7.74614817e-03 2.08699739e+01] [ 1.24376385e-02 9.99922592e-01 3.39071679e-04 -1.08828409e+00] [ 7.74133232e-03 -4.35379081e-04 9.99969941e-01 -2.16330949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.212414037000002 meters 0.08062301642222279 Centerline is valid? [True, True] Translation: X:20.90, Y:-1.09, Z:-0.22 [[ 9.99910530e-01 -1.22525446e-02 -5.36731268e-03 2.09001793e+01] [ 1.22539847e-02 9.99924889e-01 2.35505977e-04 -1.08949910e+00] [ 5.36402399e-03 -3.01255873e-04 9.99985568e-01 -2.15454802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.242414037 meters 0.07898224509242478 Centerline is valid? [True, True] Translation: X:20.93, Y:-1.09, Z:-0.21 [[ 9.99912290e-01 -1.26821974e-02 -3.81766704e-03 2.09317000e+01] [ 1.26829327e-02 9.99919554e-01 1.68470315e-04 -1.08524942e+00] [ 3.81522335e-03 -2.16874753e-04 9.99992698e-01 -2.11416024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.272414037 meters 0.07880110791981162 Centerline is valid? [True, True] Translation: X:20.96, Y:-1.09, Z:-0.21 [[ 9.99913594e-01 -1.28312843e-02 -2.85710310e-03 2.09635515e+01] [ 1.28317003e-02 9.99917662e-01 1.27322687e-04 -1.08523116e+00] [ 2.85523414e-03 -1.63973176e-04 9.99995910e-01 -2.11180345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.302414037000002 meters 0.07906000323020866 Centerline is valid? [True, True] Translation: X:20.99, Y:-1.08, Z:-0.21 [[ 9.99875093e-01 -1.50513385e-02 -4.82236551e-03 2.09945428e+01] [ 1.50525383e-02 9.99886682e-01 2.12587712e-04 -1.08483070e+00] [ 4.81861931e-03 -2.85150000e-04 9.99988350e-01 -2.11489124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.332414037 meters 0.07965874816216684 Centerline is valid? [True, True] Translation: X:21.03, Y:-1.09, Z:-0.21 [[ 9.99852792e-01 -1.58645470e-02 -6.53528826e-03 2.10255239e+01] [ 1.58667709e-02 9.99874073e-01 2.88588008e-04 -1.08763615e+00] [ 6.52988698e-03 -3.92239447e-04 9.99978603e-01 -2.14083337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.362414037 meters 0.08095073021193201 Centerline is valid? [True, True] Translation: X:21.06, Y:-1.09, Z:-0.22 [[ 9.99832073e-01 -1.67032585e-02 -7.53842877e-03 2.10557482e+01] [ 1.67062382e-02 9.99860386e-01 3.32461368e-04 -1.09288886e+00] [ 7.53182311e-03 -4.58344325e-04 9.99971530e-01 -2.17500234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.392414037 meters 0.08069832709592366 Centerline is valid? [True, True] Translation: X:21.09, Y:-1.09, Z:-0.22 [[ 9.99813865e-01 -1.72918318e-02 -8.55734992e-03 2.10871981e+01] [ 1.72956984e-02 9.99850347e-01 3.78044574e-04 -1.09429459e+00] [ 8.54953220e-03 -5.25979551e-04 9.99963314e-01 -2.19043748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.422414037 meters 0.08101245781462081 Centerline is valid? [True, True] Translation: X:21.12, Y:-1.10, Z:-0.22 [[ 9.99813653e-01 -1.73784464e-02 -8.40526354e-03 2.11184186e+01] [ 1.73821870e-02 9.99848849e-01 3.72174503e-04 -1.09678008e+00] [ 8.39752526e-03 -5.18207012e-04 9.99964606e-01 -2.20579089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.452414037 meters 0.08174051137436823 Centerline is valid? [True, True] Translation: X:21.15, Y:-1.10, Z:-0.22 [[ 9.99817856e-01 -1.68423070e-02 -8.97728040e-03 2.11483098e+01] [ 1.68465583e-02 9.99858007e-01 3.98155397e-04 -1.09779718e+00] [ 8.96929984e-03 -5.49319154e-04 9.99959624e-01 -2.22184269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.482414037 meters 0.08080731963799082 Centerline is valid? [True, True] Translation: X:21.18, Y:-1.09, Z:-0.22 [[ 9.99886754e-01 -1.36543487e-02 -6.32755290e-03 2.11787599e+01] [ 1.36563904e-02 9.99906708e-01 2.79574514e-04 -1.09394012e+00] [ 6.32314519e-03 -3.65954386e-04 9.99979942e-01 -2.20621499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.512414037 meters 0.07931302507752078 Centerline is valid? [True, True] Translation: X:21.21, Y:-1.09, Z:-0.22 [[ 9.99919683e-01 -1.16420086e-02 -5.00914001e-03 2.12092972e+01] [ 1.16432631e-02 9.99932190e-01 2.21347172e-04 -1.09033465e+00] [ 5.00622342e-03 -2.79652129e-04 9.99987430e-01 -2.18638176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.542414037 meters 0.08057574531889083 Centerline is valid? [True, True] Translation: X:21.24, Y:-1.09, Z:-0.22 [[ 9.99942074e-01 -1.00759303e-02 -3.78484390e-03 2.12389297e+01] [ 1.00766353e-02 9.99949215e-01 1.67247171e-04 -1.09429830e+00] [ 3.78296652e-03 -2.05375974e-04 9.99992823e-01 -2.20843668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.572414037 meters 0.08067839720065703 Centerline is valid? [True, True] Translation: X:21.27, Y:-1.10, Z:-0.22 [[ 9.99950707e-01 -8.91941212e-03 -4.36204897e-03 2.12692712e+01] [ 8.92033960e-03 9.99960194e-01 1.93214032e-04 -1.09565044e+00] [ 4.36015198e-03 -2.32115466e-04 9.99990468e-01 -2.23088912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.602414037 meters 0.07810595024728913 Centerline is valid? [True, True] Translation: X:21.30, Y:-1.09, Z:-0.22 [[ 9.99963315e-01 -6.49132166e-03 -5.58858746e-03 2.13005008e+01] [ 6.49280627e-03 9.99978891e-01 2.47549783e-04 -1.08826993e+00] [ 5.58686257e-03 -2.83826317e-04 9.99984353e-01 -2.21484679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.632414037 meters 0.07992755917482224 Centerline is valid? [True, True] Translation: X:21.33, Y:-1.09, Z:-0.23 [[ 9.99971438e-01 -4.85051487e-03 -5.79623381e-03 2.13293792e+01] [ 4.85207599e-03 9.99988196e-01 2.55301437e-04 -1.09471886e+00] [ 5.79492705e-03 -2.83417912e-04 9.99983169e-01 -2.27103409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.662414037 meters 0.07971369891017197 Centerline is valid? [True, True] Translation: X:21.36, Y:-1.09, Z:-0.23 [[ 9.99972951e-01 -3.35193088e-03 -6.54686283e-03 2.13588043e+01] [ 3.35389018e-03 9.99994334e-01 2.88317998e-04 -1.09396501e+00] [ 6.54585931e-03 -3.10267658e-04 9.99978527e-01 -2.28235438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.692414037 meters 0.07717359530553686 Centerline is valid? [True, True] Translation: X:21.39, Y:-1.09, Z:-0.22 [[ 9.99971374e-01 -2.52225745e-03 -7.13361182e-03 2.13875919e+01] [ 2.52451503e-03 9.99996766e-01 3.07484133e-04 -1.08603263e+00] [ 7.13281320e-03 -3.25484241e-04 9.99974508e-01 -2.24256442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.722414037 meters 0.07629055916215456 Centerline is valid? [True, True] Translation: X:21.42, Y:-1.08, Z:-0.22 [[ 9.99968604e-01 -1.34646870e-03 -7.80883559e-03 2.14165754e+01] [ 1.34912630e-03 9.99999034e-01 3.35074757e-04 -1.08374626e+00] [ 7.80837688e-03 -3.45599342e-04 9.99969454e-01 -2.23216712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.752414037 meters 0.07731217705647055 Centerline is valid? [True, True] Translation: X:21.44, Y:-1.09, Z:-0.23 [[ 9.99973724e-01 -1.32112491e-03 -7.12786285e-03 2.14440298e+01] [ 1.32335806e-03 9.99999077e-01 3.08591347e-04 -1.08850458e+00] [ 7.12744858e-03 -3.18015953e-04 9.99974549e-01 -2.26445029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.782414037 meters 0.07757284744273572 Centerline is valid? [True, True] Translation: X:21.47, Y:-1.09, Z:-0.23 [[ 9.99979365e-01 -1.83623862e-03 -6.15620010e-03 2.14719155e+01] [ 1.83790979e-03 9.99998276e-01 2.65814429e-04 -1.09050532e+00] [ 6.15570139e-03 -2.77123484e-04 9.99981015e-01 -2.26799062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.812414037 meters 0.07703038487185633 Centerline is valid? [True, True] Translation: X:21.50, Y:-1.09, Z:-0.23 [[ 9.99973715e-01 -2.49846735e-03 -6.80637984e-03 2.15007001e+01] [ 2.50052617e-03 9.99996830e-01 2.93991361e-04 -1.08937024e+00] [ 6.80562373e-03 -3.11003165e-04 9.99976793e-01 -2.25580949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.842414037 meters 0.07725857630245322 Centerline is valid? [True, True] Translation: X:21.53, Y:-1.09, Z:-0.23 [[ 9.99966870e-01 -2.83605848e-03 -7.62997793e-03 2.15289615e+01] [ 2.83861130e-03 9.99995919e-01 3.23769289e-04 -1.09098273e+00] [ 7.62902856e-03 -3.45417104e-04 9.99970839e-01 -2.26943450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.872414037 meters 0.07703795624150692 Centerline is valid? [True, True] Translation: X:21.56, Y:-1.09, Z:-0.23 [[ 9.99971497e-01 -2.48525877e-03 -7.12939272e-03 2.15572419e+01] [ 2.48746367e-03 9.99996861e-01 3.00418577e-04 -1.09173593e+00] [ 7.12862372e-03 -3.18144120e-04 9.99974540e-01 -2.28260152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.902414037 meters 0.07712144833076268 Centerline is valid? [True, True] Translation: X:21.59, Y:-1.09, Z:-0.23 [[ 9.99972550e-01 -2.45686011e-03 -6.99019415e-03 2.15861363e+01] [ 2.45896697e-03 9.99996934e-01 2.92824205e-04 -1.09339259e+00] [ 6.98945329e-03 -3.10004824e-04 9.99975525e-01 -2.30258397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.932414037 meters 0.07667481956861837 Centerline is valid? [True, True] Translation: X:21.61, Y:-1.09, Z:-0.23 [[ 9.99973025e-01 -3.13207816e-03 -6.64371580e-03 2.16143454e+01] [ 3.13397535e-03 9.99995051e-01 2.75169977e-04 -1.09288216e+00] [ 6.64282107e-03 -2.95983796e-04 9.99977892e-01 -2.29489947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.962414037000002 meters 0.07699489258919891 Centerline is valid? [True, True] Translation: X:21.64, Y:-1.10, Z:-0.23 [[ 9.99974225e-01 -2.97949806e-03 -6.53230280e-03 2.16415416e+01] [ 2.98134656e-03 9.99995518e-01 2.73259569e-04 -1.09633064e+00] [ 6.53145935e-03 -2.92727584e-04 9.99978627e-01 -2.31860360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.992414037 meters 0.0772111267865573 Centerline is valid? [True, True] Translation: X:21.67, Y:-1.10, Z:-0.23 [[ 9.99966900e-01 -4.27880209e-03 -6.92028537e-03 2.16703671e+01] [ 4.28091629e-03 9.99990795e-01 2.90722921e-04 -1.09820721e+00] [ 6.91897772e-03 -3.20338460e-04 9.99976012e-01 -2.33304592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.022414037 meters 0.07890563589077917 Centerline is valid? [True, True] Translation: X:21.70, Y:-1.11, Z:-0.24 [[ 9.99959975e-01 -6.26933006e-03 -6.38305553e-03 2.16981698e+01] [ 6.27116569e-03 9.99980300e-01 2.67604270e-04 -1.10591344e+00] [ 6.38125209e-03 -3.07622758e-04 9.99979592e-01 -2.35944525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.052414037000002 meters 0.0780474192414343 Centerline is valid? [True, True] Translation: X:21.73, Y:-1.11, Z:-0.23 [[ 9.99957413e-01 -7.25982289e-03 -5.69806823e-03 2.17278241e+01] [ 7.26130436e-03 9.99973608e-01 2.39350047e-04 -1.10615044e+00] [ 5.69618020e-03 -2.80715261e-04 9.99983737e-01 -2.33979845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.082414037 meters 0.0780474192414343 Centerline is valid? [True, True] Translation: X:21.76, Y:-1.11, Z:-0.23 [[ 9.99957413e-01 -7.25984335e-03 -5.69803336e-03 2.17578388e+01] [ 7.26132952e-03 9.99973607e-01 2.40177314e-04 -1.10741599e+00] [ 5.69613932e-03 -2.81542383e-04 9.99983737e-01 -2.34722057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.112414037 meters 0.07746282410163823 Centerline is valid? [True, True] Translation: X:21.79, Y:-1.11, Z:-0.23 [[ 9.99950867e-01 -8.02481593e-03 -5.81947648e-03 2.17878600e+01] [ 8.02637600e-03 9.99967758e-01 2.44772637e-04 -1.10812733e+00] [ 5.81732460e-03 -2.91469917e-04 9.99983037e-01 -2.34288987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.142414037 meters 0.07799560317846584 Centerline is valid? [True, True] Translation: X:21.82, Y:-1.11, Z:-0.24 [[ 9.99943792e-01 -9.20283585e-03 -5.26506529e-03 2.18174714e+01] [ 9.20412846e-03 9.99957617e-01 2.21327836e-04 -1.11198229e+00] [ 5.26280530e-03 -2.69775732e-04 9.99986115e-01 -2.35233603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.172414037 meters 0.08067920268489663 Centerline is valid? [True, True] Translation: X:21.85, Y:-1.12, Z:-0.24 [[ 9.99932871e-01 -1.06155401e-02 -4.64369014e-03 2.18476400e+01] [ 1.06165648e-02 9.99943623e-01 1.96070452e-04 -1.12293665e+00] [ 4.64134695e-03 -2.45357327e-04 9.99989199e-01 -2.38964004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.202414037 meters 0.07891417392057576 Centerline is valid? [True, True] Translation: X:21.88, Y:-1.12, Z:-0.24 [[ 9.99927209e-01 -1.10923584e-02 -4.74716656e-03 2.18789057e+01] [ 1.10934372e-02 9.99938446e-01 2.00993004e-04 -1.11962983e+00] [ 4.74464487e-03 -2.53640768e-04 9.99988712e-01 -2.35734871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.232414037 meters 0.07898389400499163 Centerline is valid? [True, True] Translation: X:21.91, Y:-1.12, Z:-0.24 [[ 9.99929749e-01 -1.09821639e-02 -4.45971724e-03 2.19101347e+01] [ 1.09831158e-02 9.99939666e-01 1.89014504e-04 -1.12196961e+00] [ 4.45737238e-03 -2.37982817e-04 9.99990038e-01 -2.36176620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.262414037 meters 0.07924389498183827 Centerline is valid? [True, True] Translation: X:21.94, Y:-1.12, Z:-0.24 [[ 9.99926012e-01 -1.10076246e-02 -5.17719286e-03 2.19417970e+01] [ 1.10089080e-02 9.99939376e-01 2.19462041e-04 -1.12484027e+00] [ 5.17446325e-03 -2.76441043e-04 9.99986574e-01 -2.38161751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.292414037 meters 0.0797892906750131 Centerline is valid? [True, True] Translation: X:21.97, Y:-1.13, Z:-0.24 [[ 9.99912255e-01 -1.13614974e-02 -6.81172870e-03 2.19716288e+01] [ 1.13637235e-02 9.99935389e-01 2.88194848e-04 -1.13098298e+00] [ 6.80801426e-03 -3.65576162e-04 9.99976758e-01 -2.41213975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.322414037 meters 0.08028649204007662 Centerline is valid? [True, True] Translation: X:22.00, Y:-1.13, Z:-0.24 [[ 9.99906774e-01 -1.19210335e-02 -6.65823364e-03 2.20021168e+01] [ 1.19231735e-02 9.99928877e-01 2.81813182e-04 -1.13422482e+00] [ 6.65440058e-03 -3.61174185e-04 9.99977794e-01 -2.42936582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.352414037 meters 0.08054659084334123 Centerline is valid? [True, True] Translation: X:22.03, Y:-1.14, Z:-0.24 [[ 9.99891805e-01 -1.26146925e-02 -7.56616763e-03 2.20328980e+01] [ 1.26174724e-02 9.99920345e-01 3.19787829e-04 -1.13652215e+00] [ 7.56153093e-03 -4.15219141e-04 9.99971325e-01 -2.43888671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.382414037 meters 0.08126779162738233 Centerline is valid? [True, True] Translation: X:22.06, Y:-1.14, Z:-0.24 [[ 9.99887942e-01 -1.30685971e-02 -7.30170391e-03 2.20629305e+01] [ 1.30712018e-02 9.99914520e-01 3.09122417e-04 -1.13994231e+00] [ 7.29703997e-03 -4.04529823e-04 9.99973294e-01 -2.44430962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.412414037 meters 0.07928409363774137 Centerline is valid? [True, True] Translation: X:22.09, Y:-1.14, Z:-0.24 [[ 9.99865266e-01 -1.46743524e-02 -7.35621970e-03 2.20940745e+01] [ 1.46770405e-02 9.99892238e-01 3.11571512e-04 -1.13565568e+00] [ 7.35085487e-03 -4.19497068e-04 9.99972894e-01 -2.41378064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.442414037 meters 0.07977036238967507 Centerline is valid? [True, True] Translation: X:22.13, Y:-1.14, Z:-0.24 [[ 9.99856834e-01 -1.54715661e-02 -6.85146714e-03 2.21255024e+01] [ 1.54739213e-02 9.99880229e-01 2.90864670e-04 -1.13880082e+00] [ 6.84614641e-03 -3.96842091e-04 9.99976486e-01 -2.42832182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.472414037 meters 0.07915459829036367 Centerline is valid? [True, True] Translation: X:22.16, Y:-1.14, Z:-0.24 [[ 9.99844545e-01 -1.59644347e-02 -7.48480145e-03 2.21563089e+01] [ 1.59672565e-02 9.99872465e-01 3.17397845e-04 -1.13976299e+00] [ 7.47877979e-03 -4.36860248e-04 9.99971938e-01 -2.43698439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.502414037 meters 0.07989714226371014 Centerline is valid? [True, True] Translation: X:22.19, Y:-1.15, Z:-0.25 [[ 9.99825693e-01 -1.72773085e-02 -7.07664189e-03 2.21861541e+01] [ 1.72798647e-02 9.99850647e-01 3.00229816e-04 -1.14586244e+00] [ 7.07039780e-03 -4.22460898e-04 9.99974915e-01 -2.46361770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.532414037 meters 0.08044123334830153 Centerline is valid? [True, True] Translation: X:22.22, Y:-1.15, Z:-0.25 [[ 9.99828072e-01 -1.74524286e-02 -6.26406333e-03 2.22175453e+01] [ 1.74544547e-02 9.99847623e-01 2.68912301e-04 -1.14894462e+00] [ 6.25841566e-03 -3.78201877e-04 9.99980344e-01 -2.47065628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.562414037 meters 0.07930439862929202 Centerline is valid? [True, True] Translation: X:22.25, Y:-1.15, Z:-0.24 [[ 9.99841096e-01 -1.71942483e-02 -4.70530531e-03 2.22488024e+01] [ 1.71953834e-02 9.99852128e-01 2.00886796e-04 -1.14750296e+00] [ 4.70115543e-03 -2.81764403e-04 9.99988910e-01 -2.44860721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.592414037 meters 0.07819017269781622 Centerline is valid? [True, True] Translation: X:22.28, Y:-1.15, Z:-0.24 [[ 9.99867016e-01 -1.57250617e-02 -4.32111828e-03 2.22808565e+01] [ 1.57260085e-02 9.99876322e-01 1.85227572e-04 -1.14519779e+00] [ 4.31767114e-03 -2.53156883e-04 9.99990647e-01 -2.42428146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.622414037 meters 0.07806128185523477 Centerline is valid? [True, True] Translation: X:22.31, Y:-1.15, Z:-0.24 [[ 9.99887560e-01 -1.41765790e-02 -4.88793199e-03 2.23118373e+01] [ 1.41777700e-02 9.99899469e-01 2.09091639e-04 -1.14583266e+00] [ 4.88447640e-03 -2.78368105e-04 9.99988032e-01 -2.43742272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.652414037 meters 0.07790614000072216 Centerline is valid? [True, True] Translation: X:22.34, Y:-1.15, Z:-0.25 [[ 9.99912404e-01 -1.22854361e-02 -4.92467664e-03 2.23427148e+01] [ 1.22866230e-02 9.99924494e-01 2.10826262e-04 -1.14718097e+00] [ 4.92171471e-03 -2.71315439e-04 9.99987851e-01 -2.45467925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.682414037 meters 0.07786514186822828 Centerline is valid? [True, True] Translation: X:22.37, Y:-1.15, Z:-0.25 [[ 9.99924653e-01 -1.06032709e-02 -6.18543257e-03 2.23742203e+01] [ 1.06051111e-02 9.99943729e-01 2.64779530e-04 -1.14819030e+00] [ 6.18227698e-03 -3.30356779e-04 9.99980835e-01 -2.47583203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.712414037000002 meters 0.07800913891878547 Centerline is valid? [True, True] Translation: X:22.40, Y:-1.15, Z:-0.25 [[ 9.99944528e-01 -8.83770122e-03 -5.73021964e-03 2.24046990e+01] [ 8.83926264e-03 9.99960902e-01 2.47220131e-04 -1.14837901e+00] [ 5.72781074e-03 -2.97857333e-04 9.99983552e-01 -2.48977857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.742414037 meters 0.07784276286974794 Centerline is valid? [True, True] Translation: X:22.43, Y:-1.15, Z:-0.25 [[ 9.99950578e-01 -8.25699278e-03 -5.53742668e-03 2.24347677e+01] [ 8.25843026e-03 9.99965871e-01 2.36778661e-04 -1.14884687e+00] [ 5.53528261e-03 -2.82497411e-04 9.99984640e-01 -2.49512625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.772414037 meters 0.07804224448223138 Centerline is valid? [True, True] Translation: X:22.46, Y:-1.15, Z:-0.25 [[ 9.99953302e-01 -8.26566392e-03 -5.00724164e-03 2.24648398e+01] [ 8.26683942e-03 9.99965806e-01 2.14108112e-04 -1.15131211e+00] [ 5.00530067e-03 -2.55492176e-04 9.99987441e-01 -2.50514979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.802414037000002 meters 0.07678377778631232 Centerline is valid? [True, True] Translation: X:22.50, Y:-1.15, Z:-0.25 [[ 9.99954056e-01 -8.71876934e-03 -3.98365173e-03 2.24958145e+01] [ 8.71951694e-03 9.99961970e-01 1.70339722e-04 -1.15036075e+00] [ 3.98201508e-03 -2.05067415e-04 9.99992051e-01 -2.48168561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.832414037 meters 0.07668710600682169 Centerline is valid? [True, True] Translation: X:22.53, Y:-1.15, Z:-0.25 [[ 9.99956565e-01 -8.28550529e-03 -4.26832400e-03 2.25270814e+01] [ 8.28636395e-03 9.99965651e-01 1.83525702e-04 -1.15279581e+00] [ 4.26665678e-03 -2.18886617e-04 9.99990874e-01 -2.48436775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.862414037 meters 0.07695231433357312 Centerline is valid? [True, True] Translation: X:22.56, Y:-1.15, Z:-0.25 [[ 9.99954076e-01 -8.28298934e-03 -4.82063150e-03 2.25576167e+01] [ 8.28407987e-03 9.99965665e-01 2.06297625e-04 -1.15408630e+00] [ 4.81875722e-03 -2.46222647e-04 9.99988359e-01 -2.49702753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.892414037 meters 0.07659654873926253 Centerline is valid? [True, True] Translation: X:22.59, Y:-1.15, Z:-0.25 [[ 9.99961220e-01 -7.08756677e-03 -5.22737675e-03 2.25886278e+01] [ 7.08883553e-03 9.99974849e-01 2.24227447e-04 -1.15253479e+00] [ 5.22565604e-03 -2.61274765e-04 9.99986312e-01 -2.50581370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.922414037 meters 0.07678279511221169 Centerline is valid? [True, True] Translation: X:22.62, Y:-1.15, Z:-0.25 [[ 9.99957239e-01 -4.93078438e-03 -7.82355121e-03 2.26177449e+01] [ 4.93355109e-03 9.99987774e-01 3.34379057e-04 -1.15172478e+00] [ 7.82180681e-03 -3.72962649e-04 9.99969340e-01 -2.53896923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.952414037 meters 0.0768722071456358 Centerline is valid? [True, True] Translation: X:22.65, Y:-1.15, Z:-0.26 [[ 9.99960121e-01 -4.94998197e-03 -7.43328039e-03 2.26464356e+01] [ 4.95242547e-03 9.99987689e-01 3.10353251e-04 -1.15312871e+00] [ 7.43165264e-03 -3.47153641e-04 9.99972325e-01 -2.55508704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.982414037 meters 0.07706402840028924 Centerline is valid? [True, True] Translation: X:22.68, Y:-1.16, Z:-0.26 [[ 9.99965749e-01 -5.50567945e-03 -6.17974209e-03 2.26754618e+01] [ 5.50736375e-03 9.99984802e-01 2.55566564e-04 -1.15621989e+00] [ 6.17824111e-03 -2.89591899e-04 9.99980873e-01 -2.56258269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.012414037 meters 0.0777445790790997 Centerline is valid? [True, True] Translation: X:22.70, Y:-1.16, Z:-0.26 [[ 9.99965643e-01 -6.38845125e-03 -5.28216370e-03 2.27037972e+01] [ 6.38971071e-03 9.99979561e-01 2.21594883e-04 -1.16082773e+00] [ 5.28064009e-03 -2.55338768e-04 9.99986025e-01 -2.57293706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.042414037 meters 0.07806855399265976 Centerline is valid? [True, True] Translation: X:22.73, Y:-1.16, Z:-0.26 [[ 9.99962449e-01 -7.53348085e-03 -4.28332884e-03 2.27336007e+01] [ 7.53432083e-03 9.99971600e-01 1.80002266e-04 -1.16380580e+00] [ 4.28185115e-03 -2.12267480e-04 9.99990810e-01 -2.58056641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.072414037 meters 0.07853914088589678 Centerline is valid? [True, True] Translation: X:22.76, Y:-1.17, Z:-0.26 [[ 9.99949299e-01 -8.80585608e-03 -4.88432984e-03 2.27642497e+01] [ 8.80696805e-03 9.99961197e-01 2.06196991e-04 -1.16578717e+00] [ 4.88232457e-03 -2.49202674e-04 9.99988050e-01 -2.58302250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.102414037 meters 0.0786109640084596 Centerline is valid? [True, True] Translation: X:22.80, Y:-1.17, Z:-0.26 [[ 9.99944084e-01 -9.79021927e-03 -3.99753075e-03 2.27951455e+01] [ 9.79097195e-03 9.99952053e-01 1.68759859e-04 -1.16736774e+00] [ 3.99568689e-03 -2.07890134e-04 9.99991996e-01 -2.58579878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.132414037 meters 0.07921315870621069 Centerline is valid? [True, True] Translation: X:22.83, Y:-1.17, Z:-0.26 [[ 9.99923792e-01 -1.18529995e-02 -3.45198430e-03 2.28261001e+01] [ 1.18535762e-02 9.99929733e-01 1.46661617e-04 -1.17082297e+00] [ 3.45000336e-03 -1.87568799e-04 9.99994031e-01 -2.59210632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.162414037 meters 0.07941204021792042 Centerline is valid? [True, True] Translation: X:22.86, Y:-1.18, Z:-0.26 [[ 9.99862349e-01 -1.60487988e-02 -4.20938940e-03 2.28562594e+01] [ 1.60496896e-02 9.99871180e-01 1.77930231e-04 -1.17553774e+00] [ 4.20599158e-03 -2.45465133e-04 9.99991125e-01 -2.59082121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.192414037 meters 0.08076779986794536 Centerline is valid? [True, True] Translation: X:22.89, Y:-1.18, Z:-0.26 [[ 9.99823719e-01 -1.80563570e-02 -5.14772290e-03 2.28863101e+01] [ 1.80577179e-02 9.99836922e-01 2.18006348e-04 -1.18170864e+00] [ 5.14294702e-03 -3.10924045e-04 9.99986727e-01 -2.61857265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.222414037 meters 0.08217560375880312 Centerline is valid? [True, True] Translation: X:22.92, Y:-1.19, Z:-0.26 [[ 9.99728563e-01 -2.22333687e-02 -6.96256763e-03 2.29169356e+01] [ 2.22359560e-02 9.99752707e-01 2.94392345e-04 -1.18730246e+00] [ 6.95430050e-03 -4.49131783e-04 9.99975718e-01 -2.63198863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.252414037 meters 0.08124963057349005 Centerline is valid? [True, True] Translation: X:22.95, Y:-1.19, Z:-0.26 [[ 9.99716062e-01 -2.30843905e-02 -5.90810353e-03 2.29486591e+01] [ 2.30862771e-02 9.99733445e-01 2.51323047e-04 -1.18782923e+00] [ 5.90072706e-03 -3.87647802e-04 9.99982515e-01 -2.62990377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.282414037 meters 0.081766162007629 Centerline is valid? [True, True] Translation: X:22.98, Y:-1.19, Z:-0.26 [[ 9.99690427e-01 -2.40206177e-02 -6.48535283e-03 2.29807819e+01] [ 2.40229153e-02 9.99711370e-01 2.76607184e-04 -1.19261973e+00] [ 6.47683669e-03 -4.32318635e-04 9.99978932e-01 -2.64961312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.312414037 meters 0.08384891912586179 Centerline is valid? [True, True] Translation: X:23.01, Y:-1.20, Z:-0.27 [[ 9.99668069e-01 -2.49987608e-02 -6.23006477e-03 2.30111255e+01] [ 2.50009128e-02 9.99687392e-01 2.67758355e-04 -1.19979962e+00] [ 6.22142357e-03 -4.23426783e-04 9.99980557e-01 -2.66877139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.342414037 meters 0.08232926100841202 Centerline is valid? [True, True] Translation: X:23.04, Y:-1.20, Z:-0.26 [[ 9.99672193e-01 -2.52153560e-02 -4.43758013e-03 2.30432875e+01] [ 2.52164494e-02 9.99681997e-01 1.90611685e-04 -1.19656674e+00] [ 4.43136262e-03 -3.02449215e-04 9.99990136e-01 -2.63470571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.372414037 meters 0.08274429508166718 Centerline is valid? [True, True] Translation: X:23.08, Y:-1.20, Z:-0.26 [[ 9.99661841e-01 -2.57381913e-02 -3.70787831e-03 2.30753998e+01] [ 2.57389601e-02 9.99668685e-01 1.59783053e-04 -1.19822060e+00] [ 3.70253731e-03 -2.55165953e-04 9.99993113e-01 -2.63404979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.402414037 meters 0.08284465809134778 Centerline is valid? [True, True] Translation: X:23.11, Y:-1.20, Z:-0.26 [[ 9.99666122e-01 -2.54756980e-02 -4.31672123e-03 2.31075871e+01] [ 2.54767377e-02 9.99675398e-01 1.86034579e-04 -1.20005412e+00] [ 4.31058066e-03 -2.95948441e-04 9.99990666e-01 -2.64425256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.432414037 meters 0.08319818514613209 Centerline is valid? [True, True] Translation: X:23.14, Y:-1.20, Z:-0.27 [[ 9.99679191e-01 -2.49373077e-02 -4.43241116e-03 2.31387549e+01] [ 2.49383975e-02 9.99688972e-01 1.90775842e-04 -1.20395870e+00] [ 4.42627512e-03 -3.01251871e-04 9.99990159e-01 -2.67455193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.462414037000002 meters 0.08355611788876699 Centerline is valid? [True, True] Translation: X:23.17, Y:-1.21, Z:-0.27 [[ 9.99708143e-01 -2.30534098e-02 -7.22284402e-03 2.31698885e+01] [ 2.30562518e-02 9.99734121e-01 3.10449761e-04 -1.20958665e+00] [ 7.21376669e-03 -4.76890865e-04 9.99973867e-01 -2.72581387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.492414037 meters 0.08324251110068182 Centerline is valid? [True, True] Translation: X:23.20, Y:-1.21, Z:-0.27 [[ 9.99744614e-01 -2.11254956e-02 -8.02617418e-03 2.32013602e+01] [ 2.11289408e-02 9.99776700e-01 3.44689203e-04 -1.21043651e+00] [ 8.01710021e-03 -5.14185733e-04 9.99967730e-01 -2.74373534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.522414037 meters 0.08276243881362434 Centerline is valid? [True, True] Translation: X:23.23, Y:-1.21, Z:-0.27 [[ 9.99780191e-01 -1.93507928e-02 -8.06950958e-03 2.32329599e+01] [ 1.93542198e-02 9.99812629e-01 3.46804819e-04 -1.20914453e+00] [ 8.06128665e-03 -5.02907650e-04 9.99967381e-01 -2.74320070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.552414037000002 meters 0.08125910577674822 Centerline is valid? [True, True] Translation: X:23.26, Y:-1.20, Z:-0.27 [[ 9.99902936e-01 -1.22948610e-02 -6.55396655e-03 2.32628714e+01] [ 1.22969644e-02 9.99924350e-01 2.80736897e-04 -1.20170888e+00] [ 6.55001912e-03 -3.61303541e-04 9.99978483e-01 -2.73866444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.582414037 meters 0.0784957692386309 Centerline is valid? [True, True] Translation: X:23.29, Y:-1.19, Z:-0.27 [[ 9.99942355e-01 -8.56418910e-03 -6.47617901e-03 2.32944449e+01] [ 8.56616967e-03 9.99963271e-01 2.78147193e-04 -1.19290093e+00] [ 6.47355904e-03 -3.33607207e-04 9.99978991e-01 -2.70678646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.612414037 meters 0.07828077819319496 Centerline is valid? [True, True] Translation: X:23.32, Y:-1.19, Z:-0.27 [[ 9.99969520e-01 -5.51582106e-03 -5.52578469e-03 2.33237341e+01] [ 5.51721181e-03 9.99984752e-01 2.36472001e-04 -1.19396230e+00] [ 5.52439609e-03 -2.66951718e-04 9.99984705e-01 -2.72202654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.642414037 meters 0.07680389990289323 Centerline is valid? [True, True] Translation: X:23.35, Y:-1.19, Z:-0.27 [[ 9.99983853e-01 -2.81910262e-03 -4.93413810e-03 2.33537535e+01] [ 2.82017370e-03 9.99996001e-01 2.10129911e-04 -1.19107679e+00] [ 4.93352599e-03 -2.24041645e-04 9.99987805e-01 -2.71276204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.672414037 meters 0.076156805336166 Centerline is valid? [True, True] Translation: X:23.38, Y:-1.19, Z:-0.27 [[ 9.99991187e-01 3.60168728e-04 -4.18293862e-03 2.33838791e+01] [-3.59424716e-04 9.99999919e-01 1.78618721e-04 -1.19167137e+00] [ 4.18300261e-03 -1.77113695e-04 9.99991236e-01 -2.72397033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.702414037 meters 0.0764174669349723 Centerline is valid? [True, True] Translation: X:23.41, Y:-1.19, Z:-0.27 [[ 9.99987135e-01 1.99515254e-03 -4.66365519e-03 2.34115062e+01] [-1.99425973e-03 9.99997992e-01 1.96081529e-04 -1.19301895e+00] [ 4.66403704e-03 -1.86778467e-04 9.99989106e-01 -2.74441036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.732414037 meters 0.07650726088136088 Centerline is valid? [True, True] Translation: X:23.44, Y:-1.19, Z:-0.28 [[ 9.99979860e-01 3.69682157e-03 -5.15879061e-03 2.34397822e+01] [-3.69577110e-03 9.99993148e-01 2.13144338e-04 -1.19318800e+00] [ 5.15954321e-03 -1.94074336e-04 9.99986671e-01 -2.75908478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.762414037 meters 0.07536881265539015 Centerline is valid? [True, True] Translation: X:23.47, Y:-1.19, Z:-0.27 [[ 9.99971657e-01 4.18733758e-03 -6.25707869e-03 2.34693719e+01] [-4.18577119e-03 9.99991205e-01 2.63414236e-04 -1.18718434e+00] [ 6.25812667e-03 -2.37216071e-04 9.99980390e-01 -2.73438391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.792414037 meters 0.07574702496695378 Centerline is valid? [True, True] Translation: X:23.50, Y:-1.19, Z:-0.27 [[ 9.99965931e-01 4.92799136e-03 -6.62199418e-03 2.34976736e+01] [-4.92625544e-03 9.99987827e-01 2.78429004e-04 -1.18710846e+00] [ 6.62328567e-03 -2.45797883e-04 9.99978036e-01 -2.74934309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.822414037 meters 0.07576354902858001 Centerline is valid? [True, True] Translation: X:23.53, Y:-1.19, Z:-0.28 [[ 9.99972082e-01 4.49490765e-03 -5.96919897e-03 2.35262400e+01] [-4.49349278e-03 9.99989873e-01 2.50420035e-04 -1.18982750e+00] [ 5.97026413e-03 -2.23590492e-04 9.99982153e-01 -2.75932765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.852414037 meters 0.07577426633166387 Centerline is valid? [True, True] Translation: X:23.55, Y:-1.19, Z:-0.28 [[ 9.99975265e-01 3.31454774e-03 -6.20354546e-03 2.35543559e+01] [-3.31300254e-03 9.99994478e-01 2.59342552e-04 -1.19333060e+00] [ 6.20437081e-03 -2.38783776e-04 9.99980724e-01 -2.76780794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.882414037 meters 0.07624391643818644 Centerline is valid? [True, True] Translation: X:23.58, Y:-1.20, Z:-0.28 [[ 9.99983912e-01 1.16903763e-03 -5.55060218e-03 2.35829406e+01] [-1.16776853e-03 9.99999291e-01 2.31877974e-04 -1.20021945e+00] [ 5.55086932e-03 -2.25392425e-04 9.99984568e-01 -2.78689636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.912414037 meters 0.07672692811411963 Centerline is valid? [True, True] Translation: X:23.61, Y:-1.20, Z:-0.28 [[ 9.99982403e-01 -3.78433670e-04 -5.92039775e-03 2.36116113e+01] [ 3.79906027e-04 9.99999897e-01 2.47569528e-04 -1.20380550e+00] [ 5.92030345e-03 -2.49814366e-04 9.99982444e-01 -2.80109374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.942414037 meters 0.07784924674025771 Centerline is valid? [True, True] Translation: X:23.64, Y:-1.21, Z:-0.28 [[ 9.99976773e-01 -2.01061212e-03 -6.51240580e-03 2.36394272e+01] [ 2.01242357e-03 9.99997938e-01 2.71613833e-04 -1.20838595e+00] [ 6.51184626e-03 -2.84713243e-04 9.99978757e-01 -2.82754423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.972414037 meters 0.07784924674025771 Centerline is valid? [True, True] Translation: X:23.67, Y:-1.21, Z:-0.28 [[ 9.99976209e-01 -2.27296910e-03 -6.51267829e-03 2.36668421e+01] [ 2.27474373e-03 9.99997378e-01 2.65094561e-04 -1.20942328e+00] [ 6.51205866e-03 -2.79902928e-04 9.99978757e-01 -2.83432490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.002414037 meters 0.07827327193351818 Centerline is valid? [True, True] Translation: X:23.70, Y:-1.21, Z:-0.28 [[ 9.99956894e-01 -7.09058791e-03 -5.99449616e-03 2.36966627e+01] [ 7.09221044e-03 9.99974819e-01 2.49456007e-04 -1.21086922e+00] [ 5.99257642e-03 -2.91959482e-04 9.99982002e-01 -2.82776139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.032414037 meters 0.0790228519752422 Centerline is valid? [True, True] Translation: X:23.73, Y:-1.22, Z:-0.28 [[ 9.99926160e-01 -1.03061378e-02 -6.43882432e-03 2.37269541e+01] [ 1.03080791e-02 9.99946834e-01 2.68389975e-04 -1.21521967e+00] [ 6.43571593e-03 -3.34742068e-04 9.99979235e-01 -2.83268303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.062414037 meters 0.07969408987906333 Centerline is valid? [True, True] Translation: X:23.76, Y:-1.22, Z:-0.28 [[ 9.99891315e-01 -1.33958059e-02 -6.15708036e-03 2.37574347e+01] [ 1.33976395e-02 9.99910215e-01 2.56646022e-04 -1.22024931e+00] [ 6.15308956e-03 -3.39108471e-04 9.99981012e-01 -2.84242142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.092414037 meters 0.0811251822410057 Centerline is valid? [True, True] Translation: X:23.79, Y:-1.23, Z:-0.29 [[ 9.99843179e-01 -1.65554221e-02 -6.28766948e-03 2.37875180e+01] [ 1.65573998e-02 9.99862882e-01 2.62603625e-04 -1.22740721e+00] [ 6.28245981e-03 -3.66669900e-04 9.99980198e-01 -2.86119190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.122414037 meters 0.08189074565551556 Centerline is valid? [True, True] Translation: X:23.82, Y:-1.23, Z:-0.29 [[ 9.99800755e-01 -1.89873601e-02 -6.15871194e-03 2.38180613e+01] [ 1.89893041e-02 9.99819654e-01 2.57325952e-04 -1.23232327e+00] [ 6.15271530e-03 -3.74224335e-04 9.99981002e-01 -2.87755971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.152414037 meters 0.08368656990229509 Centerline is valid? [True, True] Translation: X:23.85, Y:-1.24, Z:-0.29 [[ 9.99745308e-01 -2.17284943e-02 -6.09849205e-03 2.38476002e+01] [ 2.17304581e-02 9.99763833e-01 2.55926293e-04 -1.23898303e+00] [ 6.09149090e-03 -3.88384136e-04 9.99981371e-01 -2.89889295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.182414037 meters 0.08332363231776713 Centerline is valid? [True, True] Translation: X:23.88, Y:-1.24, Z:-0.29 [[ 9.99743484e-01 -2.19741117e-02 -5.48676921e-03 2.38794603e+01] [ 2.19757097e-02 9.99758478e-01 2.31129729e-04 -1.23872107e+00] [ 5.48036516e-03 -3.51646088e-04 9.99984921e-01 -2.89642932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.212414037000002 meters 0.08209246008969187 Centerline is valid? [True, True] Translation: X:23.91, Y:-1.24, Z:-0.29 [[ 9.99760093e-01 -2.14796972e-02 -4.28717394e-03 2.39114931e+01] [ 2.14806692e-02 9.99769247e-01 1.80794533e-04 -1.23500967e+00] [ 4.28230125e-03 -2.72842524e-04 9.99990794e-01 -2.87402008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.242414037 meters 0.0817112203131815 Centerline is valid? [True, True] Translation: X:23.94, Y:-1.23, Z:-0.29 [[ 9.99799877e-01 -1.95459299e-02 -4.26171856e-03 2.39435461e+01] [ 1.95468738e-02 9.99808925e-01 1.79937314e-04 -1.23280722e+00] [ 4.25738721e-03 -2.63204579e-04 9.99990903e-01 -2.88070706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.272414037 meters 0.0818242229877776 Centerline is valid? [True, True] Translation: X:23.97, Y:-1.23, Z:-0.29 [[ 9.99828017e-01 -1.80332589e-02 -4.32873064e-03 2.39741397e+01] [ 1.80342173e-02 9.99837354e-01 1.82473094e-04 -1.23417309e+00] [ 4.32473600e-03 -2.60506981e-04 9.99990614e-01 -2.90349116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.302414037000002 meters 0.08179478812709141 Centerline is valid? [True, True] Translation: X:24.01, Y:-1.24, Z:-0.29 [[ 9.99841313e-01 -1.67286221e-02 -6.12384458e-03 2.40062947e+01] [ 1.67305212e-02 9.99860001e-01 2.59009680e-04 -1.23529016e+00] [ 6.11865437e-03 -3.61423690e-04 9.99981216e-01 -2.93360650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.332414037 meters 0.08182984563379539 Centerline is valid? [True, True] Translation: X:24.04, Y:-1.24, Z:-0.29 [[ 9.99849691e-01 -1.59785758e-02 -6.72911039e-03 2.40373501e+01] [ 1.59808468e-02 9.99872258e-01 2.83854179e-04 -1.23671226e+00] [ 6.72371521e-03 -3.91348395e-04 9.99977319e-01 -2.94843997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.362414037 meters 0.0804713709183894 Centerline is valid? [True, True] Translation: X:24.07, Y:-1.23, Z:-0.29 [[ 9.99909131e-01 -1.24865910e-02 -5.08091776e-03 2.40684807e+01] [ 1.24878384e-02 9.99922001e-01 2.13838889e-04 -1.23185391e+00] [ 5.07785134e-03 -2.77269137e-04 9.99987069e-01 -2.94294007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.392414037 meters 0.07939717738136463 Centerline is valid? [True, True] Translation: X:24.10, Y:-1.23, Z:-0.29 [[ 9.99931360e-01 -1.08686677e-02 -4.37588096e-03 2.40993161e+01] [ 1.08695770e-02 9.99940907e-01 1.84081182e-04 -1.22821345e+00] [ 4.37362166e-03 -2.31632522e-04 9.99990409e-01 -2.93209909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.422414037 meters 0.07918890236396486 Centerline is valid? [True, True] Translation: X:24.13, Y:-1.23, Z:-0.29 [[ 9.99949177e-01 -9.31971503e-03 -3.84528436e-03 2.41313608e+01] [ 9.32041132e-03 9.99956551e-01 1.63197472e-04 -1.22666352e+00] [ 3.84359633e-03 -1.99028810e-04 9.99992594e-01 -2.92764979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.452414037 meters 0.07904091904578951 Centerline is valid? [True, True] Translation: X:24.16, Y:-1.23, Z:-0.29 [[ 9.99967610e-01 -7.17128998e-03 -3.65391577e-03 2.41616695e+01] [ 7.17190181e-03 9.99974270e-01 1.54371085e-04 -1.22512699e+00] [ 3.65271472e-03 -1.80571610e-04 9.99993313e-01 -2.93605135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.482414037 meters 0.08092507306757332 Centerline is valid? [True, True] Translation: X:24.19, Y:-1.23, Z:-0.30 [[ 9.99970056e-01 -6.47550652e-03 -4.23739426e-03 2.41913363e+01] [ 6.47632310e-03 9.99979012e-01 1.79015216e-04 -1.23142744e+00] [ 4.23614611e-03 -2.06452589e-04 9.99991006e-01 -2.99241943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.512414037 meters 0.07856957369741316 Centerline is valid? [True, True] Translation: X:24.22, Y:-1.23, Z:-0.30 [[ 9.99969193e-01 -6.16619619e-03 -4.85707649e-03 2.42222148e+01] [ 6.16726318e-03 9.99980961e-01 2.04730221e-04 -1.22522154e+00] [ 4.85572161e-03 -2.34678782e-04 9.99988183e-01 -2.96345708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.542414037 meters 0.07873849417237232 Centerline is valid? [True, True] Translation: X:24.25, Y:-1.23, Z:-0.30 [[ 9.99966140e-01 -6.06440739e-03 -5.56259998e-03 2.42529439e+01] [ 6.06580530e-03 9.99981575e-01 2.34468682e-04 -1.22662250e+00] [ 5.56107558e-03 -2.68202391e-04 9.99984501e-01 -2.97772464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.572414037 meters 0.07899986127028621 Centerline is valid? [True, True] Translation: X:24.28, Y:-1.23, Z:-0.30 [[ 9.99954972e-01 -6.25482378e-03 -7.13662407e-03 2.42824937e+01] [ 6.25712206e-03 9.99980379e-01 2.99758850e-04 -1.22710257e+00] [ 7.13460910e-03 -3.44400080e-04 9.99974489e-01 -2.99237080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.602414037 meters 0.08167179950482512 Centerline is valid? [True, True] Translation: X:24.31, Y:-1.23, Z:-0.31 [[ 9.99947853e-01 -7.21036387e-03 -7.23199806e-03 2.43102748e+01] [ 7.21274168e-03 9.99973942e-01 3.02762383e-04 -1.23485833e+00] [ 7.22962658e-03 -3.54909128e-04 9.99973803e-01 -3.05098358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.632414037 meters 0.07891620559532965 Centerline is valid? [True, True] Translation: X:24.34, Y:-1.23, Z:-0.30 [[ 9.99945637e-01 -7.96475349e-03 -6.72939863e-03 2.43403815e+01] [ 7.96683108e-03 9.99968225e-01 2.81982252e-04 -1.22680338e+00] [ 6.72693888e-03 -3.35578905e-04 9.99977318e-01 -3.00282983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.662414037 meters 0.07951475989772898 Centerline is valid? [True, True] Translation: X:24.37, Y:-1.23, Z:-0.30 [[ 9.99946943e-01 -8.60801407e-03 -5.65796105e-03 2.43695508e+01] [ 8.60949409e-03 9.99962909e-01 2.37277237e-04 -1.22912725e+00] [ 5.65570871e-03 -2.85976830e-04 9.99983965e-01 -3.01992286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.692414037 meters 0.07846167832704615 Centerline is valid? [True, True] Translation: X:24.40, Y:-1.23, Z:-0.30 [[ 9.99951488e-01 -8.56574513e-03 -4.86306614e-03 2.44006463e+01] [ 8.56683972e-03 9.99963283e-01 2.04296362e-04 -1.22594075e+00] [ 4.86113764e-03 -2.45947560e-04 9.99988154e-01 -2.99963993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.722414037 meters 0.07922013920014068 Centerline is valid? [True, True] Translation: X:24.43, Y:-1.23, Z:-0.30 [[ 9.99946447e-01 -9.05986710e-03 -5.00220469e-03 2.44306460e+01] [ 9.06103393e-03 9.99958926e-01 2.10649247e-04 -1.22819339e+00] [ 5.00009077e-03 -2.55963113e-04 9.99987467e-01 -3.01680335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.752414037 meters 0.07892836686677904 Centerline is valid? [True, True] Translation: X:24.46, Y:-1.23, Z:-0.30 [[ 9.99942000e-01 -9.67433453e-03 -4.73325280e-03 2.44616036e+01] [ 9.67538423e-03 9.99953173e-01 1.98923955e-04 -1.22800458e+00] [ 4.73110670e-03 -2.44708457e-04 9.99988778e-01 -3.01106986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.782414037 meters 0.07933485355811327 Centerline is valid? [True, True] Translation: X:24.49, Y:-1.23, Z:-0.30 [[ 9.99934443e-01 -1.04632910e-02 -4.65062159e-03 2.44921472e+01] [ 1.04643175e-02 9.99945228e-01 1.96454883e-04 -1.23057658e+00] [ 4.64831130e-03 -2.45107585e-04 9.99989167e-01 -3.01699442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.812414037 meters 0.0795645694892403 Centerline is valid? [True, True] Translation: X:24.52, Y:-1.23, Z:-0.30 [[ 9.99936246e-01 -1.04968406e-02 -4.16169746e-03 2.45231939e+01] [ 1.04976638e-02 9.99944883e-01 1.76016203e-04 -1.23104232e+00] [ 4.15962047e-03 -2.19693082e-04 9.99991325e-01 -3.02428400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.842414037 meters 0.07969147135424605 Centerline is valid? [True, True] Translation: X:24.55, Y:-1.23, Z:-0.30 [[ 9.99935172e-01 -1.04960034e-02 -4.41416198e-03 2.45546556e+01] [ 1.04969300e-02 9.99944888e-01 1.86787760e-04 -1.23216012e+00] [ 4.41195818e-03 -2.33110800e-04 9.99990240e-01 -3.04148159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.872414037 meters 0.0799011244950927 Centerline is valid? [True, True] Translation: X:24.59, Y:-1.23, Z:-0.31 [[ 9.99923170e-01 -1.08907637e-02 -5.91983338e-03 2.45856553e+01] [ 1.08924366e-02 9.99940644e-01 2.50414963e-04 -1.23344813e+00] [ 5.91675479e-03 -3.14877133e-04 9.99982446e-01 -3.05801838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.902414037 meters 0.0802182356656289 Centerline is valid? [True, True] Translation: X:24.62, Y:-1.24, Z:-0.31 [[ 9.99907102e-01 -1.14243302e-02 -7.43453788e-03 2.46159286e+01] [ 1.14269757e-02 9.99934661e-01 3.13453276e-04 -1.23500412e+00] [ 7.43047112e-03 -3.98378440e-04 9.99972314e-01 -3.07880978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.932414037 meters 0.0807035624486346 Centerline is valid? [True, True] Translation: X:24.65, Y:-1.24, Z:-0.31 [[ 9.99918560e-01 -1.09950780e-02 -6.47933898e-03 2.46453386e+01] [ 1.09970750e-02 9.99939493e-01 2.72666082e-04 -1.23774194e+00] [ 6.47594895e-03 -3.43897653e-04 9.99978972e-01 -3.09852241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.962414037000002 meters 0.08074049418852708 Centerline is valid? [True, True] Translation: X:24.68, Y:-1.24, Z:-0.31 [[ 9.99921329e-01 -1.07541694e-02 -6.45626141e-03 2.46761464e+01] [ 1.07561498e-02 9.99942114e-01 2.72100759e-04 -1.23919975e+00] [ 6.45296147e-03 -3.41523867e-04 9.99979121e-01 -3.10280508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.992414037 meters 0.08036477846541785 Centerline is valid? [True, True] Translation: X:24.71, Y:-1.24, Z:-0.31 [[ 9.99927192e-01 -1.02846087e-02 -6.31174699e-03 2.47067683e+01] [ 1.02864922e-02 9.99947057e-01 2.66010162e-04 -1.23932451e+00] [ 6.30867702e-03 -3.30916530e-04 9.99980045e-01 -3.10715195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.022414037 meters 0.08036786575901442 Centerline is valid? [True, True] Translation: X:24.74, Y:-1.24, Z:-0.31 [[ 9.99942376e-01 -9.08338373e-03 -5.72169697e-03 2.47370748e+01] [ 9.08491470e-03 9.99958702e-01 2.41637420e-04 -1.24038543e+00] [ 5.71926579e-03 -2.93604625e-04 9.99983602e-01 -3.10674147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.052414037000002 meters 0.0787180601149166 Centerline is valid? [True, True] Translation: X:24.77, Y:-1.23, Z:-0.31 [[ 9.99951576e-01 -8.00119984e-03 -5.72938998e-03 2.47677442e+01] [ 8.00271490e-03 9.99967949e-01 2.41559950e-04 -1.23495301e+00] [ 5.72727357e-03 -2.87398927e-04 9.99983558e-01 -3.08360480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.082414037 meters 0.07728914376784729 Centerline is valid? [True, True] Translation: X:24.80, Y:-1.23, Z:-0.31 [[ 9.99973248e-01 -4.38680815e-03 -5.85318753e-03 2.47985144e+01] [ 4.38832450e-03 9.99990341e-01 2.46246356e-04 -1.22819428e+00] [ 5.85205076e-03 -2.71925455e-04 9.99982840e-01 -3.06748509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.112414037 meters 0.07759200572690521 Centerline is valid? [True, True] Translation: X:24.83, Y:-1.23, Z:-0.31 [[ 9.99970766e-01 -2.69097856e-03 -7.15715345e-03 2.48275572e+01] [ 2.69319835e-03 9.99996328e-01 3.00529885e-04 -1.23053540e+00] [ 7.15631845e-03 -3.19796733e-04 9.99974342e-01 -3.09304932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.142414037 meters 0.07692955458022559 Centerline is valid? [True, True] Translation: X:24.86, Y:-1.23, Z:-0.31 [[ 9.99972794e-01 1.65686916e-04 -7.37448532e-03 2.48570039e+01] [-1.63409450e-04 9.99999939e-01 3.09432052e-04 -1.23002716e+00] [ 7.37453614e-03 -3.08218573e-04 9.99972760e-01 -3.10648457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.172414037 meters 0.07748189683564698 Centerline is valid? [True, True] Translation: X:24.89, Y:-1.23, Z:-0.31 [[ 9.99970933e-01 1.59425056e-03 -7.45591598e-03 2.48850111e+01] [-1.59201303e-03 9.99998686e-01 3.06027044e-04 -1.23338435e+00] [ 7.45639406e-03 -2.94148233e-04 9.99972157e-01 -3.13823109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.202414037 meters 0.07650125232104697 Centerline is valid? [True, True] Translation: X:24.91, Y:-1.23, Z:-0.31 [[ 9.99968055e-01 3.90612768e-03 -6.97353243e-03 2.49141536e+01] [-3.90420286e-03 9.99992337e-01 2.89609813e-04 -1.23062218e+00] [ 6.97461024e-03 -2.62374476e-04 9.99975643e-01 -3.12219938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.232414037 meters 0.07624798087295208 Centerline is valid? [True, True] Translation: X:24.94, Y:-1.23, Z:-0.31 [[ 9.99957760e-01 5.94919940e-03 -7.00612075e-03 2.49418067e+01] [-5.94731358e-03 9.99982273e-01 2.89971049e-04 -1.22977633e+00] [ 7.00772165e-03 -2.48291203e-04 9.99975415e-01 -3.12834658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.262414037 meters 0.07604040570680172 Centerline is valid? [True, True] Translation: X:24.97, Y:-1.23, Z:-0.31 [[ 9.99941663e-01 7.82575719e-03 -7.44499798e-03 2.49709275e+01] [-7.82367927e-03 9.99969347e-01 3.08186732e-04 -1.22895500e+00] [ 7.44718156e-03 -2.49921477e-04 9.99972238e-01 -3.13286340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.292414037 meters 0.07591235403749447 Centerline is valid? [True, True] Translation: X:25.00, Y:-1.23, Z:-0.31 [[ 9.99927351e-01 9.39262609e-03 -7.55454810e-03 2.49996646e+01] [-9.39053475e-03 9.99955859e-01 3.12255812e-04 -1.22853271e+00] [ 7.55714754e-03 -2.41291880e-04 9.99971415e-01 -3.14608398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.322414037 meters 0.07579685394087952 Centerline is valid? [True, True] Translation: X:25.03, Y:-1.23, Z:-0.32 [[ 9.99915292e-01 1.11664566e-02 -6.68726321e-03 2.50280802e+01] [-1.11648616e-02 9.99937633e-01 2.75791105e-04 -1.22875798e+00] [ 6.68992576e-03 -2.01105375e-04 9.99977602e-01 -3.15553710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.352414037 meters 0.07588422689493025 Centerline is valid? [True, True] Translation: X:25.06, Y:-1.23, Z:-0.32 [[ 9.99915024e-01 1.15101071e-02 -6.12061124e-03 2.50564053e+01] [-1.15087806e-02 9.99933740e-01 2.51895700e-04 -1.23020539e+00] [ 6.12310504e-03 -1.81433523e-04 9.99981237e-01 -3.16475167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.382414037 meters 0.07547577509866571 Centerline is valid? [True, True] Translation: X:25.08, Y:-1.23, Z:-0.32 [[ 9.99915627e-01 1.10999039e-02 -6.74772864e-03 2.50847865e+01] [-1.10982882e-02 9.99938374e-01 2.76841529e-04 -1.23025249e+00] [ 6.75038571e-03 -2.01929934e-04 9.99977195e-01 -3.15297372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.412414037 meters 0.07535947814838158 Centerline is valid? [True, True] Translation: X:25.11, Y:-1.23, Z:-0.32 [[ 9.99918268e-01 1.02414735e-02 -7.65311677e-03 2.51137783e+01] [-1.02393690e-02 9.99947527e-01 3.14108545e-04 -1.23140063e+00] [ 7.65593212e-03 -2.35719786e-04 9.99970665e-01 -3.15017579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.442414037 meters 0.07649705604671579 Centerline is valid? [True, True] Translation: X:25.14, Y:-1.24, Z:-0.32 [[ 9.99938708e-01 7.45116007e-03 -8.18903828e-03 2.51415831e+01] [-7.44866002e-03 9.99972202e-01 3.35749728e-04 -1.24107773e+00] [ 8.19131237e-03 -2.74731787e-04 9.99966413e-01 -3.20532605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.472414037 meters 0.07689519488253249 Centerline is valid? [True, True] Translation: X:25.17, Y:-1.25, Z:-0.32 [[ 9.99945291e-01 5.89189661e-03 -8.64293458e-03 2.51696798e+01] [-5.88906231e-03 9.99982597e-01 3.53345275e-04 -1.24505881e+00] [ 8.64486604e-03 -3.02427164e-04 9.99962587e-01 -3.21505139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.502414037 meters 0.07705896168103545 Centerline is valid? [True, True] Translation: X:25.20, Y:-1.25, Z:-0.32 [[ 9.99941133e-01 4.52366551e-03 -9.86240011e-03 2.51994349e+01] [-4.51989683e-03 9.99989703e-01 4.04381504e-04 -1.24835127e+00] [ 9.86412785e-03 -3.59780668e-04 9.99951284e-01 -3.22794488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.532414037 meters 0.07689498320609885 Centerline is valid? [True, True] Translation: X:25.23, Y:-1.25, Z:-0.32 [[ 9.99940576e-01 3.20626431e-03 -1.04194121e-02 2.52279272e+01] [-3.20200206e-03 9.99994783e-01 4.25724983e-04 -1.24897997e+00] [ 1.04207227e-02 -3.92336706e-04 9.99945626e-01 -3.22807021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.562414037 meters 0.07676183599694719 Centerline is valid? [True, True] Translation: X:25.26, Y:-1.25, Z:-0.32 [[ 9.99940463e-01 1.89300954e-03 -1.07465180e-02 2.52567139e+01] [-1.88840743e-03 9.99998121e-01 4.38373506e-04 -1.24904346e+00] [ 1.07473276e-02 -4.18053602e-04 9.99942158e-01 -3.22211224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.592414037 meters 0.07915686108545844 Centerline is valid? [True, True] Translation: X:25.28, Y:-1.26, Z:-0.33 [[ 9.99942316e-01 1.36317472e-03 -1.06539046e-02 2.52834237e+01] [-1.35864203e-03 9.99998983e-01 4.32674384e-04 -1.25872745e+00] [ 1.06544836e-02 -4.18174583e-04 9.99943152e-01 -3.30168950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.622414037 meters 0.07748599417727112 Centerline is valid? [True, True] Translation: X:25.31, Y:-1.26, Z:-0.32 [[ 9.99961617e-01 1.45700544e-03 -8.63957924e-03 2.53129617e+01] [-1.45402486e-03 9.99998881e-01 3.51261985e-04 -1.25598014e+00] [ 8.64008136e-03 -3.38686340e-04 9.99962616e-01 -3.24964486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.652414037 meters 0.07647290433670662 Centerline is valid? [True, True] Translation: X:25.34, Y:-1.26, Z:-0.32 [[ 9.99974118e-01 2.10056892e-03 -6.88115227e-03 2.53424008e+01] [-2.09869790e-03 9.99997759e-01 2.79113934e-04 -1.25662840e+00] [ 6.88172315e-03 -2.64665250e-04 9.99976286e-01 -3.21242918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.682414037 meters 0.07652684933624679 Centerline is valid? [True, True] Translation: X:25.37, Y:-1.26, Z:-0.32 [[ 9.99976966e-01 2.38178894e-03 -6.35569644e-03 2.53699225e+01] [-2.38021188e-03 9.99997135e-01 2.55685242e-04 -1.25955179e+00] [ 6.35628721e-03 -2.40551448e-04 9.99979770e-01 -3.21769846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.712414037 meters 0.07630437910032392 Centerline is valid? [True, True] Translation: X:25.40, Y:-1.26, Z:-0.32 [[ 9.99978559e-01 3.29294587e-03 -5.66020315e-03 2.53986726e+01] [-3.29170814e-03 9.99994556e-01 2.27975405e-04 -1.26063498e+00] [ 5.66092305e-03 -2.09338780e-04 9.99983955e-01 -3.21867272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.742414037 meters 0.0763470030071385 Centerline is valid? [True, True] Translation: X:25.43, Y:-1.26, Z:-0.32 [[ 9.99975727e-01 3.67469890e-03 -5.91970333e-03 2.54275127e+01] [-3.67335357e-03 9.99993225e-01 2.38119792e-04 -1.26197112e+00] [ 5.92053824e-03 -2.16368848e-04 9.99982450e-01 -3.22974406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.772414037 meters 0.07625566400344165 Centerline is valid? [True, True] Translation: X:25.46, Y:-1.26, Z:-0.32 [[ 9.99954899e-01 6.27512476e-03 -7.12904686e-03 2.54551679e+01] [-6.27325291e-03 9.99980282e-01 2.84898264e-04 -1.26292632e+00] [ 7.13069406e-03 -2.40163101e-04 9.99974547e-01 -3.24167264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.802414037000002 meters 0.07563276465684429 Centerline is valid? [True, True] Translation: X:25.48, Y:-1.26, Z:-0.32 [[ 9.99935808e-01 7.15774404e-03 -8.78334099e-03 2.54839832e+01] [-7.15492443e-03 9.99974341e-01 3.52398890e-04 -1.26118967e+00] [ 8.78563800e-03 -2.89532127e-04 9.99961364e-01 -3.22882387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.832414037 meters 0.07650186912211242 Centerline is valid? [True, True] Translation: X:25.51, Y:-1.27, Z:-0.33 [[ 9.99923313e-01 7.86219600e-03 -9.56841493e-03 2.55107921e+01] [-7.85891216e-03 9.99969046e-01 3.80747301e-04 -1.26628122e+00] [ 9.57111225e-03 -3.05520770e-04 9.99954149e-01 -3.28042411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.862414037 meters 0.07583468958703309 Centerline is valid? [True, True] Translation: X:25.54, Y:-1.27, Z:-0.33 [[ 9.99910680e-01 8.17418680e-03 -1.05742662e-02 2.55394327e+01] [-8.17017700e-03 9.99966534e-01 4.22346841e-04 -1.26602301e+00] [ 1.05773647e-02 -3.35915490e-04 9.99944002e-01 -3.26388687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.892414037 meters 0.07613108096168239 Centerline is valid? [True, True] Translation: X:25.57, Y:-1.27, Z:-0.33 [[ 9.99923566e-01 8.60344033e-03 -8.87935300e-03 2.55669942e+01] [-8.60064260e-03 9.99962951e-01 3.53220428e-04 -1.27259126e+00] [ 8.88206294e-03 -2.76825288e-04 9.99960515e-01 -3.28047131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.922414037 meters 0.07613108096168239 Centerline is valid? [True, True] Translation: X:25.59, Y:-1.27, Z:-0.33 [[ 9.99924424e-01 8.50308728e-03 -8.87940397e-03 2.55944590e+01] [-8.50029693e-03 9.99963810e-01 3.51942522e-04 -1.27358976e+00] [ 8.88207522e-03 -2.76438354e-04 9.99960515e-01 -3.28726558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.952414037 meters 0.07565055337027742 Centerline is valid? [True, True] Translation: X:25.62, Y:-1.27, Z:-0.33 [[ 9.99929121e-01 8.40128266e-03 -8.43629576e-03 2.56231211e+01] [-8.39875952e-03 9.99964674e-01 3.34465700e-04 -1.27484330e+00] [ 8.43880768e-03 -2.63587574e-04 9.99964358e-01 -3.27420544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.982414037 meters 0.07589728767235224 Centerline is valid? [True, True] Translation: X:25.65, Y:-1.28, Z:-0.33 [[ 9.99934063e-01 8.21571920e-03 -8.02313866e-03 2.56505517e+01] [-8.21344659e-03 9.99966219e-01 3.16166606e-04 -1.27747619e+00] [ 8.02546516e-03 -2.50248138e-04 9.99967764e-01 -3.27870061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.012414037 meters 0.07616077145170869 Centerline is valid? [True, True] Translation: X:25.68, Y:-1.28, Z:-0.33 [[ 9.99934081e-01 8.45230219e-03 -7.77119761e-03 2.56784942e+01] [-8.45017822e-03 9.99964250e-01 3.06108373e-04 -1.27941686e+00] [ 7.77350711e-03 -2.40420190e-04 9.99969757e-01 -3.28808494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.042414037 meters 0.0759259549150525 Centerline is valid? [True, True] Translation: X:25.71, Y:-1.28, Z:-0.33 [[ 9.99918355e-01 8.87842297e-03 -9.19001117e-03 2.57070049e+01] [-8.87546901e-03 9.99960547e-01 3.62166722e-04 -1.28137770e+00] [ 9.19286407e-03 -2.80571494e-04 9.99957705e-01 -3.29562734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.072414037 meters 0.07613176390295079 Centerline is valid? [True, True] Translation: X:25.74, Y:-1.29, Z:-0.33 [[ 9.99915856e-01 8.52062663e-03 -9.78160166e-03 2.57354012e+01] [-8.51726818e-03 9.99963653e-01 3.84950127e-04 -1.28530336e+00] [ 9.78452615e-03 -3.01605211e-04 9.99952085e-01 -3.31361073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.102414037 meters 0.0764907345749911 Centerline is valid? [True, True] Translation: X:25.76, Y:-1.29, Z:-0.33 [[ 9.99914273e-01 7.54103310e-03 -1.07041546e-02 2.57625158e+01] [-7.53697343e-03 9.99971509e-01 4.19550639e-04 -1.29002924e+00] [ 1.07070135e-02 -3.38837743e-04 9.99942621e-01 -3.34382752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.132414037 meters 0.07671903413675672 Centerline is valid? [True, True] Translation: X:25.79, Y:-1.29, Z:-0.34 [[ 9.99923717e-01 6.34054137e-03 -1.05999119e-02 2.57901201e+01] [-6.33650879e-03 9.99979838e-01 4.13976599e-04 -1.29365691e+00] [ 1.06023230e-02 -3.46778585e-04 9.99943734e-01 -3.36203437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.162414037 meters 0.0769500639688212 Centerline is valid? [True, True] Translation: X:25.82, Y:-1.30, Z:-0.34 [[ 9.99931309e-01 4.29971905e-03 -1.09036460e-02 2.58198015e+01] [-4.29531276e-03 9.99990684e-01 4.27497458e-04 -1.29833757e+00] [ 1.09053825e-02 -3.80633523e-04 9.99940462e-01 -3.35508654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.192414037 meters 0.07655550194577491 Centerline is valid? [True, True] Translation: X:25.85, Y:-1.30, Z:-0.33 [[ 9.99950616e-01 3.51303616e-03 -9.29648137e-03 2.58486352e+01] [-3.50981384e-03 9.99993775e-01 3.62909690e-04 -1.29959245e+00] [ 9.29769841e-03 -3.30262849e-04 9.99956721e-01 -3.33745174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.222414037 meters 0.07648745806423028 Centerline is valid? [True, True] Translation: X:25.88, Y:-1.30, Z:-0.33 [[ 9.99956359e-01 2.20690562e-03 -9.07801493e-03 2.58774903e+01] [-2.20378534e-03 9.99997509e-01 3.53706254e-04 -1.30213409e+00] [ 9.07877291e-03 -3.33684821e-04 9.99958731e-01 -3.32920561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.252414037 meters 0.07679176731737328 Centerline is valid? [True, True] Translation: X:25.91, Y:-1.31, Z:-0.33 [[ 9.99958193e-01 8.52031185e-04 -9.10414238e-03 2.59052683e+01] [-8.48852902e-04 9.99999577e-01 3.52961373e-04 -1.30728918e+00] [ 9.10443927e-03 -3.45218539e-04 9.99958494e-01 -3.34394022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.282414037 meters 0.07918416017608067 Centerline is valid? [True, True] Translation: X:25.93, Y:-1.32, Z:-0.34 [[ 9.99946790e-01 -2.27958798e-03 -1.00608031e-02 2.59340982e+01] [ 2.28364966e-03 9.99997316e-01 3.92243421e-04 -1.32061311e+00] [ 1.00598820e-02 -4.15197900e-04 9.99949312e-01 -3.41231471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.312414037 meters 0.07942704227463862 Centerline is valid? [True, True] Translation: X:25.96, Y:-1.32, Z:-0.34 [[ 9.99944108e-01 -4.10986597e-03 -9.74110164e-03 2.59623195e+01] [ 4.11373793e-03 9.99991467e-01 3.77483673e-04 -1.32400221e+00] [ 9.73946712e-03 -4.17534914e-04 9.99952483e-01 -3.41861054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.342414037 meters 0.07845659821314756 Centerline is valid? [True, True] Translation: X:25.99, Y:-1.32, Z:-0.34 [[ 9.99926034e-01 -5.43682658e-03 -1.08796514e-02 2.59918975e+01] [ 5.44174575e-03 9.99985104e-01 4.22592030e-04 -1.32235152e+00] [ 1.08771917e-02 -4.81765069e-04 9.99940726e-01 -3.39347260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.372414037 meters 0.07879016234336751 Centerline is valid? [True, True] Translation: X:26.02, Y:-1.33, Z:-0.34 [[ 9.99917464e-01 -6.11626490e-03 -1.12985394e-02 2.60204068e+01] [ 6.12153021e-03 9.99981170e-01 4.31492643e-04 -1.32573429e+00] [ 1.12956875e-02 -5.00621380e-04 9.99936076e-01 -3.40234058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.402414037 meters 0.07713412975908919 Centerline is valid? [True, True] Translation: X:26.05, Y:-1.32, Z:-0.34 [[ 9.99916792e-01 -6.74474523e-03 -1.09962178e-02 2.60488219e+01] [ 6.74972104e-03 9.99977134e-01 4.15452939e-04 -1.32309970e+00] [ 1.09931643e-02 -4.89639773e-04 9.99939453e-01 -3.36558141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.432414037 meters 0.07932114889050415 Centerline is valid? [True, True] Translation: X:26.08, Y:-1.33, Z:-0.34 [[ 9.99918940e-01 -7.14377809e-03 -1.05394030e-02 2.60755045e+01] [ 7.14839590e-03 9.99974370e-01 4.00541080e-04 -1.33444103e+00] [ 1.05362715e-02 -4.75848438e-04 9.99944379e-01 -3.43121457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.462414037 meters 0.0768334998889994 Centerline is valid? [True, True] Translation: X:26.10, Y:-1.33, Z:-0.34 [[ 9.99917990e-01 -7.67395805e-03 -1.02529714e-02 2.61035599e+01] [ 7.67828430e-03 9.99970448e-01 3.82652492e-04 -1.32987905e+00] [ 1.02497319e-02 -4.61346340e-04 9.99947364e-01 -3.37732538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.492414037 meters 0.07701087900065594 Centerline is valid? [True, True] Translation: X:26.13, Y:-1.33, Z:-0.34 [[ 9.99918068e-01 -7.60274764e-03 -1.02983676e-02 2.61309907e+01] [ 7.60714930e-03 9.99970990e-01 3.88308777e-04 -1.33379363e+00] [ 1.02951166e-02 -4.66618182e-04 9.99946895e-01 -3.39085727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.522414037 meters 0.07688106334024382 Centerline is valid? [True, True] Translation: X:26.16, Y:-1.34, Z:-0.34 [[ 9.99928192e-01 -5.77808714e-03 -1.04987689e-02 2.61586686e+01] [ 5.78255241e-03 9.99983203e-01 3.95007661e-04 -1.33600587e+00] [ 1.04963102e-02 -4.55688978e-04 9.99944808e-01 -3.40364632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.552414037000002 meters 0.07698956674856948 Centerline is valid? [True, True] Translation: X:26.19, Y:-1.34, Z:-0.34 [[ 9.99935155e-01 -5.17805164e-03 -1.01426583e-02 2.61862614e+01] [ 5.18217901e-03 9.99986500e-01 3.80692387e-04 -1.33722228e+00] [ 1.01405501e-02 -4.33228772e-04 9.99948489e-01 -3.41497724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.582414037 meters 0.07701840404739176 Centerline is valid? [True, True] Translation: X:26.22, Y:-1.34, Z:-0.34 [[ 9.99945402e-01 -4.33627274e-03 -9.50736986e-03 2.62151117e+01] [ 4.33980288e-03 9.99990522e-01 3.50706658e-04 -1.33892823e+00] [ 9.50575899e-03 -3.91947621e-04 9.99954742e-01 -3.41841965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.612414037 meters 0.07926521531068102 Centerline is valid? [True, True] Translation: X:26.24, Y:-1.35, Z:-0.35 [[ 9.99948951e-01 -4.06018152e-03 -9.25261612e-03 2.62427600e+01] [ 4.06353958e-03 9.99991685e-01 3.44160049e-04 -1.34861212e+00] [ 9.25114183e-03 -3.81740851e-04 9.99957134e-01 -3.48643686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.642414037 meters 0.07718461126725401 Centerline is valid? [True, True] Translation: X:26.27, Y:-1.35, Z:-0.34 [[ 9.99958258e-01 -2.80239301e-03 -8.69646630e-03 2.62720121e+01] [ 2.80530973e-03 9.99996013e-01 3.23211071e-04 -1.34677849e+00] [ 8.69552586e-03 -3.47593861e-04 9.99962133e-01 -3.43605737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.672414037 meters 0.07680520537076853 Centerline is valid? [True, True] Translation: X:26.30, Y:-1.35, Z:-0.34 [[ 9.99956747e-01 -2.23320206e-03 -9.02863113e-03 2.63003427e+01] [ 2.23626642e-03 9.99997445e-01 3.29323201e-04 -1.34750362e+00] [ 9.02787262e-03 -3.49499382e-04 9.99959187e-01 -3.44241968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.702414037 meters 0.07636549897408923 Centerline is valid? [True, True] Translation: X:26.33, Y:-1.35, Z:-0.34 [[ 9.99931814e-01 -2.87456575e-03 -1.13182960e-02 2.63296968e+01] [ 2.87948372e-03 9.99995767e-01 4.18243426e-04 -1.34639693e+00] [ 1.13170459e-02 -4.50805757e-04 9.99935859e-01 -3.43284949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.732414037 meters 0.0770681403749394 Centerline is valid? [True, True] Translation: X:26.36, Y:-1.35, Z:-0.35 [[ 9.99919612e-01 -2.14434677e-03 -1.24968828e-02 2.63568800e+01] [ 2.15024023e-03 9.99997583e-01 4.58177648e-04 -1.35068928e+00] [ 1.24958701e-02 -4.85012116e-04 9.99921806e-01 -3.47330686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.762414037 meters 0.07684374212391831 Centerline is valid? [True, True] Translation: X:26.39, Y:-1.35, Z:-0.35 [[ 9.99898537e-01 -2.67752544e-03 -1.39909499e-02 2.63857409e+01] [ 2.68488769e-03 9.99996267e-01 5.07458563e-04 -1.35113676e+00] [ 1.39895389e-02 -5.44971204e-04 9.99901993e-01 -3.48024181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.792414037 meters 0.07729317961327634 Centerline is valid? [True, True] Translation: X:26.41, Y:-1.35, Z:-0.35 [[ 9.99904875e-01 -3.53786167e-03 -1.33313444e-02 2.64144296e+01] [ 3.54466289e-03 9.99993599e-01 4.86573129e-04 -1.35402212e+00] [ 1.33295376e-02 -5.33781965e-04 9.99911015e-01 -3.49507964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.822414037 meters 0.0780820200864022 Centerline is valid? [True, True] Translation: X:26.44, Y:-1.36, Z:-0.35 [[ 9.99911151e-01 -4.75923627e-03 -1.24515326e-02 2.64417296e+01] [ 4.76524439e-03 9.99988544e-01 4.52896319e-04 -1.35955488e+00] [ 1.24492345e-02 -5.12190676e-04 9.99922374e-01 -3.52258582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.852414037 meters 0.07789964174430983 Centerline is valid? [True, True] Translation: X:26.47, Y:-1.36, Z:-0.35 [[ 9.99884552e-01 -7.00243436e-03 -1.34851070e-02 2.64712455e+01] [ 7.00969812e-03 9.99975311e-01 4.91459695e-04 -1.36178747e+00] [ 1.34813327e-02 -5.85929486e-04 9.99908951e-01 -3.51848220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.882414037 meters 0.07755951788632308 Centerline is valid? [True, True] Translation: X:26.50, Y:-1.36, Z:-0.35 [[ 9.99861449e-01 -1.08402522e-02 -1.26322067e-02 2.65011392e+01] [ 1.08469250e-02 9.99941065e-01 4.59844480e-04 -1.36407312e+00] [ 1.26264774e-02 -5.96801367e-04 9.99920105e-01 -3.48549021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.912414037 meters 0.07885959403516642 Centerline is valid? [True, True] Translation: X:26.53, Y:-1.37, Z:-0.35 [[ 9.99835818e-01 -1.35657158e-02 -1.20128093e-02 2.65297520e+01] [ 1.35719333e-02 9.99907802e-01 4.36201365e-04 -1.37038756e+00] [ 1.20057843e-02 -5.99166795e-04 9.99927748e-01 -3.51478526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.942414037 meters 0.07922434813486456 Centerline is valid? [True, True] Translation: X:26.56, Y:-1.37, Z:-0.35 [[ 9.99805169e-01 -1.58377933e-02 -1.17808571e-02 2.65593273e+01] [ 1.58439306e-02 9.99874386e-01 4.27801234e-04 -1.37358444e+00] [ 1.17726018e-02 -6.14372966e-04 9.99930512e-01 -3.51483257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.972414037 meters 0.08100554188345697 Centerline is valid? [True, True] Translation: X:26.59, Y:-1.38, Z:-0.35 [[ 9.99733856e-01 -1.88802455e-02 -1.32572008e-02 2.65878478e+01] [ 1.88882798e-02 9.99821485e-01 4.81074279e-04 -1.38112098e+00] [ 1.32457514e-02 -7.31351961e-04 9.99912004e-01 -3.54470554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.002414037 meters 0.08297733550221591 Centerline is valid? [True, True] Translation: X:26.62, Y:-1.39, Z:-0.36 [[ 9.99633628e-01 -2.41223033e-02 -1.22769418e-02 2.66174551e+01] [ 2.41295886e-02 9.99708740e-01 4.45618826e-04 -1.38923787e+00] [ 1.22626167e-02 -7.41693119e-04 9.99924536e-01 -3.55982994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.032414037 meters 0.0811516688628068 Centerline is valid? [True, True] Translation: X:26.65, Y:-1.39, Z:-0.35 [[ 9.99573067e-01 -2.68270619e-02 -1.15755397e-02 2.66481079e+01] [ 2.68337239e-02 9.99639822e-01 4.20573514e-04 -1.38628715e+00] [ 1.15600877e-02 -7.31008795e-04 9.99932913e-01 -3.52232031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.062414037 meters 0.08245917097877878 Centerline is valid? [True, True] Translation: X:26.68, Y:-1.39, Z:-0.35 [[ 9.99513529e-01 -2.91895764e-02 -1.09852027e-02 2.66783898e+01] [ 2.91957304e-02 9.99573634e-01 4.00227008e-04 -1.39211258e+00] [ 1.09688366e-02 -7.20753327e-04 9.99939581e-01 -3.53719060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.092414037 meters 0.08450821248916696 Centerline is valid? [True, True] Translation: X:26.71, Y:-1.40, Z:-0.36 [[ 9.99328026e-01 -3.43899310e-02 -1.26818519e-02 2.67072073e+01] [ 3.43985239e-02 9.99408090e-01 4.60009065e-04 -1.40026526e+00] [ 1.26585257e-02 -8.95936937e-04 9.99919476e-01 -3.57378839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.122414037 meters 0.08413132053646775 Centerline is valid? [True, True] Translation: X:26.74, Y:-1.40, Z:-0.36 [[ 9.99251932e-01 -3.66741174e-02 -1.22712978e-02 2.67378960e+01] [ 3.66823510e-02 9.99326876e-01 4.46486749e-04 -1.40062445e+00] [ 1.22466632e-02 -8.96292802e-04 9.99924605e-01 -3.57014911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.152414037 meters 0.08425812476294106 Centerline is valid? [True, True] Translation: X:26.77, Y:-1.40, Z:-0.36 [[ 9.99208598e-01 -3.82067393e-02 -1.10645102e-02 2.67688330e+01] [ 3.82135290e-02 9.99269515e-01 4.02812618e-04 -1.40166296e+00] [ 1.10410376e-02 -8.25307812e-04 9.99938705e-01 -3.56175224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.182414037 meters 0.0867624020514816 Centerline is valid? [True, True] Translation: X:26.80, Y:-1.41, Z:-0.36 [[ 9.99149007e-01 -3.99515522e-02 -1.02535348e-02 2.67986141e+01] [ 3.99574704e-02 9.99201312e-01 3.72894488e-04 -1.40739802e+00] [ 1.02304477e-02 -7.82282471e-04 9.99947362e-01 -3.59076040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.212414037 meters 0.08464006917495141 Centerline is valid? [True, True] Translation: X:26.83, Y:-1.40, Z:-0.36 [[ 9.99089778e-01 -4.13081198e-02 -1.06421262e-02 2.68296985e+01] [ 4.13145886e-02 9.99146112e-01 3.88627492e-04 -1.40227111e+00] [ 1.06169855e-02 -8.27948818e-04 9.99943295e-01 -3.56750939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.242414037 meters 0.08563486144129193 Centerline is valid? [True, True] Translation: X:26.86, Y:-1.40, Z:-0.36 [[ 9.98945307e-01 -4.44440705e-02 -1.15325146e-02 2.68605879e+01] [ 4.44518622e-02 9.99011439e-01 4.20051514e-04 -1.40401144e+00] [ 1.15024453e-02 -9.32250241e-04 9.99933410e-01 -3.58408644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.272414037 meters 0.08864856731427871 Centerline is valid? [True, True] Translation: X:26.89, Y:-1.41, Z:-0.36 [[ 9.98869036e-01 -4.61992498e-02 -1.12373235e-02 2.68899024e+01] [ 4.62067570e-02 9.98931814e-01 4.09219485e-04 -1.41195306e+00] [ 1.12064143e-02 -9.27996947e-04 9.99936776e-01 -3.62049438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.302414037000002 meters 0.08810451616250635 Centerline is valid? [True, True] Translation: X:26.92, Y:-1.41, Z:-0.36 [[ 9.98782123e-01 -4.80339947e-02 -1.12697237e-02 2.69207764e+01] [ 4.80416682e-02 9.98845248e-01 4.11013056e-04 -1.41252373e+00] [ 1.12369674e-02 -9.51928820e-04 9.99936410e-01 -3.61674395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.332414037 meters 0.09037769561350939 Centerline is valid? [True, True] Translation: X:26.95, Y:-1.42, Z:-0.36 [[ 9.98623315e-01 -5.15658840e-02 -9.61430297e-03 2.69499385e+01] [ 5.15716232e-02 9.98669237e-01 3.49818743e-04 -1.41841850e+00] [ 9.58346990e-03 -8.45162362e-04 9.99953720e-01 -3.62687117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.362414037 meters 0.09133484178277161 Centerline is valid? [True, True] Translation: X:26.98, Y:-1.42, Z:-0.36 [[ 9.98538069e-01 -5.30789698e-02 -1.02151153e-02 2.69808257e+01] [ 5.30855369e-02 9.98589899e-01 3.72617012e-04 -1.41994493e+00] [ 1.01809328e-02 -9.14347152e-04 9.99947755e-01 -3.62801853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.392414037 meters 0.08905913222996702 Centerline is valid? [True, True] Translation: X:27.01, Y:-1.41, Z:-0.36 [[ 9.98506170e-01 -5.37113958e-02 -1.00257158e-02 2.70136194e+01] [ 5.37177732e-02 9.98556090e-01 3.67705272e-04 -1.41376214e+00] [ 9.99148963e-03 -9.05715111e-04 9.99949674e-01 -3.60999737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.422414037 meters 0.08807546361949105 Centerline is valid? [True, True] Translation: X:27.05, Y:-1.41, Z:-0.36 [[ 9.98503759e-01 -5.36195288e-02 -1.07326607e-02 2.70460728e+01] [ 5.36268391e-02 9.98560968e-01 3.94292611e-04 -1.40804817e+00] [ 1.06960743e-02 -9.69261324e-04 9.99942326e-01 -3.60734563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.452414037 meters 0.08896896303910048 Centerline is valid? [True, True] Translation: X:27.08, Y:-1.41, Z:-0.36 [[ 9.98490328e-01 -5.38496706e-02 -1.08294721e-02 2.70779448e+01] [ 5.38571347e-02 9.98548572e-01 3.98577110e-04 -1.41006560e+00] [ 1.07922906e-02 -9.81219726e-04 9.99941280e-01 -3.62958138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.482414037 meters 0.08924501874948643 Centerline is valid? [True, True] Translation: X:27.11, Y:-1.41, Z:-0.36 [[ 9.98504008e-01 -5.37326707e-02 -1.01264767e-02 2.71096823e+01] [ 5.37391992e-02 9.98554935e-01 3.73509518e-04 -1.41163269e+00] [ 1.00917736e-02 -9.17139501e-04 9.99948656e-01 -3.64688795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.512414037 meters 0.08827830002552522 Centerline is valid? [True, True] Translation: X:27.14, Y:-1.41, Z:-0.37 [[ 9.98485236e-01 -5.38554022e-02 -1.12618091e-02 2.71419656e+01] [ 5.38634916e-02 9.98548222e-01 4.16009108e-04 -1.40921662e+00] [ 1.12230551e-02 -1.02197931e-03 9.99936497e-01 -3.65032605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.542414037 meters 0.08917166169667015 Centerline is valid? [True, True] Translation: X:27.17, Y:-1.41, Z:-0.37 [[ 9.98463124e-01 -5.40106854e-02 -1.24191582e-02 2.71735485e+01] [ 5.40205569e-02 9.98539717e-01 4.60536501e-04 -1.40620719e+00] [ 1.23761488e-02 -1.13071855e-03 9.99922773e-01 -3.68124694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.572414037 meters 0.08926946105076386 Centerline is valid? [True, True] Translation: X:27.21, Y:-1.40, Z:-0.37 [[ 9.98436069e-01 -5.42874714e-02 -1.33523886e-02 2.72059777e+01] [ 5.42989072e-02 9.98524603e-01 4.95159253e-04 -1.40386958e+00] [ 1.33058076e-02 -1.21940497e-03 9.99910730e-01 -3.68284399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.602414037 meters 0.08950652749638534 Centerline is valid? [True, True] Translation: X:27.24, Y:-1.40, Z:-0.37 [[ 9.98412603e-01 -5.46298836e-02 -1.37058049e-02 2.72379406e+01] [ 5.46419771e-02 9.98505881e-01 5.09170575e-04 -1.40266433e+00] [ 1.36575108e-02 -1.25727459e-03 9.99905941e-01 -3.69374211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.632414037 meters 0.09006550237075088 Centerline is valid? [True, True] Translation: X:27.27, Y:-1.40, Z:-0.37 [[ 9.98411515e-01 -5.49784398e-02 -1.23214321e-02 2.72699003e+01] [ 5.49882523e-02 9.98486896e-01 4.58755977e-04 -1.40384294e+00] [ 1.22775668e-02 -1.13556127e-03 9.99923983e-01 -3.69231914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.662414037 meters 0.088867783931163 Centerline is valid? [True, True] Translation: X:27.30, Y:-1.40, Z:-0.37 [[ 9.98352228e-01 -5.63211167e-02 -1.09890844e-02 2.73026725e+01] [ 5.63290132e-02 9.98412176e-01 4.10146679e-04 -1.39954031e+00] [ 1.09485357e-02 -1.02847513e-03 9.99939534e-01 -3.67745834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.692414037 meters 0.09417408612257534 Centerline is valid? [True, True] Translation: X:27.33, Y:-1.41, Z:-0.37 [[ 9.98307695e-01 -5.73139149e-02 -9.84176700e-03 2.73336531e+01] [ 5.73202988e-02 9.98355772e-01 3.67581646e-04 -1.40995373e+00] [ 9.80451735e-03 -9.31092611e-04 9.99951501e-01 -3.71309048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.722414037 meters 0.09228428053653008 Centerline is valid? [True, True] Translation: X:27.37, Y:-1.41, Z:-0.37 [[ 9.98280743e-01 -5.79121072e-02 -9.04137194e-03 2.73662762e+01] [ 5.79175293e-02 9.98321314e-01 3.38800203e-04 -1.40547816e+00] [ 9.00657368e-03 -8.61871642e-04 9.99959069e-01 -3.70529640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.752414037 meters 0.09314782680516959 Centerline is valid? [True, True] Translation: X:27.40, Y:-1.41, Z:-0.37 [[ 9.98250648e-01 -5.84339456e-02 -9.00658418e-03 2.73969125e+01] [ 5.84393678e-02 9.98290902e-01 3.39807865e-04 -1.40623067e+00] [ 8.97133473e-03 -8.65552507e-04 9.99959382e-01 -3.70914103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.782414037 meters 0.09314782680516959 Centerline is valid? [True, True] Translation: X:27.43, Y:-1.41, Z:-0.37 [[ 9.98256602e-01 -5.83321454e-02 -9.00656482e-03 2.74295774e+01] [ 5.83375681e-02 9.98296856e-01 3.40320773e-04 -1.40755749e+00] [ 8.97137370e-03 -8.65148547e-04 9.99959382e-01 -3.71720747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.812414037 meters 0.09216250897903269 Centerline is valid? [True, True] Translation: X:27.46, Y:-1.40, Z:-0.37 [[ 9.98210179e-01 -5.90053202e-02 -9.73706742e-03 2.74614626e+01] [ 5.90116809e-02 9.98257225e-01 3.66977977e-04 -1.40300055e+00] [ 9.69844425e-03 -9.40921867e-04 9.99952526e-01 -3.71454861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.842414037 meters 0.09252893780570264 Centerline is valid? [True, True] Translation: X:27.49, Y:-1.40, Z:-0.37 [[ 9.98135898e-01 -6.00200393e-02 -1.10599794e-02 2.74922516e+01] [ 6.00282984e-02 9.98196589e-01 4.16001460e-04 -1.40313981e+00] [ 1.10150653e-02 -1.07913774e-03 9.99938750e-01 -3.72490221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.872414037 meters 0.09296443228707872 Centerline is valid? [True, True] Translation: X:27.52, Y:-1.40, Z:-0.37 [[ 9.98123344e-01 -6.02773845e-02 -1.07901131e-02 2.75248885e+01] [ 6.02852819e-02 9.98181105e-01 4.07866574e-04 -1.40391771e+00] [ 1.07459019e-02 -1.05758616e-03 9.99941702e-01 -3.73082309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.902414037 meters 0.09382897005333636 Centerline is valid? [True, True] Translation: X:27.56, Y:-1.41, Z:-0.37 [[ 9.98127888e-01 -6.00404959e-02 -1.16558299e-02 2.75562549e+01] [ 6.00497227e-02 9.98195289e-01 4.42938294e-04 -1.40537470e+00] [ 1.16082003e-02 -1.14203842e-03 9.99931970e-01 -3.74076069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.932414037 meters 0.09100711882662903 Centerline is valid? [True, True] Translation: X:27.59, Y:-1.40, Z:-0.37 [[ 9.98146149e-01 -5.96798681e-02 -1.19406677e-02 2.75882788e+01] [ 5.96895219e-02 9.98216888e-01 4.53420098e-04 -1.39960441e+00] [ 1.18923161e-02 -1.16531227e-03 9.99928605e-01 -3.73312773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.962414037 meters 0.09061593161915667 Centerline is valid? [True, True] Translation: X:27.62, Y:-1.40, Z:-0.37 [[ 9.98308522e-01 -5.68270112e-02 -1.22795112e-02 2.76175566e+01] [ 5.68369786e-02 9.98383365e-01 4.63982700e-04 -1.39615125e+00] [ 1.22332929e-02 -1.16112820e-03 9.99924496e-01 -3.73916658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.992414037 meters 0.09361358746472394 Centerline is valid? [True, True] Translation: X:27.65, Y:-1.40, Z:-0.38 [[ 9.98392516e-01 -5.52875493e-02 -1.24768428e-02 2.76475174e+01] [ 5.52977330e-02 9.98469798e-01 4.72442591e-04 -1.40036819e+00] [ 1.24316305e-02 -1.16162427e-03 9.99922050e-01 -3.76411287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.022414037 meters 0.09007324017078942 Centerline is valid? [True, True] Translation: X:27.68, Y:-1.39, Z:-0.38 [[ 9.98484813e-01 -5.36201005e-02 -1.23678288e-02 2.76795612e+01] [ 5.36299982e-02 9.98560766e-01 4.69780755e-04 -1.39202217e+00] [ 1.23248389e-02 -1.13235559e-03 9.99923405e-01 -3.75361982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.052414037000002 meters 0.08875485714391913 Centerline is valid? [True, True] Translation: X:27.71, Y:-1.39, Z:-0.38 [[ 9.98688675e-01 -4.92889508e-02 -1.38394186e-02 2.77100261e+01] [ 4.93009120e-02 9.98783833e-01 5.24248274e-04 -1.38621469e+00] [ 1.37967479e-02 -1.20585677e-03 9.99904093e-01 -3.76153646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.082414037 meters 0.08883011165736986 Centerline is valid? [True, True] Translation: X:27.74, Y:-1.39, Z:-0.38 [[ 9.98786033e-01 -4.68943165e-02 -1.50792553e-02 2.77403247e+01] [ 4.69083073e-02 9.98899034e-01 5.75278751e-04 -1.38523282e+00] [ 1.50356763e-02 -1.28192273e-03 9.99886136e-01 -3.77833960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.112414037 meters 0.08671031193523379 Centerline is valid? [True, True] Translation: X:27.77, Y:-1.38, Z:-0.38 [[ 9.98867163e-01 -4.46057892e-02 -1.65745284e-02 2.77724502e+01] [ 4.46223697e-02 9.99003726e-01 6.31702983e-04 -1.37961707e+00] [ 1.65298380e-02 -1.37058210e-03 9.99862434e-01 -3.78496874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.142414037 meters 0.08421807100032191 Centerline is valid? [True, True] Translation: X:27.80, Y:-1.37, Z:-0.38 [[ 9.99070479e-01 -3.99183906e-02 -1.62696217e-02 2.78034850e+01] [ 3.99337344e-02 9.99202138e-01 6.19185505e-04 -1.36964472e+00] [ 1.62319239e-02 -1.26831671e-03 9.99867449e-01 -3.76723707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.172414037 meters 0.0857904067167045 Centerline is valid? [True, True] Translation: X:27.83, Y:-1.37, Z:-0.38 [[ 9.99148812e-01 -3.80864560e-02 -1.58452919e-02 2.78343640e+01] [ 3.81007996e-02 9.99273718e-01 6.04222847e-04 -1.37223312e+00] [ 1.58107711e-02 -1.20742683e-03 9.99874273e-01 -3.78979337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.202414037 meters 0.08517926913919277 Centerline is valid? [True, True] Translation: X:27.87, Y:-1.37, Z:-0.38 [[ 9.99241285e-01 -3.61687616e-02 -1.44455791e-02 2.78657691e+01] [ 3.61804833e-02 9.99345120e-01 5.50843201e-04 -1.37038247e+00] [ 1.44161956e-02 -1.07307330e-03 9.99895505e-01 -3.79122867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.232414037 meters 0.0842268828011921 Centerline is valid? [True, True] Translation: X:27.90, Y:-1.37, Z:-0.38 [[ 9.99304913e-01 -3.48629900e-02 -1.32008624e-02 2.78979135e+01] [ 3.48726850e-02 9.99391635e-01 5.04879707e-04 -1.36734709e+00] [ 1.31752298e-02 -9.64878286e-04 9.99912737e-01 -3.78419877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.262414037 meters 0.08412767573865923 Centerline is valid? [True, True] Translation: X:27.93, Y:-1.36, Z:-0.38 [[ 9.99359357e-01 -3.32717218e-02 -1.31858919e-02 2.79298927e+01] [ 3.32812658e-02 9.99445898e-01 5.04974069e-04 -1.36341877e+00] [ 1.31617842e-02 -9.43493736e-04 9.99912935e-01 -3.79557200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.292414037 meters 0.08438125003454264 Centerline is valid? [True, True] Translation: X:27.96, Y:-1.36, Z:-0.38 [[ 9.99365764e-01 -3.28355533e-02 -1.37802468e-02 2.79617731e+01] [ 3.28459535e-02 9.99460286e-01 5.29013793e-04 -1.36364608e+00] [ 1.37554390e-02 -9.81303621e-04 9.99904908e-01 -3.80481745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.322414037 meters 0.08454502847151098 Centerline is valid? [True, True] Translation: X:27.99, Y:-1.36, Z:-0.38 [[ 9.99380090e-01 -3.26381773e-02 -1.31978979e-02 2.79927847e+01] [ 3.26476956e-02 9.99466794e-01 5.06333379e-04 -1.36400935e+00] [ 1.31743349e-02 -9.36900452e-04 9.99912776e-01 -3.81849292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.352414037 meters 0.08491830863238459 Centerline is valid? [True, True] Translation: X:28.02, Y:-1.37, Z:-0.38 [[ 9.99398951e-01 -3.24624921e-02 -1.21623483e-02 2.80245734e+01] [ 3.24705753e-02 9.99472582e-01 4.67679910e-04 -1.36525793e+00] [ 1.21407517e-02 -8.62317260e-04 9.99925927e-01 -3.83599854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.382414037 meters 0.08507758425203572 Centerline is valid? [True, True] Translation: X:28.06, Y:-1.37, Z:-0.38 [[ 9.99412610e-01 -3.23726507e-02 -1.12448048e-02 2.80569350e+01] [ 3.23795686e-02 9.99475550e-01 4.33646996e-04 -1.36594211e+00] [ 1.12248691e-02 -7.97494203e-04 9.99936681e-01 -3.84161598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.412414037 meters 0.0850671189167025 Centerline is valid? [True, True] Translation: X:28.09, Y:-1.37, Z:-0.38 [[ 9.99444367e-01 -3.16238448e-02 -1.05303811e-02 2.80888403e+01] [ 3.16298724e-02 9.99499568e-01 4.06309856e-04 -1.36555660e+00] [ 1.05122622e-02 -7.39158705e-04 9.99944471e-01 -3.84840246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.442414037 meters 0.08486701837891102 Centerline is valid? [True, True] Translation: X:28.12, Y:-1.36, Z:-0.39 [[ 9.99501697e-01 -2.91059792e-02 -1.22147629e-02 2.81199557e+01] [ 2.91138998e-02 9.99575990e-01 4.71095762e-04 -1.36133603e+00] [ 1.21958720e-02 -8.26480397e-04 9.99925286e-01 -3.85443217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.472414037 meters 0.08538869786880715 Centerline is valid? [True, True] Translation: X:28.15, Y:-1.36, Z:-0.39 [[ 9.99529773e-01 -2.83516843e-02 -1.16796941e-02 2.81506959e+01] [ 2.83588796e-02 9.99597704e-01 4.50865915e-04 -1.36083099e+00] [ 1.16622126e-02 -7.81876945e-04 9.99931688e-01 -3.87307426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.502414037 meters 0.08216484962893497 Centerline is valid? [True, True] Translation: X:28.18, Y:-1.35, Z:-0.38 [[ 9.99552328e-01 -2.75478949e-02 -1.16729428e-02 2.81835136e+01] [ 2.75550471e-02 9.99620185e-01 4.52296226e-04 -1.35239205e+00] [ 1.16560495e-02 -7.73742235e-04 9.99931767e-01 -3.83760377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.532414037 meters 0.08105477939601774 Centerline is valid? [True, True] Translation: X:28.22, Y:-1.35, Z:-0.38 [[ 9.99587753e-01 -2.65098732e-02 -1.10249779e-02 2.82150471e+01] [ 2.65161867e-02 9.99648293e-01 4.26848438e-04 -1.34927817e+00] [ 1.10097847e-02 -7.19012844e-04 9.99939132e-01 -3.83446146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.562414037 meters 0.08241853969167592 Centerline is valid? [True, True] Translation: X:28.25, Y:-1.35, Z:-0.39 [[ 9.99602370e-01 -2.64573033e-02 -9.75257209e-03 2.82460479e+01] [ 2.64622511e-02 9.99649742e-01 3.78615898e-04 -1.35362602e+00] [ 9.73913902e-03 -6.36540360e-04 9.99952371e-01 -3.86262989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.592414037 meters 0.08070905466286374 Centerline is valid? [True, True] Translation: X:28.28, Y:-1.35, Z:-0.38 [[ 9.99609971e-01 -2.61954641e-02 -9.68010090e-03 2.82788591e+01] [ 2.62003376e-02 9.99656641e-01 3.76959724e-04 -1.34946651e+00] [ 9.66690252e-03 -6.30434610e-04 9.99953076e-01 -3.84390034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.622414037 meters 0.08188226984520236 Centerline is valid? [True, True] Translation: X:28.31, Y:-1.35, Z:-0.39 [[ 9.99638385e-01 -2.55184692e-02 -8.47979662e-03 2.83096780e+01] [ 2.55221816e-02 9.99674202e-01 3.29854563e-04 -1.35264328e+00] [ 8.46861653e-03 -5.46158192e-04 9.99963991e-01 -3.86304696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.652414037 meters 0.0814508254886878 Centerline is valid? [True, True] Translation: X:28.34, Y:-1.35, Z:-0.39 [[ 9.99703512e-01 -2.28342435e-02 -8.45491488e-03 2.83404142e+01] [ 2.28378312e-02 9.99739129e-01 3.28018772e-04 -1.34790986e+00] [ 8.44521918e-03 -5.21013437e-04 9.99964203e-01 -3.85766034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.682414037 meters 0.08208810798860525 Centerline is valid? [True, True] Translation: X:28.37, Y:-1.35, Z:-0.39 [[ 9.99723591e-01 -2.15013678e-02 -9.50958139e-03 2.83715519e+01] [ 2.15058629e-02 9.99768653e-01 3.70675652e-04 -1.34922854e+00] [ 9.49941135e-03 -5.75084947e-04 9.99954714e-01 -3.88074173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.712414037 meters 0.08226535148675808 Centerline is valid? [True, True] Translation: X:28.40, Y:-1.35, Z:-0.39 [[ 9.99739490e-01 -2.06229071e-02 -9.77998038e-03 2.84018179e+01] [ 2.06276125e-02 9.99787156e-01 3.80493147e-04 -1.35045695e+00] [ 9.77005189e-03 -5.82131671e-04 9.99952102e-01 -3.89979809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.742414037 meters 0.08051926174993944 Centerline is valid? [True, True] Translation: X:28.43, Y:-1.35, Z:-0.39 [[ 9.99772615e-01 -1.93691612e-02 -8.91926262e-03 2.84334334e+01] [ 1.93730322e-02 9.99812265e-01 3.47798636e-04 -1.34698475e+00] [ 8.91085160e-03 -5.20512713e-04 9.99960162e-01 -3.88300136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.772414037 meters 0.08161301791161418 Centerline is valid? [True, True] Translation: X:28.46, Y:-1.35, Z:-0.39 [[ 9.99782340e-01 -1.88288580e-02 -8.98592455e-03 2.84647199e+01] [ 1.88327922e-02 9.99822585e-01 3.53390028e-04 -1.35157403e+00] [ 8.97767638e-03 -5.22543158e-04 9.99959563e-01 -3.90909631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.802414037 meters 0.08107756442750595 Centerline is valid? [True, True] Translation: X:28.50, Y:-1.35, Z:-0.39 [[ 9.99790020e-01 -1.84303428e-02 -8.95754783e-03 2.84964299e+01] [ 1.84342212e-02 9.99830014e-01 3.50591922e-04 -1.35094292e+00] [ 8.94956364e-03 -5.15643722e-04 9.99959819e-01 -3.91076000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.832414037 meters 0.0799476883318606 Centerline is valid? [True, True] Translation: X:28.53, Y:-1.35, Z:-0.39 [[ 9.99790495e-01 -1.83896788e-02 -8.98810478e-03 2.85287178e+01] [ 1.83935956e-02 9.99830761e-01 3.53301109e-04 -1.34685614e+00] [ 8.98008655e-03 -5.18550656e-04 9.99959544e-01 -3.89749731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.862414037 meters 0.08068130715913047 Centerline is valid? [True, True] Translation: X:28.56, Y:-1.35, Z:-0.39 [[ 9.99781041e-01 -1.90113673e-02 -8.74289101e-03 2.85593542e+01] [ 1.90151177e-02 9.99819136e-01 3.46029361e-04 -1.35000297e+00] [ 8.73473125e-03 -5.12200696e-04 9.99961720e-01 -3.90964468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.892414037 meters 0.081837300325859 Centerline is valid? [True, True] Translation: X:28.59, Y:-1.36, Z:-0.39 [[ 9.99760252e-01 -2.01579356e-02 -8.54959717e-03 2.85899909e+01] [ 2.01615534e-02 9.99796678e-01 3.37165257e-04 -1.35507491e+00] [ 8.54106230e-03 -5.09457582e-04 9.99963395e-01 -3.93860362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.922414037 meters 0.08123073861773328 Centerline is valid? [True, True] Translation: X:28.62, Y:-1.36, Z:-0.39 [[ 9.99733706e-01 -2.12246847e-02 -9.05705167e-03 2.86215614e+01] [ 2.12287920e-02 9.99774580e-01 3.57586588e-04 -1.35571532e+00] [ 9.04742036e-03 -5.49761630e-04 9.99958920e-01 -3.94090224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.952414037 meters 0.08254823140685612 Centerline is valid? [True, True] Translation: X:28.65, Y:-1.36, Z:-0.40 [[ 9.99708093e-01 -2.21448103e-02 -9.66107965e-03 2.86520915e+01] [ 2.21495248e-02 9.99754596e-01 3.81251140e-04 -1.36264337e+00] [ 9.65026605e-03 -5.95128173e-04 9.99953258e-01 -3.97143163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.982414037 meters 0.08516391234877635 Centerline is valid? [True, True] Translation: X:28.68, Y:-1.37, Z:-0.40 [[ 9.99695305e-01 -2.27774320e-02 -9.51237624e-03 2.86825204e+01] [ 2.27820393e-02 9.99740385e-01 3.76265471e-04 -1.37256126e+00] [ 9.50133632e-03 -5.92862155e-04 9.99954686e-01 -4.01436853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.012414037 meters 0.0811275025397586 Centerline is valid? [True, True] Translation: X:28.71, Y:-1.36, Z:-0.40 [[ 9.99702999e-01 -2.25569059e-02 -9.22491769e-03 2.87149180e+01] [ 2.25612404e-02 9.99745396e-01 3.66056258e-04 -1.36248168e+00] [ 9.21431189e-03 -5.74073124e-04 9.99957383e-01 -3.95823720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.042414037 meters 0.0815093195576019 Centerline is valid? [True, True] Translation: X:28.75, Y:-1.36, Z:-0.40 [[ 9.99720619e-01 -2.15767426e-02 -9.65025092e-03 2.87466548e+01] [ 2.15814460e-02 9.99767020e-01 3.83508193e-04 -1.36282410e+00] [ 9.63972775e-03 -5.91667417e-04 9.99953362e-01 -3.96624864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.072414037 meters 0.08253018489034918 Centerline is valid? [True, True] Translation: X:28.78, Y:-1.37, Z:-0.40 [[ 9.99739120e-01 -2.02667584e-02 -1.05332954e-02 2.87772496e+01] [ 2.02722955e-02 9.99794408e-01 4.19157979e-04 -1.36585595e+00] [ 1.05226349e-02 -6.32582706e-04 9.99944435e-01 -3.99767397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.102414037 meters 0.08143779061168133 Centerline is valid? [True, True] Translation: X:28.81, Y:-1.36, Z:-0.40 [[ 9.99777973e-01 -1.84744076e-02 -1.01341200e-02 2.88092639e+01] [ 1.84794428e-02 9.99829159e-01 4.03440400e-04 -1.36405435e+00] [ 1.01249354e-02 -5.90623717e-04 9.99948567e-01 -4.00154234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.132414037 meters 0.08090723481030429 Centerline is valid? [True, True] Translation: X:28.84, Y:-1.36, Z:-0.40 [[ 9.99816033e-01 -1.67532264e-02 -9.33964132e-03 2.88404898e+01] [ 1.67574281e-02 9.99859515e-01 3.71804331e-04 -1.36415574e+00] [ 9.33210033e-03 -5.28244299e-04 9.99956315e-01 -4.01131448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.162414037 meters 0.08025888923295176 Centerline is valid? [True, True] Translation: X:28.87, Y:-1.37, Z:-0.40 [[ 9.99898985e-01 -1.19873093e-02 -7.63708589e-03 2.88699637e+01] [ 1.19899706e-02 9.99928072e-01 3.02779655e-04 -1.36603622e+00] [ 7.63290705e-03 -3.94317505e-04 9.99970791e-01 -4.02435469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.192414037 meters 0.07869876476397057 Centerline is valid? [True, True] Translation: X:28.90, Y:-1.36, Z:-0.40 [[ 9.99923409e-01 -9.26463953e-03 -8.20623504e-03 2.89003871e+01] [ 9.26762457e-03 9.99957002e-01 3.25799870e-04 -1.36236635e+00] [ 8.20286377e-03 -4.01827223e-04 9.99966275e-01 -4.00570970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.222414037 meters 0.0780849734613843 Centerline is valid? [True, True] Translation: X:28.93, Y:-1.36, Z:-0.40 [[ 9.99949071e-01 -6.00060547e-03 -8.11468325e-03 2.89298928e+01] [ 6.00340774e-03 9.99981928e-01 3.21019352e-04 -1.36055177e+00] [ 8.11261029e-03 -3.69718755e-04 9.99967024e-01 -4.01089092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.252414037 meters 0.07871619626797194 Centerline is valid? [True, True] Translation: X:28.96, Y:-1.36, Z:-0.41 [[ 9.99965171e-01 -1.83432189e-03 -8.14197718e-03 2.89581876e+01] [ 1.83699837e-03 9.99998261e-01 3.21259580e-04 -1.36224034e+00] [ 8.14137373e-03 -3.36205190e-04 9.99966802e-01 -4.05289743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.282414037 meters 0.07671781126885685 Centerline is valid? [True, True] Translation: X:28.99, Y:-1.35, Z:-0.40 [[ 9.99955750e-01 4.74497933e-03 -8.12298174e-03 2.89886159e+01] [-4.74252273e-03 9.99988702e-01 3.21660430e-04 -1.35335688e+00] [ 8.12441624e-03 -2.83122771e-04 9.99966956e-01 -4.01146205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.312414037 meters 0.07691458764072918 Centerline is valid? [True, True] Translation: X:29.02, Y:-1.36, Z:-0.40 [[ 9.99949404e-01 6.90915175e-03 -7.31113643e-03 2.90167858e+01] [-6.90723496e-03 9.99976103e-01 2.87391809e-04 -1.35649122e+00] [ 7.31294735e-03 -2.36877531e-04 9.99973232e-01 -4.03735560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.342414037 meters 0.07699264313928757 Centerline is valid? [True, True] Translation: X:29.04, Y:-1.36, Z:-0.41 [[ 9.99942609e-01 8.04975420e-03 -7.06969392e-03 2.90447968e+01] [-8.04799737e-03 9.99967576e-01 2.76915171e-04 -1.36009062e+00] [ 7.07169379e-03 -2.20002400e-04 9.99974971e-01 -4.05063174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.372414037 meters 0.0761034588533588 Centerline is valid? [True, True] Translation: X:29.07, Y:-1.36, Z:-0.40 [[ 9.99947062e-01 8.99253374e-03 -5.00073401e-03 2.90736404e+01] [-8.99166969e-03 9.99959555e-01 1.95240602e-04 -1.36239263e+00] [ 5.00228746e-03 -1.50265318e-04 9.99987477e-01 -4.03220919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.402414037 meters 0.07659776058394946 Centerline is valid? [True, True] Translation: X:29.10, Y:-1.37, Z:-0.41 [[ 9.99954678e-01 7.87981035e-03 -5.34323287e-03 2.91008457e+01] [-7.87881208e-03 9.99968940e-01 2.07852857e-04 -1.36707832e+00] [ 5.34470475e-03 -1.65745109e-04 9.99985703e-01 -4.05591064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.432414037 meters 0.07702682876721707 Centerline is valid? [True, True] Translation: X:29.13, Y:-1.37, Z:-0.41 [[ 9.99965524e-01 6.84265746e-03 -4.70407591e-03 2.91285321e+01] [-6.84187514e-03 9.99976577e-01 1.82380465e-04 -1.37225485e+00] [ 4.70521370e-03 -1.50189477e-04 9.99988919e-01 -4.08081238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.462414037 meters 0.07708278226372177 Centerline is valid? [True, True] Translation: X:29.16, Y:-1.38, Z:-0.41 [[ 9.99980781e-01 4.21960955e-03 -4.54229807e-03 2.91578545e+01] [-4.21884841e-03 9.99991085e-01 1.77135885e-04 -1.37549658e+00] [ 4.54300502e-03 -1.57969213e-04 9.99989668e-01 -4.08274722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.492414037 meters 0.07803887875816018 Centerline is valid? [True, True] Translation: X:29.19, Y:-1.38, Z:-0.41 [[ 9.99981952e-01 -1.48506359e-03 -5.82154750e-03 2.91864751e+01] [ 1.48641698e-03 9.99998869e-01 2.28158832e-04 -1.38423112e+00] [ 5.82120208e-03 -2.36807961e-04 9.99983029e-01 -4.09133753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.522414037 meters 0.07791968352982304 Centerline is valid? [True, True] Translation: X:29.22, Y:-1.39, Z:-0.41 [[ 9.99965025e-01 -5.41289904e-03 -6.37564212e-03 2.92162334e+01] [ 5.41459822e-03 9.99985310e-01 2.49278810e-04 -1.38732589e+00] [ 6.37419914e-03 -2.83791631e-04 9.99979644e-01 -4.08226511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.552414037 meters 0.07948567920078439 Centerline is valid? [True, True] Translation: X:29.24, Y:-1.40, Z:-0.41 [[ 9.99933869e-01 -9.27472335e-03 -6.79974084e-03 2.92448395e+01] [ 9.27674087e-03 9.99956935e-01 2.65225415e-04 -1.39692175e+00] [ 6.79698812e-03 -3.28287309e-04 9.99976846e-01 -4.11996002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.582414037 meters 0.08063053121459525 Centerline is valid? [True, True] Translation: X:29.27, Y:-1.41, Z:-0.41 [[ 9.99892528e-01 -1.27871300e-02 -7.17082775e-03 2.92743189e+01] [ 1.27894833e-02 9.99918171e-01 2.82406929e-04 -1.40567165e+00] [ 7.16662980e-03 -3.74087760e-04 9.99974249e-01 -4.14801935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.612414037 meters 0.08233437466331579 Centerline is valid? [True, True] Translation: X:29.30, Y:-1.42, Z:-0.42 [[ 9.99762739e-01 -2.03921803e-02 -7.65672672e-03 2.93040348e+01] [ 2.03950724e-02 9.99791954e-01 2.99821411e-04 -1.41857723e+00] [ 7.64901976e-03 -4.55909771e-04 9.99970642e-01 -4.16878407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.642414037 meters 0.08237240307270004 Centerline is valid? [True, True] Translation: X:29.34, Y:-1.42, Z:-0.42 [[ 9.99710341e-01 -2.31212037e-02 -6.68164533e-03 2.93352553e+01] [ 2.31234749e-02 9.99732582e-01 2.62864787e-04 -1.42261181e+00] [ 6.67378079e-03 -4.17291504e-04 9.99977643e-01 -4.16483607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.672414037 meters 0.08380822555714289 Centerline is valid? [True, True] Translation: X:29.37, Y:-1.43, Z:-0.42 [[ 9.99648941e-01 -2.56244960e-02 -6.73645775e-03 2.93655685e+01] [ 2.56268591e-02 9.99671543e-01 2.64704816e-04 -1.42893595e+00] [ 6.72746219e-03 -4.37246143e-04 9.99977275e-01 -4.17053830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.702414037 meters 0.08380822555714289 Centerline is valid? [True, True] Translation: X:29.40, Y:-1.43, Z:-0.42 [[ 9.99650664e-01 -2.55572296e-02 -6.73639116e-03 2.93973059e+01] [ 2.55596026e-02 9.99673264e-01 2.66400385e-04 -1.43025031e+00] [ 6.72738169e-03 -4.38486803e-04 9.99977275e-01 -4.17838197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.732414037 meters 0.08651573769134022 Centerline is valid? [True, True] Translation: X:29.43, Y:-1.44, Z:-0.42 [[ 9.99610243e-01 -2.74732310e-02 -4.95809956e-03 2.94285183e+01] [ 2.74745475e-02 9.99622484e-01 1.97609577e-04 -1.43800413e+00] [ 4.95079882e-03 -3.33754099e-04 9.99987689e-01 -4.19813016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.762414037 meters 0.08271474045908672 Centerline is valid? [True, True] Translation: X:29.46, Y:-1.43, Z:-0.41 [[ 9.99556181e-01 -2.96441849e-02 -2.94331048e-03 2.94607000e+01] [ 2.96446585e-02 9.99560494e-01 1.17397143e-04 -1.43029759e+00] [ 2.93853673e-03 -2.04598474e-04 9.99995662e-01 -4.12439330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.792414037 meters 0.08306690674821218 Centerline is valid? [True, True] Translation: X:29.49, Y:-1.43, Z:-0.41 [[ 9.99532325e-01 -3.04759921e-02 -2.51899333e-03 2.94929229e+01] [ 3.04763436e-02 9.99535483e-01 1.01263083e-04 -1.43428043e+00] [ 2.51473712e-03 -1.77985431e-04 9.99996822e-01 -4.13020809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.822414037 meters 0.08354571946801986 Centerline is valid? [True, True] Translation: X:29.52, Y:-1.44, Z:-0.41 [[ 9.99506145e-01 -3.13010784e-02 -2.77651718e-03 2.95246025e+01] [ 3.13015086e-02 9.99509981e-01 1.11623743e-04 -1.43929506e+00] [ 2.77166270e-03 -1.98477794e-04 9.99996139e-01 -4.14087501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.852414037 meters 0.08475999370864519 Centerline is valid? [True, True] Translation: X:29.56, Y:-1.45, Z:-0.42 [[ 9.99468890e-01 -3.23865740e-02 -3.61205868e-03 2.95550723e+01] [ 3.23873135e-02 9.99475383e-01 1.46393040e-04 -1.44540350e+00] [ 3.60542257e-03 -2.63300167e-04 9.99993466e-01 -4.17048045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.882414037 meters 0.0838384923019082 Centerline is valid? [True, True] Translation: X:29.59, Y:-1.45, Z:-0.42 [[ 9.99403237e-01 -3.41599095e-02 -5.12544159e-03 2.95864623e+01] [ 3.41614053e-02 9.99416308e-01 2.04555217e-04 -1.44620661e+00] [ 5.11546232e-03 -3.79525434e-04 9.99986844e-01 -4.19116958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.912414037 meters 0.08672665846907217 Centerline is valid? [True, True] Translation: X:29.62, Y:-1.45, Z:-0.42 [[ 9.99350966e-01 -3.55779780e-02 -5.64401085e-03 2.96164990e+01] [ 3.55798119e-02 9.99366813e-01 2.24825557e-04 -1.45473237e+00] [ 5.63243830e-03 -4.25492482e-04 9.99984047e-01 -4.22111640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.942414037 meters 0.08596062261672062 Centerline is valid? [True, True] Translation: X:29.65, Y:-1.45, Z:-0.42 [[ 9.99310734e-01 -3.67682146e-02 -5.11419414e-03 2.96484053e+01] [ 3.67697417e-02 9.99323743e-01 2.04864697e-04 -1.45465474e+00] [ 5.10320312e-03 -3.92771088e-04 9.99986901e-01 -4.21963904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.972414037 meters 0.08475736472226662 Centerline is valid? [True, True] Translation: X:29.68, Y:-1.45, Z:-0.42 [[ 9.99285310e-01 -3.75727234e-02 -4.14253425e-03 2.96810789e+01] [ 3.75737363e-02 9.99293844e-01 1.66940982e-04 -1.45332831e+00] [ 4.13333654e-03 -3.22472160e-04 9.99991406e-01 -4.20899302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.002414037 meters 0.08519988824012162 Centerline is valid? [True, True] Translation: X:29.71, Y:-1.46, Z:-0.42 [[ 9.99217900e-01 -3.93198169e-02 -4.18805653e-03 2.97123959e+01] [ 3.93208644e-02 9.99226622e-01 1.68032253e-04 -1.45578388e+00] [ 4.17821058e-03 -3.32578837e-04 9.99991216e-01 -4.21182811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.032414037 meters 0.08545983546988309 Centerline is valid? [True, True] Translation: X:29.74, Y:-1.46, Z:-0.42 [[ 9.99201282e-01 -3.96520089e-02 -4.95136267e-03 2.97443774e+01] [ 3.96534822e-02 9.99213471e-01 1.99708362e-04 -1.45774770e+00] [ 4.93954944e-03 -3.95887623e-04 9.99987722e-01 -4.22235339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.062414037 meters 0.08969341356649929 Centerline is valid? [True, True] Translation: X:29.78, Y:-1.47, Z:-0.43 [[ 9.99176869e-01 -4.02858883e-02 -4.75719208e-03 2.97751981e+01] [ 4.02872549e-02 9.99188121e-01 1.91754262e-04 -1.46849124e+00] [ 4.74560482e-03 -3.83250633e-04 9.99988666e-01 -4.26543517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.092414037 meters 0.08531335044436791 Centerline is valid? [True, True] Translation: X:29.81, Y:-1.46, Z:-0.42 [[ 9.99160297e-01 -4.07553248e-02 -4.20759974e-03 2.98081619e+01] [ 4.07564018e-02 9.99169098e-01 1.70506179e-04 -1.46064207e+00] [ 4.19715460e-03 -3.41849630e-04 9.99991133e-01 -4.24023627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.122414037 meters 0.08883708923711692 Centerline is valid? [True, True] Translation: X:29.84, Y:-1.47, Z:-0.43 [[ 9.99079636e-01 -4.27035561e-02 -4.03578824e-03 2.98373598e+01] [ 4.27045560e-02 9.99087731e-01 1.61868445e-04 -1.47274520e+00] [ 4.02519416e-03 -3.34066012e-04 9.99991843e-01 -4.27137907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.152414037 meters 0.08915668677480704 Centerline is valid? [True, True] Translation: X:29.87, Y:-1.48, Z:-0.43 [[ 9.99028747e-01 -4.37245070e-02 -5.45256324e-03 2.98680268e+01] [ 4.37263500e-02 9.99043522e-01 2.19204182e-04 -1.47527408e+00] [ 5.43776339e-03 -4.57411968e-04 9.99985111e-01 -4.27860536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.182414037 meters 0.08938052788140911 Centerline is valid? [True, True] Translation: X:29.90, Y:-1.48, Z:-0.43 [[ 9.99029800e-01 -4.37360080e-02 -5.15950693e-03 2.99007033e+01] [ 4.37376721e-02 9.99043028e-01 2.10067838e-04 -1.47697561e+00] [ 5.14538190e-03 -4.35528852e-04 9.99986668e-01 -4.29051323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.212414037 meters 0.08963969020775385 Centerline is valid? [True, True] Translation: X:29.93, Y:-1.48, Z:-0.43 [[ 9.98992925e-01 -4.44847108e-02 -5.85197355e-03 2.99330580e+01] [ 4.44868597e-02 9.99009941e-01 2.37478479e-04 -1.47677015e+00] [ 5.83561559e-03 -4.97575246e-04 9.99982849e-01 -4.29368947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.242414037 meters 0.08679081412594256 Centerline is valid? [True, True] Translation: X:29.97, Y:-1.47, Z:-0.43 [[ 9.99047804e-01 -4.32320956e-02 -5.87126321e-03 2.99650995e+01] [ 4.32342367e-02 9.99064935e-01 2.38194375e-04 -1.46836796e+00] [ 5.85547555e-03 -4.91807151e-04 9.99982736e-01 -4.28224969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.272414037 meters 0.08594320947611199 Centerline is valid? [True, True] Translation: X:30.00, Y:-1.47, Z:-0.43 [[ 9.99089194e-01 -4.19973679e-02 -7.55002217e-03 2.99975087e+01] [ 4.20008782e-02 9.99117527e-01 3.06913505e-04 -1.46684726e+00] [ 7.53046992e-03 -6.23741528e-04 9.99971451e-01 -4.30369499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.302414037 meters 0.08832787960186798 Centerline is valid? [True, True] Translation: X:30.03, Y:-1.47, Z:-0.43 [[ 9.99108994e-01 -4.15422224e-02 -7.44722596e-03 3.00280184e+01] [ 4.15456250e-02 9.99136562e-01 3.02705455e-04 -1.47339298e+00] [ 7.42822068e-03 -6.11835399e-04 9.99972223e-01 -4.34684947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.332414037 meters 0.08801906851416647 Centerline is valid? [True, True] Translation: X:30.06, Y:-1.47, Z:-0.44 [[ 9.99178952e-01 -4.01451032e-02 -5.45831249e-03 3.00592414e+01] [ 4.01469079e-02 9.99193763e-01 2.21419651e-04 -1.47368641e+00] [ 5.44502289e-03 -4.40372224e-04 9.99985079e-01 -4.35479070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.362414037 meters 0.08672354031733868 Centerline is valid? [True, True] Translation: X:30.09, Y:-1.47, Z:-0.43 [[ 9.99204524e-01 -3.96534171e-02 -4.23386931e-03 3.00912961e+01] [ 3.96545056e-02 9.99213436e-01 1.73427289e-04 -1.47008771e+00] [ 4.22366212e-03 -3.41181326e-04 9.99991022e-01 -4.34271667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.392414037 meters 0.08758790660483265 Centerline is valid? [True, True] Translation: X:30.12, Y:-1.47, Z:-0.44 [[ 9.99224438e-01 -3.91589832e-02 -4.13489871e-03 3.01228763e+01] [ 3.91600165e-02 9.99232938e-01 1.69190497e-04 -1.47084861e+00] [ 4.12510166e-03 -3.30981981e-04 9.99991437e-01 -4.35436015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.422414037 meters 0.08953708459870034 Centerline is valid? [True, True] Translation: X:30.15, Y:-1.47, Z:-0.44 [[ 9.99252012e-01 -3.84936484e-02 -3.69539959e-03 3.01535778e+01] [ 3.84944703e-02 9.99258802e-01 1.51511295e-04 -1.47344170e+00] [ 3.68682834e-03 -2.93650416e-04 9.99993161e-01 -4.37372623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.452414037 meters 0.08576779628894053 Centerline is valid? [True, True] Translation: X:30.19, Y:-1.46, Z:-0.43 [[ 9.99262503e-01 -3.81607354e-02 -4.26715436e-03 3.01867678e+01] [ 3.81618307e-02 9.99271557e-01 1.75535536e-04 -1.46223258e+00] [ 4.25734742e-03 -3.38248502e-04 9.99990880e-01 -4.34650233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.482414037 meters 0.08642241201063233 Centerline is valid? [True, True] Translation: X:30.22, Y:-1.46, Z:-0.44 [[ 9.99254804e-01 -3.83508576e-02 -4.36445582e-03 3.02182583e+01] [ 3.83520042e-02 9.99264275e-01 1.79283656e-04 -1.46420182e+00] [ 4.35436910e-03 -3.46535682e-04 9.99990460e-01 -4.36033476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.512414037 meters 0.08574600972919798 Centerline is valid? [True, True] Translation: X:30.25, Y:-1.46, Z:-0.44 [[ 9.99224335e-01 -3.91589680e-02 -4.15981923e-03 3.02500582e+01] [ 3.91600177e-02 9.99232938e-01 1.71176939e-04 -1.46310247e+00] [ 4.14992528e-03 -3.33942757e-04 9.99991333e-01 -4.36265759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.542414037 meters 0.08718362406900348 Centerline is valid? [True, True] Translation: X:30.28, Y:-1.47, Z:-0.44 [[ 9.99204785e-01 -3.95978978e-02 -4.66956809e-03 3.02811750e+01] [ 3.95992356e-02 9.99215624e-01 1.94347261e-04 -1.46665493e+00] [ 4.65820965e-03 -3.79104040e-04 9.99989079e-01 -4.38505355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.572414037 meters 0.08846797278721326 Centerline is valid? [True, True] Translation: X:30.31, Y:-1.47, Z:-0.44 [[ 9.99158100e-01 -4.07208751e-02 -4.99014396e-03 3.03117328e+01] [ 4.07224055e-02 9.99170478e-01 2.05424112e-04 -1.46805582e+00] [ 4.97763948e-03 -4.08461832e-04 9.99987528e-01 -4.41010656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.602414037 meters 0.08981975819135234 Centerline is valid? [True, True] Translation: X:30.34, Y:-1.47, Z:-0.44 [[ 9.99110248e-01 -4.18203610e-02 -5.45617198e-03 3.03422601e+01] [ 4.18222074e-02 9.99125043e-01 2.24694505e-04 -1.47002584e+00] [ 5.44200127e-03 -4.52683739e-04 9.99985090e-01 -4.42631046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.632414037 meters 0.08791338349917427 Centerline is valid? [True, True] Translation: X:30.37, Y:-1.46, Z:-0.44 [[ 9.99026817e-01 -4.36722655e-02 -6.17670957e-03 3.03737910e+01] [ 4.36746644e-02 9.99045774e-01 2.53961109e-04 -1.46241574e+00] [ 6.15972454e-03 -5.23479676e-04 9.99980892e-01 -4.41769805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.662414037 meters 0.08932695663000881 Centerline is valid? [True, True] Translation: X:30.41, Y:-1.46, Z:-0.44 [[ 9.99013766e-01 -4.40335462e-02 -5.70453617e-03 3.04051290e+01] [ 4.40356050e-02 9.99029934e-01 2.35731587e-04 -1.46467892e+00] [ 5.68862230e-03 -4.86701802e-04 9.99983701e-01 -4.43481743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.692414037 meters 0.08985581307754138 Centerline is valid? [True, True] Translation: X:30.44, Y:-1.46, Z:-0.44 [[ 9.98995116e-01 -4.44914306e-02 -5.41022282e-03 3.04371523e+01] [ 4.44932935e-02 9.99009658e-01 2.24403827e-04 -1.46486165e+00] [ 5.39488081e-03 -4.64896959e-04 9.99985339e-01 -4.44690291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.722414037 meters 0.09062123215705924 Centerline is valid? [True, True] Translation: X:30.47, Y:-1.47, Z:-0.45 [[ 9.99007495e-01 -4.43684931e-02 -3.93218846e-03 3.04681440e+01] [ 4.43694771e-02 9.99015176e-01 1.63327941e-04 -1.46601861e+00] [ 3.92106933e-03 -3.37634983e-04 9.99992256e-01 -4.45677674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.752414037 meters 0.09077958427921898 Centerline is valid? [True, True] Translation: X:30.50, Y:-1.46, Z:-0.45 [[ 9.99030290e-01 -4.38693891e-02 -3.73575592e-03 3.05006741e+01] [ 4.38702765e-02 9.99037224e-01 1.55888097e-04 -1.46356761e+00] [ 3.72532051e-03 -3.19625576e-04 9.99993010e-01 -4.45577931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.782414037 meters 0.09114289904142278 Centerline is valid? [True, True] Translation: X:30.53, Y:-1.46, Z:-0.45 [[ 9.99044513e-01 -4.36026311e-02 -2.97857302e-03 3.05328341e+01] [ 4.36031956e-02 9.99048921e-01 1.24815521e-04 -1.46336431e+00] [ 2.97029788e-03 -2.54571564e-04 9.99995556e-01 -4.46711895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.812414037 meters 0.09034471251038688 Centerline is valid? [True, True] Translation: X:30.57, Y:-1.46, Z:-0.45 [[ 9.99038755e-01 -4.37497026e-02 -2.74398341e-03 3.05654202e+01] [ 4.37501831e-02 9.99042496e-01 1.15320254e-04 -1.46064124e+00] [ 2.73631080e-03 -2.35259180e-04 9.99996229e-01 -4.46337447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.842414037 meters 0.09225339011054293 Centerline is valid? [True, True] Translation: X:30.60, Y:-1.46, Z:-0.45 [[ 9.98981936e-01 -4.49812977e-02 -3.43145933e-03 3.05957602e+01] [ 4.49820509e-02 9.98987785e-01 1.42598091e-04 -1.46333089e+00] [ 3.42157171e-03 -2.96806995e-04 9.99994102e-01 -4.47961470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.872414037 meters 0.0952740448677456 Centerline is valid? [True, True] Translation: X:30.63, Y:-1.47, Z:-0.45 [[ 9.98919912e-01 -4.62707309e-02 -4.24612459e-03 3.06261443e+01] [ 4.62718956e-02 9.98928867e-01 1.76417801e-04 -1.46673394e+00] [ 4.23341345e-03 -3.72703489e-04 9.99990970e-01 -4.49825380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.902414037 meters 0.09329975571115248 Centerline is valid? [True, True] Translation: X:30.66, Y:-1.46, Z:-0.45 [[ 9.98884270e-01 -4.70205301e-02 -4.39142911e-03 3.06586390e+01] [ 4.70217896e-02 9.98893847e-01 1.83958934e-04 -1.46269727e+00] [ 4.37792167e-03 -3.90246541e-04 9.99990341e-01 -4.50643877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.932414037 meters 0.09067789737714353 Centerline is valid? [True, True] Translation: X:30.69, Y:-1.46, Z:-0.45 [[ 9.98854766e-01 -4.75508110e-02 -5.29884422e-03 3.06911229e+01] [ 4.75526527e-02 9.98868708e-01 2.22060406e-04 -1.45727546e+00] [ 5.28229053e-03 -4.73780194e-04 9.99985936e-01 -4.50813436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.962414037 meters 0.09146604096150487 Centerline is valid? [True, True] Translation: X:30.72, Y:-1.46, Z:-0.45 [[ 9.98763430e-01 -4.94409486e-02 -5.21564958e-03 3.07217897e+01] [ 4.94427526e-02 9.98776936e-01 2.17417151e-04 -1.45707171e+00] [ 5.19852120e-03 -4.75024372e-04 9.99986375e-01 -4.51981543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.992414037 meters 0.0925525024425139 Centerline is valid? [True, True] Translation: X:30.75, Y:-1.46, Z:-0.45 [[ 9.98714862e-01 -5.04108433e-02 -5.23176329e-03 3.07542431e+01] [ 5.04126800e-02 9.98728448e-01 2.19705924e-04 -1.45824523e+00] [ 5.21403527e-03 -4.83170780e-04 9.99986290e-01 -4.52367407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.022414037 meters 0.09316937737714762 Centerline is valid? [True, True] Translation: X:30.79, Y:-1.46, Z:-0.45 [[ 9.98669037e-01 -5.14083608e-02 -4.16361227e-03 3.07864448e+01] [ 5.14095353e-02 9.98677640e-01 1.75467279e-04 -1.45804115e+00] [ 4.14908599e-03 -3.89283110e-04 9.99991317e-01 -4.53004417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.052414037 meters 0.09279501869849559 Centerline is valid? [True, True] Translation: X:30.82, Y:-1.46, Z:-0.45 [[ 9.98666728e-01 -5.14568410e-02 -4.11812395e-03 3.08192129e+01] [ 5.14579916e-02 9.98675145e-01 1.73861070e-04 -1.45542515e+00] [ 4.10372169e-03 -3.85539653e-04 9.99991505e-01 -4.52801954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.082414037 meters 0.09523745283245397 Centerline is valid? [True, True] Translation: X:30.85, Y:-1.46, Z:-0.46 [[ 9.98641684e-01 -5.18924743e-02 -4.68603525e-03 3.08500494e+01] [ 5.18939669e-02 9.98652581e-01 1.97414823e-04 -1.45752165e+00] [ 4.66947685e-03 -4.40323629e-04 9.99989001e-01 -4.56889867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.112414037 meters 0.09472626877017788 Centerline is valid? [True, True] Translation: X:30.88, Y:-1.46, Z:-0.46 [[ 9.98649622e-01 -5.17036173e-02 -5.06648525e-03 3.08828943e+01] [ 5.17053680e-02 9.98662360e-01 2.15084479e-04 -1.45765490e+00] [ 5.04858747e-03 -4.76758517e-04 9.99987142e-01 -4.58762666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.142414037 meters 0.09201223982015101 Centerline is valid? [True, True] Translation: X:30.92, Y:-1.45, Z:-0.46 [[ 9.98641553e-01 -5.19015932e-02 -4.61236616e-03 3.09157089e+01] [ 5.19030451e-02 9.98652109e-01 1.95568334e-04 -1.45280275e+00] [ 4.59599889e-03 -4.34698513e-04 9.99989344e-01 -4.58073481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.172414037 meters 0.09517517204693697 Centerline is valid? [True, True] Translation: X:30.95, Y:-1.46, Z:-0.46 [[ 9.98649538e-01 -5.18170768e-02 -3.75385038e-03 3.09469275e+01] [ 5.18180473e-02 9.98656529e-01 1.61675754e-04 -1.45827426e+00] [ 3.74042963e-03 -3.55974614e-04 9.99992941e-01 -4.59170408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.202414037 meters 0.0924590959981254 Centerline is valid? [True, True] Translation: X:30.98, Y:-1.45, Z:-0.46 [[ 9.98690489e-01 -5.10904882e-02 -2.65874635e-03 3.09795273e+01] [ 5.10909698e-02 9.98693997e-01 1.13517382e-04 -1.44627738e+00] [ 2.64947436e-03 -2.49206659e-04 9.99996459e-01 -4.55757815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.232414037 meters 0.09230637566792567 Centerline is valid? [True, True] Translation: X:31.01, Y:-1.44, Z:-0.46 [[ 9.98719581e-01 -5.03927791e-02 -4.44583516e-03 3.10117288e+01] [ 5.03941185e-02 9.98729391e-01 1.89686302e-04 -1.44404650e+00] [ 4.43062743e-03 -4.13487368e-04 9.99990099e-01 -4.56381399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.262414037 meters 0.09346981427365164 Centerline is valid? [True, True] Translation: X:31.04, Y:-1.45, Z:-0.46 [[ 9.98764077e-01 -4.94296581e-02 -5.19877305e-03 3.10432501e+01] [ 4.94314769e-02 9.98777493e-01 2.21863412e-04 -1.44595681e+00] [ 5.18145087e-03 -4.78572236e-04 9.99986462e-01 -4.59783223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.292414037 meters 0.09065638469180523 Centerline is valid? [True, True] Translation: X:31.07, Y:-1.44, Z:-0.46 [[ 9.98823405e-01 -4.82498203e-02 -4.87446039e-03 3.10746311e+01] [ 4.82514027e-02 9.98835201e-01 2.07484533e-04 -1.43957270e+00] [ 4.85877153e-03 -4.42439959e-04 9.99988098e-01 -4.61787117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.322414037 meters 0.0932263294955053 Centerline is valid? [True, True] Translation: X:31.10, Y:-1.44, Z:-0.46 [[ 9.98885460e-01 -4.69602224e-02 -4.75140328e-03 3.11045222e+01] [ 4.69617099e-02 9.98896670e-01 2.01921940e-04 -1.44492521e+00] [ 4.73667862e-03 -4.24830912e-04 9.99988692e-01 -4.64342920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.352414037 meters 0.09130938637837707 Centerline is valid? [True, True] Translation: X:31.14, Y:-1.44, Z:-0.46 [[ 9.98920003e-01 -4.63003328e-02 -3.88680782e-03 3.11362189e+01] [ 4.63013257e-02 9.98927505e-01 1.65803258e-04 -1.43965290e+00] [ 3.87496249e-03 -3.45588546e-04 9.99992433e-01 -4.63641625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.382414037 meters 0.09288203840321821 Centerline is valid? [True, True] Translation: X:31.17, Y:-1.44, Z:-0.46 [[ 9.98986424e-01 -4.49204626e-02 -2.87685259e-03 3.11667507e+01] [ 4.49210017e-02 9.98990535e-01 1.23030417e-04 -1.44133216e+00] [ 2.86842193e-03 -2.52136817e-04 9.99995854e-01 -4.64814056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.412414037 meters 0.09137385770666137 Centerline is valid? [True, True] Translation: X:31.20, Y:-1.43, Z:-0.46 [[ 9.99072524e-01 -4.30591258e-02 5.19004109e-05 3.11977276e+01] [ 4.30591259e-02 9.99072526e-01 -2.03000912e-06 -1.43439940e+00] [-5.17648642e-05 4.26291267e-06 9.99999999e-01 -4.62326026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.442414037 meters 0.09093030154419389 Centerline is valid? [True, True] Translation: X:31.23, Y:-1.43, Z:-0.46 [[ 9.99066389e-01 -4.32005554e-02 2.50082742e-04 3.12298783e+01] [ 4.32005590e-02 9.99066420e-01 -8.98400903e-06 -1.43291162e+00] [-2.49461156e-04 1.97793357e-05 9.99999969e-01 -4.62685964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.472414037 meters 0.09082464807455883 Centerline is valid? [True, True] Translation: X:31.26, Y:-1.43, Z:-0.46 [[ 9.99083193e-01 -4.28103621e-02 2.15225258e-04 3.12618583e+01] [ 4.28103647e-02 9.99083216e-01 -7.51465275e-06 -1.43330409e+00] [-2.14706238e-04 1.67216351e-05 9.99999977e-01 -4.64021518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.502414037 meters 0.0925041938466328 Centerline is valid? [True, True] Translation: X:31.29, Y:-1.44, Z:-0.47 [[ 9.99060494e-01 -4.33369904e-02 -1.83334354e-04 3.12923155e+01] [ 4.33369927e-02 9.99060511e-01 8.64617309e-06 -1.43691776e+00] [ 1.82787414e-04 -1.65832095e-05 9.99999983e-01 -4.67029122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.532414037 meters 0.09356156570746418 Centerline is valid? [True, True] Translation: X:31.32, Y:-1.44, Z:-0.47 [[ 9.99023524e-01 -4.41732541e-02 -8.49494887e-04 3.13247317e+01] [ 4.41733022e-02 9.99023883e-01 3.79037155e-05 -1.43867650e+00] [ 8.46991350e-04 -7.53916978e-05 9.99999638e-01 -4.68982451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.562414037 meters 0.09219266694268126 Centerline is valid? [True, True] Translation: X:31.36, Y:-1.43, Z:-0.47 [[ 9.98896740e-01 -4.69412253e-02 -1.35075128e-03 3.13551856e+01] [ 4.69413460e-02 9.98897646e-01 5.77850608e-05 -1.43264385e+00] [ 1.34654977e-03 -1.21127392e-04 9.99999086e-01 -4.68171377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.592414037 meters 0.09219266694268126 Centerline is valid? [True, True] Translation: X:31.39, Y:-1.43, Z:-0.47 [[ 9.98901489e-01 -4.68400499e-02 -1.35064204e-03 3.13878302e+01] [ 4.68401739e-02 9.98902395e-01 6.03390440e-05 -1.43414364e+00] [ 1.34633329e-03 -1.23537069e-04 9.99999086e-01 -4.68978423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.622414037 meters 0.09360312110550595 Centerline is valid? [True, True] Translation: X:31.42, Y:-1.44, Z:-0.47 [[ 9.98788709e-01 -4.91709897e-02 -1.82462548e-03 3.14180748e+01] [ 4.91712141e-02 9.98790361e-01 7.82896537e-05 -1.43625772e+00] [ 1.81856876e-03 -1.67913872e-04 9.99998332e-01 -4.69486516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.652414037 meters 0.0950292598649077 Centerline is valid? [True, True] Translation: X:31.45, Y:-1.44, Z:-0.47 [[ 9.98694559e-01 -5.10657596e-02 -1.21101776e-03 3.14493370e+01] [ 5.10658608e-02 9.98695286e-01 5.27268688e-05 -1.43919376e+00] [ 1.20674519e-03 -1.14499701e-04 9.99999265e-01 -4.71621845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.682414037 meters 0.09847089044627778 Centerline is valid? [True, True] Translation: X:31.48, Y:-1.45, Z:-0.47 [[ 9.98611474e-01 -5.26723291e-02 -8.65410997e-04 3.14791960e+01] [ 5.26723812e-02 9.98611846e-01 3.75141548e-05 -1.44648875e+00] [ 8.62233715e-04 -8.30453234e-05 9.99999625e-01 -4.73742840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.712414037 meters 0.09476200851258698 Centerline is valid? [True, True] Translation: X:31.51, Y:-1.44, Z:-0.47 [[ 9.98457510e-01 -5.55203380e-02 -3.05739398e-04 3.15105319e+01] [ 5.55203446e-02 9.98457556e-01 1.32570711e-05 -1.43803541e+00] [ 3.04531775e-04 -3.02113790e-05 9.99999953e-01 -4.71171751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.742414037 meters 0.0963767700971675 Centerline is valid? [True, True] Translation: X:31.54, Y:-1.44, Z:-0.47 [[ 9.98442671e-01 -5.57872946e-02 -1.02920991e-04 3.15418250e+01] [ 5.57872959e-02 9.98442676e-01 9.92927046e-06 -1.44072345e+00] [ 1.02206783e-04 -1.56554911e-05 9.99999995e-01 -4.72454754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.772414037 meters 0.0963390215076381 Centerline is valid? [True, True] Translation: X:31.57, Y:-1.44, Z:-0.47 [[ 9.98413635e-01 -5.62991406e-02 -7.88073025e-04 3.15741311e+01] [ 5.62991862e-02 9.98413942e-01 3.57163594e-05 -1.43972672e+00] [ 7.84812296e-04 -8.00275702e-05 9.99999689e-01 -4.72663657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802414037 meters 0.09764427011910373 Centerline is valid? [True, True] Translation: X:31.61, Y:-1.44, Z:-0.47 [[ 9.98408451e-01 -5.63956855e-02 -3.04054688e-04 3.16065246e+01] [ 5.63956939e-02 9.98408496e-01 1.90391670e-05 -1.44151717e+00] [ 3.02497057e-04 -3.61562403e-05 9.99999954e-01 -4.73359862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.832414037 meters 0.09839668059993777 Centerline is valid? [True, True] Translation: X:31.64, Y:-1.44, Z:-0.47 [[ 9.98416380e-01 -5.62318973e-02 1.64475216e-03 3.16386890e+01] [ 5.62320816e-02 9.98417723e-01 -6.59572232e-05 -1.44136039e+00] [-1.63844081e-03 1.58340610e-04 9.99998645e-01 -4.73182364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.862414037 meters 0.10040015551862523 Centerline is valid? [True, False] Translation: X:31.63, Y:-1.44, Z:-0.48 [[ 9.98646642e-01 -5.11310973e-02 9.51288666e-03 3.16291622e+01] [ 5.11536214e-02 9.98688505e-01 -2.13952385e-03 -1.44191339e+00] [-9.39101435e-03 2.62324691e-03 9.99952463e-01 -4.78600107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.892414037 meters 0.09604503055279955 Centerline is valid? [False, True] Translation: X:31.63, Y:-1.44, Z:-0.48 [[ 9.98632735e-01 -5.13913190e-02 9.57045119e-03 3.16289314e+01] [ 5.14179488e-02 9.98673948e-01 -2.55738922e-03 -1.44085001e+00] [-9.42633267e-03 3.04598556e-03 9.99950932e-01 -4.78439414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.922414037 meters 0.0973224269031375 Centerline is valid? [True, True] Translation: X:31.66, Y:-1.44, Z:-0.48 [[ 9.98633929e-01 -5.09356362e-02 1.16549043e-02 3.16589081e+01] [ 5.09455846e-02 9.98701275e-01 -5.58093469e-04 -1.44359725e+00] [-1.16113410e-02 1.15109699e-03 9.99931924e-01 -4.79605359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.952414037 meters 0.09722378103495681 Centerline is valid? [True, True] Translation: X:31.69, Y:-1.44, Z:-0.48 [[ 9.98657470e-01 -5.06776992e-02 1.07251123e-02 3.16910873e+01] [ 5.06860589e-02 9.98714506e-01 -5.08907358e-04 -1.44354918e+00] [-1.06855349e-02 1.05183781e-03 9.99942355e-01 -4.80417823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.982414037 meters 0.0976712839301419 Centerline is valid? [True, True] Translation: X:31.72, Y:-1.44, Z:-0.48 [[ 9.98715670e-01 -4.96202271e-02 1.02393324e-02 3.17225681e+01] [ 4.96278171e-02 9.98767661e-01 -4.88360240e-04 -1.44458751e+00] [-1.02024816e-02 9.95888742e-04 9.99947457e-01 -4.82146038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.012414037 meters 0.09786553122652177 Centerline is valid? [True, True] Translation: X:31.76, Y:-1.45, Z:-0.48 [[ 9.98770466e-01 -4.87138506e-02 9.19327623e-03 3.17551393e+01] [ 4.87199718e-02 9.98812379e-01 -4.42928900e-04 -1.44579845e+00] [-9.16078133e-03 8.90280463e-04 9.99957643e-01 -4.84811087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.042414037 meters 0.0944185104951642 Centerline is valid? [True, True] Translation: X:31.79, Y:-1.44, Z:-0.49 [[ 9.98846916e-01 -4.73744667e-02 7.77804682e-03 3.17872379e+01] [ 4.73788160e-02 9.98876923e-01 -3.75772608e-04 -1.44058242e+00] [-7.75150944e-03 7.43853960e-04 9.99969680e-01 -4.87054600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.072414037 meters 0.09460069070403458 Centerline is valid? [True, True] Translation: X:31.82, Y:-1.44, Z:-0.49 [[ 9.98869762e-01 -4.67962837e-02 8.32502719e-03 3.18198565e+01] [ 4.68012132e-02 9.98904143e-01 -3.98192651e-04 -1.44300058e+00] [-8.29727022e-03 7.87363971e-04 9.99965267e-01 -4.87221263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.102414037 meters 0.09480720831880422 Centerline is valid? [True, True] Translation: X:31.85, Y:-1.45, Z:-0.49 [[ 9.98898914e-01 -4.60400351e-02 9.01521008e-03 3.18514200e+01] [ 4.60458147e-02 9.98939234e-01 -4.34481244e-04 -1.44507370e+00] [-8.98564352e-03 8.49115536e-04 9.99959268e-01 -4.87506169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.132414037 meters 0.09433583020877541 Centerline is valid? [True, True] Translation: X:31.88, Y:-1.45, Z:-0.49 [[ 9.98962522e-01 -4.45324618e-02 9.52571160e-03 3.18834552e+01] [ 4.45389080e-02 9.99007542e-01 -4.65550984e-04 -1.44523133e+00] [-9.49552560e-03 8.89332778e-04 9.99954521e-01 -4.87168465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.162414037 meters 0.09250007581938366 Centerline is valid? [True, True] Translation: X:31.91, Y:-1.44, Z:-0.49 [[ 9.99090363e-01 -4.13906304e-02 1.02597321e-02 3.19146513e+01] [ 4.13979622e-02 9.99142610e-01 -5.03193789e-04 -1.44168014e+00] [-1.02301080e-02 9.27468065e-04 9.99947241e-01 -4.85672295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.192414037 meters 0.09191112366382734 Centerline is valid? [True, True] Translation: X:31.95, Y:-1.44, Z:-0.49 [[ 9.99158236e-01 -4.00469177e-02 8.89180332e-03 3.19460760e+01] [ 4.00523650e-02 9.99197487e-01 -4.35328118e-04 -1.44169205e+00] [-8.86723398e-03 7.91099427e-04 9.99960372e-01 -4.86285956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.222414037 meters 0.0932122823690619 Centerline is valid? [True, True] Translation: X:31.98, Y:-1.45, Z:-0.49 [[ 9.99228780e-01 -3.83537484e-02 8.41635965e-03 3.19765065e+01] [ 3.83585712e-02 9.99263954e-01 -4.12289439e-04 -1.44579697e+00] [-8.39435198e-03 7.34811004e-04 9.99964497e-01 -4.89529013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.252414037 meters 0.0935065308593065 Centerline is valid? [True, True] Translation: X:32.01, Y:-1.45, Z:-0.49 [[ 9.99322658e-01 -3.60949476e-02 7.16791556e-03 3.20063380e+01] [ 3.60983947e-02 9.99348179e-01 -3.52072186e-04 -1.44819614e+00] [-7.15053534e-03 6.10583958e-04 9.99974248e-01 -4.92283331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.282414037 meters 0.09037195013211263 Centerline is valid? [True, True] Translation: X:32.04, Y:-1.44, Z:-0.49 [[ 9.99490930e-01 -3.13112706e-02 6.12244504e-03 3.20369183e+01] [ 3.13136965e-02 9.99509561e-01 -3.00753793e-04 -1.44214567e+00] [-6.11002537e-03 4.92317075e-04 9.99981212e-01 -4.94533707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.312414037 meters 0.0898319739080517 Centerline is valid? [True, True] Translation: X:32.07, Y:-1.44, Z:-0.49 [[ 9.99557759e-01 -2.90632153e-02 6.29416181e-03 3.20680857e+01] [ 2.90657320e-02 9.99577455e-01 -3.08716253e-04 -1.44186023e+00] [-6.28252996e-03 4.91524146e-04 9.99980144e-01 -4.94731589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.342414037 meters 0.08876952645945153 Centerline is valid? [True, True] Translation: X:32.10, Y:-1.44, Z:-0.50 [[ 9.99634814e-01 -2.62277554e-02 6.50714042e-03 3.20980735e+01] [ 2.62303896e-02 9.99655873e-01 -3.19790788e-04 -1.44070866e+00] [-6.49651374e-03 4.90358833e-04 9.99978777e-01 -4.95412848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.372414037 meters 0.0883157527071228 Centerline is valid? [True, True] Translation: X:32.13, Y:-1.44, Z:-0.50 [[ 9.99716762e-01 -2.28220750e-02 6.74899772e-03 3.21275995e+01] [ 2.28248333e-02 9.99739424e-01 -3.31950714e-04 -1.44074604e+00] [-6.73966329e-03 4.85901441e-04 9.99977170e-01 -4.96242669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.402414037 meters 0.08617278722051266 Centerline is valid? [True, True] Translation: X:32.16, Y:-1.44, Z:-0.50 [[ 9.99850597e-01 -1.53093500e-02 8.02542177e-03 3.21575283e+01] [ 1.53130053e-02 9.99882671e-01 -3.94212688e-04 -1.43758486e+00] [-8.01844502e-03 5.17047118e-04 9.99967718e-01 -4.97400147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.432414037 meters 0.08457304042582901 Centerline is valid? [True, True] Translation: X:32.19, Y:-1.44, Z:-0.50 [[ 9.99911449e-01 -1.08124866e-02 7.75779725e-03 3.21880155e+01] [ 1.08157669e-02 9.99941435e-01 -3.81009761e-04 -1.43537724e+00] [-7.75322325e-03 4.64882549e-04 9.99969835e-01 -4.97479271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.462414037 meters 0.08364851451372955 Centerline is valid? [True, True] Translation: X:32.22, Y:-1.43, Z:-0.50 [[ 9.99949290e-01 -6.48447180e-03 7.70508129e-03 3.22172827e+01] [ 6.48758233e-03 9.99978884e-01 -3.78772477e-04 -1.43392005e+00] [-7.70246245e-03 4.28740619e-04 9.99970244e-01 -4.98091430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.492414037 meters 0.08230786876603885 Centerline is valid? [True, True] Translation: X:32.25, Y:-1.43, Z:-0.50 [[ 9.99973108e-01 -2.21096029e-03 6.99254985e-03 3.22487810e+01] [ 2.21341119e-03 9.99997492e-01 -3.42781570e-04 -1.43074591e+00] [-6.99177443e-03 3.58249740e-04 9.99975493e-01 -4.99026543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.522414037 meters 0.07818673060854303 Centerline is valid? [True, True] Translation: X:32.28, Y:-1.42, Z:-0.50 [[ 9.99957185e-01 7.41750672e-03 5.53246553e-03 3.22804209e+01] [-7.41611865e-03 9.99972463e-01 -2.71369350e-04 -1.41750204e+00] [-5.53432607e-03 2.30328311e-04 9.99984659e-01 -4.97067908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.552414037 meters 0.07770622432484782 Centerline is valid? [True, True] Translation: X:32.31, Y:-1.42, Z:-0.50 [[ 9.99920680e-01 1.18235868e-02 4.34009774e-03 3.23093669e+01] [-1.18227683e-02 9.99930086e-01 -2.14183088e-04 -1.41670468e+00] [-4.34232672e-03 1.62854129e-04 9.99990559e-01 -4.99129925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.582414037 meters 0.07675811394226918 Centerline is valid? [True, True] Translation: X:32.34, Y:-1.41, Z:-0.50 [[ 9.99860451e-01 1.60783236e-02 4.53503822e-03 3.23391143e+01] [-1.60774746e-02 9.99870724e-01 -2.23606929e-04 -1.41461860e+00] [-4.53804718e-03 1.50663763e-04 9.99989692e-01 -4.99164074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.612414037 meters 0.07617877470942816 Centerline is valid? [True, True] Translation: X:32.37, Y:-1.41, Z:-0.50 [[ 9.99789336e-01 1.99289547e-02 4.91124951e-03 3.23694236e+01] [-1.99280089e-02 9.99801388e-01 -2.41455057e-04 -1.41431117e+00] [-4.91508603e-03 1.43532768e-04 9.99987911e-01 -4.99721679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.642414037 meters 0.07525381039186171 Centerline is valid? [True, True] Translation: X:32.40, Y:-1.41, Z:-0.50 [[ 9.99615221e-01 2.69288818e-02 6.65165837e-03 3.24001748e+01] [-2.69273057e-02 9.99637341e-01 -3.26412907e-04 -1.41361957e+00] [-6.65803602e-03 1.47176072e-04 9.99977824e-01 -5.01254846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.672414037 meters 0.07488889955579246 Centerline is valid? [True, True] Translation: X:32.43, Y:-1.41, Z:-0.50 [[ 9.99548393e-01 2.92596993e-02 6.84690296e-03 3.24295334e+01] [-2.92580763e-02 9.99571834e-01 -3.37109615e-04 -1.41404121e+00] [-6.85383507e-03 1.36630165e-04 9.99976503e-01 -5.02342126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.702414037 meters 0.07474340985400615 Centerline is valid? [True, True] Translation: X:32.46, Y:-1.41, Z:-0.50 [[ 9.99506470e-01 3.07494587e-02 6.42558965e-03 3.24582813e+01] [-3.07480587e-02 9.99527117e-01 -3.16582852e-04 -1.41444563e+00] [-6.43228585e-03 1.18852201e-04 9.99979306e-01 -5.02405554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.732414037 meters 0.0745119722707709 Centerline is valid? [True, True] Translation: X:32.49, Y:-1.42, Z:-0.50 [[ 9.99465899e-01 3.20069143e-02 6.59355559e-03 3.24874893e+01] [-3.20054736e-02 9.99487641e-01 -3.23932311e-04 -1.41831294e+00] [-6.60054540e-03 1.12729429e-04 9.99978210e-01 -5.02228299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.762414037 meters 0.07465881315376968 Centerline is valid? [True, True] Translation: X:32.52, Y:-1.42, Z:-0.50 [[ 9.99471894e-01 3.17499141e-02 6.91930115e-03 3.25163390e+01] [-3.17483214e-02 9.99495837e-01 -3.39924757e-04 -1.42270063e+00] [-6.92660528e-03 1.20069044e-04 9.99976004e-01 -5.03452459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.792414037 meters 0.07472222763196552 Centerline is valid? [True, True] Translation: X:32.54, Y:-1.43, Z:-0.50 [[ 9.99495374e-01 3.10694897e-02 6.60940447e-03 3.25448898e+01] [-3.10680237e-02 9.99517220e-01 -3.24375085e-04 -1.42740081e+00] [-6.61629175e-03 1.18870262e-04 9.99978105e-01 -5.03763857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.822414037 meters 0.07482669600664148 Centerline is valid? [True, True] Translation: X:32.57, Y:-1.43, Z:-0.50 [[ 9.99536300e-01 2.96279392e-02 7.02642282e-03 3.25732756e+01] [-2.96262510e-02 9.99560987e-01 -3.44247311e-04 -1.43221770e+00] [-7.03353747e-03 1.35921118e-04 9.99975255e-01 -5.04850283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.852414037 meters 0.07518322724791472 Centerline is valid? [True, True] Translation: X:32.60, Y:-1.44, Z:-0.51 [[ 9.99669142e-01 2.49494965e-02 6.25533787e-03 3.26016350e+01] [-2.49480709e-02 9.99688702e-01 -3.05842969e-04 -1.44223736e+00] [-6.26102122e-03 1.49683166e-04 9.99980388e-01 -5.05633695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.882414037 meters 0.07544265846410673 Centerline is valid? [True, True] Translation: X:32.63, Y:-1.45, Z:-0.51 [[ 9.99747009e-01 2.17936287e-02 5.56371036e-03 3.26305479e+01] [-2.17924526e-02 9.99762479e-01 -2.71938272e-04 -1.44763879e+00] [-5.56831539e-03 1.50622580e-04 9.99984485e-01 -5.05870793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.912414037 meters 0.0758792097991418 Centerline is valid? [True, True] Translation: X:32.66, Y:-1.45, Z:-0.51 [[ 9.99820064e-01 1.84876378e-02 4.24825944e-03 3.26596423e+01] [-1.84869215e-02 9.99829081e-01 -2.07825035e-04 -1.45396258e+00] [-4.25137552e-03 1.29250401e-04 9.99990955e-01 -5.07162190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.942414037 meters 0.0765411084969156 Centerline is valid? [True, True] Translation: X:32.69, Y:-1.46, Z:-0.51 [[ 9.99885745e-01 1.46321514e-02 3.79432089e-03 3.26889267e+01] [-1.46315542e-02 9.99892936e-01 -1.85113834e-04 -1.46208258e+00] [-3.79662326e-03 1.29575872e-04 9.99992784e-01 -5.09436990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.972414037 meters 0.07763439626345034 Centerline is valid? [True, True] Translation: X:32.72, Y:-1.48, Z:-0.51 [[ 9.99971676e-01 7.09127351e-03 2.52194682e-03 3.27186616e+01] [-7.09098756e-03 9.99974851e-01 -1.22307456e-04 -1.47648891e+00] [-2.52275071e-03 1.04420898e-04 9.99996812e-01 -5.12217264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.002414037 meters 0.07829312943573703 Centerline is valid? [True, True] Translation: X:32.75, Y:-1.48, Z:-0.51 [[ 9.99990037e-01 4.03222568e-03 1.91517048e-03 3.27475586e+01] [-4.03205318e-03 9.99991867e-01 -9.39210572e-05 -1.48415533e+00] [-1.91553362e-03 8.61980522e-05 9.99998162e-01 -5.14199206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.032414037 meters 0.0790442202144359 Centerline is valid? [True, True] Translation: X:32.78, Y:-1.49, Z:-0.52 [[ 9.99999350e-01 2.05972447e-04 1.12168738e-03 3.27758672e+01] [-2.05910415e-04 9.99999977e-01 -5.54177240e-05 -1.49365105e+00] [-1.12169877e-03 5.51867208e-05 9.99999369e-01 -5.15107475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.062414037 meters 0.07923056088799646 Centerline is valid? [True, True] Translation: X:32.81, Y:-1.50, Z:-0.52 [[ 9.99997192e-01 -3.76809780e-04 2.33947351e-03 3.28062542e+01] [ 3.77075893e-04 9.99999922e-01 -1.13309153e-04 -1.49808774e+00] [-2.33943064e-03 1.14190994e-04 9.99997257e-01 -5.15712278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.092414037 meters 0.07891930847989866 Centerline is valid? [True, True] Translation: X:32.84, Y:-1.50, Z:-0.51 [[ 9.99996695e-01 -9.71670973e-04 2.38030220e-03 3.28377975e+01] [ 9.71945721e-04 9.99999521e-01 -1.14271693e-04 -1.50136548e+00] [-2.38019002e-03 1.16584840e-04 9.99997161e-01 -5.14711227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.122414037 meters 0.0787433684737642 Centerline is valid? [True, True] Translation: X:32.87, Y:-1.51, Z:-0.52 [[ 9.99993159e-01 -1.16087690e-03 3.51201489e-03 3.28692556e+01] [ 1.16147842e-03 9.99999311e-01 -1.69239362e-04 -1.50606286e+00] [-3.51181601e-03 1.73317333e-04 9.99993819e-01 -5.15122211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.152414037 meters 0.07866439155168373 Centerline is valid? [True, True] Translation: X:32.90, Y:-1.52, Z:-0.52 [[ 9.99986839e-01 -4.01224029e-04 5.11473595e-03 3.29003139e+01] [ 4.02493363e-04 9.99999888e-01 -2.47145082e-04 -1.51509036e+00] [-5.11463622e-03 2.49200476e-04 9.99986889e-01 -5.15043756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.182414037 meters 0.0785974218624225 Centerline is valid? [True, True] Translation: X:32.93, Y:-1.52, Z:-0.52 [[ 9.99991080e-01 2.50343467e-04 4.21637449e-03 3.29321754e+01] [-2.49490865e-04 9.99999948e-01 -2.02737057e-04 -1.51932812e+00] [-4.21642503e-03 2.01683302e-04 9.99991091e-01 -5.16211253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.212414037 meters 0.0786441638652573 Centerline is valid? [True, True] Translation: X:32.96, Y:-1.52, Z:-0.52 [[ 9.99993060e-01 1.50112700e-03 3.40974201e-03 3.29628179e+01] [-1.50057561e-03 9.99998861e-01 -1.64261789e-04 -1.52288323e+00] [-3.40998470e-03 1.59144074e-04 9.99994173e-01 -5.18351284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.242414037 meters 0.07844268996159763 Centerline is valid? [True, True] Translation: X:32.99, Y:-1.53, Z:-0.52 [[ 9.99990048e-01 3.56301534e-03 2.68483832e-03 3.29943373e+01] [-3.56268012e-03 9.99993645e-01 -1.29630944e-04 -1.52517666e+00] [-2.68528314e-03 1.20064433e-04 9.99996387e-01 -5.19924801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.272414037 meters 0.07801435109276429 Centerline is valid? [True, True] Translation: X:33.02, Y:-1.53, Z:-0.52 [[ 9.99967938e-01 7.79905247e-03 1.81612451e-03 3.30237065e+01] [-7.79890380e-03 9.99969584e-01 -8.89283483e-05 -1.52870221e+00] [-1.81676283e-03 7.47617167e-05 9.99998347e-01 -5.22404097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.302414037 meters 0.07730541192315292 Centerline is valid? [True, True] Translation: X:33.05, Y:-1.53, Z:-0.52 [[ 9.99951122e-01 9.87926385e-03 3.92157837e-04 3.30521042e+01] [-9.87925627e-03 9.99951199e-01 -2.12369915e-05 -1.52965891e+00] [-3.92348505e-04 1.73617257e-05 9.99999923e-01 -5.22789188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.332414037 meters 0.07682963948909287 Centerline is valid? [True, True] Translation: X:33.08, Y:-1.53, Z:-0.52 [[ 9.99922771e-01 1.24268910e-02 1.54159409e-04 3.30810690e+01] [-1.24268897e-02 9.99922783e-01 -9.67863394e-06 -1.53221574e+00] [-1.54267781e-04 7.76216450e-06 9.99999988e-01 -5.23950194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.362414037 meters 0.07664788672868099 Centerline is valid? [True, True] Translation: X:33.11, Y:-1.54, Z:-0.53 [[ 9.99898267e-01 1.42616417e-02 -2.47373575e-04 3.31100552e+01] [-1.42616397e-02 9.99898298e-01 9.80553151e-06 -1.53578861e+00] [ 2.47488260e-04 -6.27658117e-06 9.99999969e-01 -5.25234029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.392414037 meters 0.07592613913564 Centerline is valid? [True, True] Translation: X:33.14, Y:-1.54, Z:-0.52 [[ 9.99879127e-01 1.55310980e-02 7.18602754e-04 3.31394492e+01] [-1.55310758e-02 9.99879385e-01 -3.64849648e-05 -1.53682639e+00] [-7.19082731e-04 2.53198809e-05 9.99999741e-01 -5.23319375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.422414037 meters 0.07542618739029096 Centerline is valid? [True, True] Translation: X:33.17, Y:-1.54, Z:-0.52 [[ 9.99826647e-01 1.84915537e-02 2.17681828e-03 3.31695374e+01] [-1.84913669e-02 9.99829014e-01 -1.05916362e-04 -1.54177727e+00] [-2.17840463e-03 6.56456561e-05 9.99997625e-01 -5.21370058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.452414037 meters 0.0756429020251547 Centerline is valid? [True, True] Translation: X:33.20, Y:-1.55, Z:-0.52 [[ 9.99810086e-01 1.93630387e-02 2.20572731e-03 3.31966544e+01] [-1.93628446e-02 9.99812517e-01 -1.09356241e-04 -1.54683128e+00] [-2.20743124e-03 6.66263176e-05 9.99997561e-01 -5.23179759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.482414037 meters 0.0756425542738877 Centerline is valid? [True, True] Translation: X:33.22, Y:-1.55, Z:-0.52 [[ 9.99802834e-01 1.97502697e-02 2.05438740e-03 3.32249632e+01] [-1.97501033e-02 9.99804943e-01 -1.01285925e-04 -1.55142187e+00] [-2.05598710e-03 6.06915911e-05 9.99997885e-01 -5.24596541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.512414037 meters 0.0756425542738877 Centerline is valid? [True, True] Translation: X:33.25, Y:-1.55, Z:-0.53 [[ 9.99804154e-01 1.96833271e-02 2.05439419e-03 3.32532476e+01] [-1.96831608e-02 9.99806263e-01 -1.01146658e-04 -1.55272024e+00] [-2.05598708e-03 6.06898773e-05 9.99997885e-01 -5.25515076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.542414037 meters 0.07586682988914395 Centerline is valid? [True, True] Translation: X:33.28, Y:-1.56, Z:-0.53 [[ 9.99825740e-01 1.86662567e-02 -2.45953680e-04 3.32823417e+01] [-1.86662546e-02 9.99825770e-01 1.07424708e-05 -1.55979826e+00] [ 2.46111349e-04 -6.14956486e-06 9.99999970e-01 -5.26054604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.572414037 meters 0.07586866110540122 Centerline is valid? [True, True] Translation: X:33.31, Y:-1.56, Z:-0.53 [[ 9.99833824e-01 1.82260524e-02 -3.68165684e-04 3.33106216e+01] [-1.82260479e-02 9.99833892e-01 1.54870889e-05 -1.56458089e+00] [ 3.68386798e-04 -8.77430995e-06 9.99999932e-01 -5.26471601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.602414037 meters 0.07608179092828181 Centerline is valid? [True, True] Translation: X:33.34, Y:-1.57, Z:-0.53 [[ 9.99858603e-01 1.67647375e-02 -1.31026952e-03 3.33386873e+01] [-1.67646732e-02 9.99859461e-01 6.00807830e-05 -1.56968389e+00] [ 1.31109262e-03 -3.81060475e-05 9.99999140e-01 -5.27242398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.632414037 meters 0.07658606180371581 Centerline is valid? [True, True] Translation: X:33.37, Y:-1.58, Z:-0.53 [[ 9.99884723e-01 1.51102923e-02 -1.48995914e-03 3.33659283e+01] [-1.51102075e-02 9.99885832e-01 6.81598444e-05 -1.58160032e+00] [ 1.49081894e-03 -4.56383953e-05 9.99998888e-01 -5.30628267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.662414037 meters 0.07674946140906075 Centerline is valid? [True, True] Translation: X:33.39, Y:-1.59, Z:-0.53 [[ 9.99897441e-01 1.42891447e-02 -9.63533947e-04 3.33947935e+01] [-1.42891091e-02 9.99897905e-01 4.38829331e-05 -1.58792068e+00] [ 9.64062624e-04 -3.01103908e-05 9.99999535e-01 -5.32283105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.692414037 meters 0.07695274863930605 Centerline is valid? [True, True] Translation: X:33.42, Y:-1.60, Z:-0.53 [[ 9.99919646e-01 1.26724531e-02 -3.31387122e-04 3.34218976e+01] [-1.26724494e-02 9.99919701e-01 1.30953283e-05 -1.59700905e+00] [ 3.31526462e-04 -8.89478953e-06 9.99999945e-01 -5.32542800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.722414037 meters 0.07666634378010387 Centerline is valid? [True, True] Translation: X:33.45, Y:-1.60, Z:-0.53 [[ 9.99929018e-01 1.18837338e-02 -8.57992374e-04 3.34500171e+01] [-1.18837055e-02 9.99929386e-01 3.81046824e-05 -1.60167657e+00] [ 8.58384613e-04 -2.79058489e-05 9.99999631e-01 -5.30889656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.752414037 meters 0.07720058901004598 Centerline is valid? [True, True] Translation: X:33.48, Y:-1.61, Z:-0.53 [[ 9.99936240e-01 1.12879139e-02 -3.14854257e-04 3.34779221e+01] [-1.12879106e-02 9.99936289e-01 1.22164751e-05 -1.60852044e+00] [ 3.14972096e-04 -8.66164950e-06 9.99999950e-01 -5.33261152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.782414037 meters 0.07682227516750562 Centerline is valid? [True, True] Translation: X:33.51, Y:-1.61, Z:-0.53 [[ 9.99947682e-01 1.01980954e-02 7.95093717e-04 3.35066655e+01] [-1.01980668e-02 9.99947998e-01 -3.99811987e-05 -1.61103657e+00] [-7.95460103e-04 3.18706881e-05 9.99999683e-01 -5.31832504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.812414037 meters 0.07682227516750562 Centerline is valid? [True, True] Translation: X:33.53, Y:-1.61, Z:-0.53 [[ 9.99948376e-01 1.01298344e-02 7.95096506e-04 3.35349628e+01] [-1.01298058e-02 9.99948691e-01 -3.99240374e-05 -1.61231550e+00] [-7.95460135e-04 3.18678031e-05 9.99999683e-01 -5.32751342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.842414037 meters 0.07773301266158007 Centerline is valid? [True, True] Translation: X:33.56, Y:-1.62, Z:-0.54 [[ 9.99955302e-01 9.43835818e-03 5.57810763e-04 3.35624330e+01] [-9.43834339e-03 9.99955457e-01 -2.91552986e-05 -1.62175784e+00] [-5.58061095e-04 2.38891859e-05 9.99999844e-01 -5.36483772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.872414037 meters 0.07663039133997297 Centerline is valid? [True, True] Translation: X:33.59, Y:-1.62, Z:-0.53 [[ 9.99967480e-01 7.92394672e-03 1.50019864e-03 3.35917060e+01] [-7.92384582e-03 9.99968603e-01 -7.31902217e-05 -1.62258981e+00] [-1.50073150e-03 6.13004988e-05 9.99998872e-01 -5.33781720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.902414037 meters 0.07697143995697488 Centerline is valid? [True, True] Translation: X:33.62, Y:-1.63, Z:-0.54 [[ 9.99985991e-01 5.05240797e-03 1.57857041e-03 3.36209316e+01] [-5.05229475e-03 9.99987234e-01 -7.56987816e-05 -1.63356388e+00] [-1.57893272e-03 6.77223181e-05 9.99998751e-01 -5.35112749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.932414037 meters 0.07709163835556977 Centerline is valid? [True, True] Translation: X:33.65, Y:-1.64, Z:-0.54 [[ 9.99990066e-01 3.35464095e-03 2.93510838e-03 3.36501154e+01] [-3.35424540e-03 9.99994365e-01 -1.39677756e-04 -1.63917161e+00] [-2.93556041e-03 1.29831295e-04 9.99995683e-01 -5.35493117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.962414037 meters 0.07776571442484402 Centerline is valid? [True, True] Translation: X:33.68, Y:-1.65, Z:-0.54 [[ 9.99991281e-01 2.48430793e-03 3.35665096e-03 3.36804194e+01] [-2.48379171e-03 9.99996903e-01 -1.57949768e-04 -1.64600647e+00] [-3.35703296e-03 1.49611169e-04 9.99994354e-01 -5.36776781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.992414037 meters 0.07787724867290481 Centerline is valid? [True, True] Translation: X:33.71, Y:-1.65, Z:-0.54 [[ 9.99992106e-01 1.84359405e-03 3.51970238e-03 3.37114886e+01] [-1.84302386e-03 9.99998288e-01 -1.65234079e-04 -1.65305840e+00] [-3.52000097e-03 1.58745879e-04 9.99993792e-01 -5.38071616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.022414037 meters 0.07734729280125754 Centerline is valid? [True, True] Translation: X:33.74, Y:-1.66, Z:-0.54 [[ 9.99996484e-01 1.84166850e-03 1.90794871e-03 3.37426704e+01] [-1.84150184e-03 9.99998300e-01 -8.91040013e-05 -1.65510934e+00] [-1.90810956e-03 8.55901969e-05 9.99998176e-01 -5.38571013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.052414037 meters 0.07779195081014768 Centerline is valid? [True, True] Translation: X:33.77, Y:-1.66, Z:-0.54 [[ 9.99997992e-01 1.99952913e-03 -1.31617222e-04 3.37720858e+01] [-1.99952833e-03 9.99998001e-01 6.22429002e-06 -1.66103105e+00] [ 1.31629405e-04 -5.96110516e-06 9.99999991e-01 -5.41853542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.082414037 meters 0.0776060269695192 Centerline is valid? [True, True] Translation: X:33.80, Y:-1.67, Z:-0.54 [[ 9.99998517e-01 1.72223955e-03 -5.32472786e-06 3.38012936e+01] [-1.72223956e-03 9.99998517e-01 -8.69664321e-07 -1.66557754e+00] [ 5.32322219e-06 8.78833489e-07 1.00000000e+00 -5.42285670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.112414037 meters 0.07765844276938019 Centerline is valid? [True, True] Translation: X:33.83, Y:-1.67, Z:-0.54 [[ 9.99998813e-01 1.53597666e-03 -1.21095951e-04 3.38313613e+01] [-1.53597597e-03 9.99998820e-01 5.72253186e-06 -1.66927071e+00] [ 1.21104598e-04 -5.53652459e-06 9.99999993e-01 -5.43339702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.142414037 meters 0.07741877734909233 Centerline is valid? [True, True] Translation: X:33.86, Y:-1.67, Z:-0.54 [[ 9.99999228e-01 9.71137688e-04 7.75065055e-04 3.38620572e+01] [-9.71109591e-04 9.99999528e-01 -3.66266124e-05 -1.67273512e+00] [-7.75100259e-04 3.58739110e-05 9.99999699e-01 -5.43963217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.172414037 meters 0.07823503053135479 Centerline is valid? [True, True] Translation: X:33.89, Y:-1.68, Z:-0.55 [[ 9.99999014e-01 -7.38254381e-04 1.19436295e-03 3.38920553e+01] [ 7.38321670e-04 9.99999726e-01 -5.58986893e-05 -1.68284140e+00] [-1.19432136e-03 5.67804583e-05 9.99999285e-01 -5.46200629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.202414037 meters 0.07764891242968694 Centerline is valid? [True, True] Translation: X:33.92, Y:-1.68, Z:-0.55 [[ 9.99995966e-01 -1.80669186e-03 2.19174059e-03 3.39237450e+01] [ 1.80692095e-03 9.99998362e-01 -1.02548507e-04 -1.68386241e+00] [-2.19155173e-03 1.06508395e-04 9.99997593e-01 -5.45312368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.232414037 meters 0.07921632689832929 Centerline is valid? [True, True] Translation: X:33.95, Y:-1.69, Z:-0.55 [[ 9.99989802e-01 -3.17387480e-03 3.21295415e-03 3.39542366e+01] [ 3.17435822e-03 9.99994951e-01 -1.45369325e-04 -1.69289308e+00] [-3.21247655e-03 1.55566909e-04 9.99994828e-01 -5.48888310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.262414037 meters 0.07888175960139024 Centerline is valid? [True, True] Translation: X:33.99, Y:-1.70, Z:-0.55 [[ 9.99983886e-01 -4.70968755e-03 3.16954093e-03 3.39865244e+01] [ 4.71018233e-03 9.99988896e-01 -1.48658330e-04 -1.69681074e+00] [-3.16880560e-03 1.63585050e-04 9.99994966e-01 -5.49047306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.292414037 meters 0.08001682063036997 Centerline is valid? [True, True] Translation: X:34.02, Y:-1.70, Z:-0.55 [[ 9.99981107e-01 -5.48815267e-03 2.76889344e-03 3.40177210e+01] [ 5.48853443e-03 9.99984929e-01 -1.30293574e-04 -1.70341392e+00] [-2.76813664e-03 1.45488279e-04 9.99996158e-01 -5.52183807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.322414037 meters 0.07923275723257399 Centerline is valid? [True, True] Translation: X:34.05, Y:-1.70, Z:-0.55 [[ 9.99977292e-01 -6.36397973e-03 2.21682363e-03 3.40495070e+01] [ 6.36422332e-03 9.99979743e-01 -1.02843036e-04 -1.70324434e+00] [-2.21612424e-03 1.16949061e-04 9.99997538e-01 -5.51473722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.352414037 meters 0.07898888684610463 Centerline is valid? [True, True] Translation: X:34.08, Y:-1.70, Z:-0.55 [[ 9.99981351e-01 -5.86772555e-03 1.69360759e-03 3.40813971e+01] [ 5.86786731e-03 9.99982781e-01 -7.87490690e-05 -1.70496307e+00] [-1.69311635e-03 8.86854650e-05 9.99998563e-01 -5.52333461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.382414037 meters 0.07961671216984556 Centerline is valid? [True, True] Translation: X:34.11, Y:-1.71, Z:-0.55 [[ 9.99977011e-01 -6.33021329e-03 2.43018428e-03 3.41126598e+01] [ 6.33051060e-03 9.99979956e-01 -1.14666994e-04 -1.70936894e+00] [-2.42940970e-03 1.30048665e-04 9.99997041e-01 -5.54922698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.412414037 meters 0.07856259653780176 Centerline is valid? [True, True] Translation: X:34.14, Y:-1.71, Z:-0.55 [[ 9.99980302e-01 -5.98749920e-03 1.88311571e-03 3.41447609e+01] [ 5.98767554e-03 9.99982070e-01 -8.80169243e-05 -1.70796123e+00] [-1.88255494e-03 9.92906764e-05 9.99998223e-01 -5.53935481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.442414037 meters 0.07904558846572121 Centerline is valid? [True, True] Translation: X:34.18, Y:-1.71, Z:-0.56 [[ 9.99984570e-01 -5.42986642e-03 1.17358865e-03 3.41760813e+01] [ 5.42993427e-03 9.99985256e-01 -5.46394005e-05 -1.71110575e+00] [-1.17327467e-03 6.10110667e-05 9.99999310e-01 -5.55537855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.472414037 meters 0.07922726952787428 Centerline is valid? [True, True] Translation: X:34.21, Y:-1.71, Z:-0.56 [[ 9.99989225e-01 -4.22972654e-03 1.91273074e-03 3.42065844e+01] [ 4.22990885e-03 9.99991050e-01 -9.12798354e-05 -1.71347628e+00] [-1.91232753e-03 9.93695285e-05 9.99998167e-01 -5.57818089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.502414037 meters 0.0788550995898722 Centerline is valid? [True, True] Translation: X:34.24, Y:-1.71, Z:-0.56 [[ 9.99993174e-01 -2.72364002e-03 2.49677093e-03 3.42379790e+01] [ 2.72394523e-03 9.99996283e-01 -1.18852056e-04 -1.71360654e+00] [-2.49643794e-03 1.25652312e-04 9.99996876e-01 -5.58118980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.532414037 meters 0.07774035109250191 Centerline is valid? [True, True] Translation: X:34.27, Y:-1.71, Z:-0.56 [[ 9.99996570e-01 -1.05848457e-03 2.39592862e-03 3.42693146e+01] [ 1.05876088e-03 9.99999433e-01 -1.14058869e-04 -1.71282454e+00] [-2.39580653e-03 1.16595193e-04 9.99997123e-01 -5.59015369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.562414037 meters 0.07802445374211846 Centerline is valid? [True, True] Translation: X:34.30, Y:-1.72, Z:-0.56 [[ 9.99996086e-01 -6.61962667e-04 2.71833005e-03 3.43004698e+01] [ 6.62310428e-04 9.99999773e-01 -1.27033796e-04 -1.71604589e+00] [-2.71824534e-03 1.28833678e-04 9.99996297e-01 -5.61129969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.592414037 meters 0.0791812879878958 Centerline is valid? [True, True] Translation: X:34.33, Y:-1.72, Z:-0.56 [[ 9.99996667e-01 -2.19968906e-04 2.57234649e-03 3.43313577e+01] [ 2.20280130e-04 9.99999968e-01 -1.20705653e-04 -1.72214914e+00] [-2.57231986e-03 1.21271888e-04 9.99996684e-01 -5.64730860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.622414037 meters 0.07921034888010516 Centerline is valid? [True, True] Translation: X:34.36, Y:-1.72, Z:-0.57 [[ 9.99995458e-01 -3.93593374e-05 3.01378674e-03 3.43625589e+01] [ 3.97954247e-05 9.99999989e-01 -1.44637620e-04 -1.72452976e+00] [-3.01378102e-03 1.44756898e-04 9.99995448e-01 -5.65091833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.652414037 meters 0.07736766660415025 Centerline is valid? [True, True] Translation: X:34.39, Y:-1.72, Z:-0.56 [[ 9.99992226e-01 -1.48342209e-04 3.94026980e-03 3.43946131e+01] [ 1.49090033e-04 9.99999971e-01 -1.89496974e-04 -1.72048912e+00] [-3.94024157e-03 1.90082956e-04 9.99992219e-01 -5.61696236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.682414037 meters 0.07793199691234146 Centerline is valid? [True, True] Translation: X:34.43, Y:-1.73, Z:-0.56 [[ 9.99985749e-01 5.95435745e-04 5.30531457e-03 3.44254639e+01] [-5.94089879e-04 9.99999791e-01 -2.55254961e-04 -1.72540295e+00] [-5.30546545e-03 2.52099490e-04 9.99985894e-01 -5.64062702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.712414037 meters 0.0779865295531131 Centerline is valid? [True, True] Translation: X:34.46, Y:-1.73, Z:-0.57 [[ 9.99986036e-01 6.09119029e-04 5.24940342e-03 3.44576832e+01] [-6.07802445e-04 9.99999783e-01 -2.52397952e-04 -1.72755362e+00] [-5.24955602e-03 2.49203827e-04 9.99986190e-01 -5.65036572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.742414037 meters 0.07846378722274586 Centerline is valid? [True, True] Translation: X:34.49, Y:-1.73, Z:-0.57 [[ 9.99995835e-01 6.41147277e-04 2.81397352e-03 3.44882233e+01] [-6.40775579e-04 9.99999786e-01 -1.32989871e-04 -1.73280482e+00] [-2.81405818e-03 1.31186192e-04 9.99996032e-01 -5.68792545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.772414037 meters 0.07757385620148506 Centerline is valid? [True, True] Translation: X:34.52, Y:-1.73, Z:-0.57 [[ 9.99996584e-01 3.18262107e-05 2.61369400e-03 3.45195752e+01] [-3.14968722e-05 9.99999992e-01 -1.26046046e-04 -1.73266874e+00] [-2.61369799e-03 1.25963293e-04 9.99996576e-01 -5.68953300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.802414037 meters 0.07834171592148002 Centerline is valid? [True, True] Translation: X:34.55, Y:-1.74, Z:-0.57 [[ 9.99992631e-01 -1.01886363e-03 3.70125093e-03 3.45509510e+01] [ 1.01951340e-03 9.99999465e-01 -1.73672148e-04 -1.73781999e+00] [-3.70107200e-03 1.77444343e-04 9.99993135e-01 -5.71347614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.832414037 meters 0.0781760506231549 Centerline is valid? [True, True] Translation: X:34.58, Y:-1.74, Z:-0.57 [[ 9.99988609e-01 -2.23016804e-03 4.22008168e-03 3.45826044e+01] [ 2.23103180e-03 9.99997491e-01 -1.99981594e-04 -1.73969448e+00] [-4.21962510e-03 2.09394453e-04 9.99991075e-01 -5.70369412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.862414037 meters 0.07888603541312468 Centerline is valid? [True, True] Translation: X:34.61, Y:-1.74, Z:-0.57 [[ 9.99967522e-01 -4.66418431e-03 6.57262004e-03 3.46131438e+01] [ 4.66640017e-03 9.99989061e-01 -3.21840456e-04 -1.74398631e+00] [-6.57104702e-03 3.52500479e-04 9.99978348e-01 -5.70339193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.892414037 meters 0.08033284585348889 Centerline is valid? [True, True] Translation: X:34.64, Y:-1.75, Z:-0.57 [[ 9.99918544e-01 -9.63000059e-03 8.37664451e-03 3.46421025e+01] [ 9.63378809e-03 9.99953509e-01 -4.11915797e-04 -1.75188350e+00] [-8.37228832e-03 4.92581062e-04 9.99964830e-01 -5.70725142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.922414037 meters 0.08126006209635411 Centerline is valid? [True, True] Translation: X:34.67, Y:-1.76, Z:-0.57 [[ 9.99894945e-01 -1.22603198e-02 7.73195377e-03 3.46724867e+01] [ 1.22636188e-02 9.99924727e-01 -3.79404297e-04 -1.75733563e+00] [-7.72672015e-03 4.74186173e-04 9.99970036e-01 -5.72415901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.952414037 meters 0.08073030446359603 Centerline is valid? [True, True] Translation: X:34.70, Y:-1.76, Z:-0.57 [[ 9.99835781e-01 -1.70078063e-02 6.25662107e-03 3.47031951e+01] [ 1.70100568e-02 9.99855271e-01 -3.06649836e-04 -1.76087159e+00] [-6.25050012e-03 4.13024957e-04 9.99980380e-01 -5.72280532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.982414037 meters 0.0830576685552964 Centerline is valid? [True, True] Translation: X:34.73, Y:-1.77, Z:-0.58 [[ 9.99816436e-01 -1.82253875e-02 5.91017006e-03 3.47337505e+01] [ 1.82274050e-02 9.99833826e-01 -2.87658528e-04 -1.77032614e+00] [-5.90394525e-03 3.95332787e-04 9.99982493e-01 -5.75342821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.012414037 meters 0.08278721072300184 Centerline is valid? [True, True] Translation: X:34.77, Y:-1.77, Z:-0.58 [[ 9.99802665e-01 -1.90656354e-02 5.57965169e-03 3.47653761e+01] [ 1.90674579e-02 9.99818162e-01 -2.73613730e-04 -1.77111047e+00] [-5.57342048e-03 3.79949510e-04 9.99984396e-01 -5.76447368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.042414037 meters 0.0821650661563099 Centerline is valid? [True, True] Translation: X:34.80, Y:-1.77, Z:-0.58 [[ 9.99792258e-01 -1.95545840e-02 5.74978251e-03 3.47978966e+01] [ 1.95565266e-02 9.99808713e-01 -2.81827116e-04 -1.77114651e+00] [-5.74317164e-03 3.94214343e-04 9.99983430e-01 -5.76914299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.072414037 meters 0.08254842600280028 Centerline is valid? [True, True] Translation: X:34.83, Y:-1.77, Z:-0.58 [[ 9.99811710e-01 -1.89712499e-02 4.07872134e-03 3.48289806e+01] [ 1.89722232e-02 9.99819991e-01 -2.00048641e-04 -1.77198021e+00] [-4.07419196e-03 2.77393385e-04 9.99991662e-01 -5.78587754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.102414037 meters 0.08026530923576149 Centerline is valid? [True, True] Translation: X:34.86, Y:-1.77, Z:-0.58 [[ 9.99822905e-01 -1.82969386e-02 4.40235925e-03 3.48614524e+01] [ 1.82980650e-02 9.99832553e-01 -2.15722638e-04 -1.76763502e+00] [-4.39767503e-03 2.96239090e-04 9.99990286e-01 -5.77090691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.132414037 meters 0.08066866319053555 Centerline is valid? [True, True] Translation: X:34.89, Y:-1.77, Z:-0.58 [[ 9.99843549e-01 -1.70073999e-02 4.86073322e-03 3.48920017e+01] [ 1.70087655e-02 9.99855312e-01 -2.39747354e-04 -1.77064764e+00] [-4.85595245e-03 3.22384917e-04 9.99988158e-01 -5.79196146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.162414037 meters 0.08067236155323837 Centerline is valid? [True, True] Translation: X:34.92, Y:-1.77, Z:-0.58 [[ 9.99870317e-01 -1.54847747e-02 4.42385065e-03 3.49231334e+01] [ 1.54858913e-02 9.99880063e-01 -2.18268023e-04 -1.77217553e+00] [-4.41994023e-03 2.86746988e-04 9.99990191e-01 -5.80567196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.192414037 meters 0.07926962708893595 Centerline is valid? [True, True] Translation: X:34.95, Y:-1.77, Z:-0.58 [[ 9.99929371e-01 -1.10664051e-02 4.33441265e-03 3.49537566e+01] [ 1.10674402e-02 9.99938731e-01 -2.14892719e-04 -1.77057505e+00] [-4.33176899e-03 2.62848394e-04 9.99990583e-01 -5.82310590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.222414037 meters 0.07880698357526443 Centerline is valid? [True, True] Translation: X:34.99, Y:-1.77, Z:-0.58 [[ 9.99945816e-01 -9.39180152e-03 4.48987156e-03 3.49850037e+01] [ 9.39289131e-03 9.99955861e-01 -2.21696130e-04 -1.77058924e+00] [-4.48759125e-03 2.63856993e-04 9.99989896e-01 -5.82959963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.252414037 meters 0.07832662232812942 Centerline is valid? [True, True] Translation: X:35.02, Y:-1.77, Z:-0.58 [[ 9.99959258e-01 -7.27625570e-03 5.34211806e-03 3.50169736e+01] [ 7.27776587e-03 9.99973482e-01 -2.63306719e-04 -1.77100031e+00] [-5.34006051e-03 3.02174675e-04 9.99985696e-01 -5.83671411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.282414037 meters 0.07784325426049704 Centerline is valid? [True, True] Translation: X:35.05, Y:-1.77, Z:-0.58 [[ 9.99984376e-01 -3.65387513e-03 4.23055654e-03 3.50481531e+01] [ 3.65479516e-03 9.99993299e-01 -2.09762486e-04 -1.76962864e+00] [-4.22976174e-03 2.25221026e-04 9.99991029e-01 -5.83766592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.312414036999996 meters 0.07803545348321493 Centerline is valid? [True, True] Translation: X:35.08, Y:-1.77, Z:-0.59 [[ 9.99989613e-01 -1.92237455e-03 4.13268916e-03 3.50782591e+01] [ 1.92323802e-03 9.99998130e-01 -2.04972696e-04 -1.77096292e+00] [-4.13228739e-03 2.12918712e-04 9.99991439e-01 -5.85531813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.342414037 meters 0.07793323225839603 Centerline is valid? [True, True] Translation: X:35.11, Y:-1.77, Z:-0.59 [[ 9.99993102e-01 -2.93176407e-04 3.70272032e-03 3.51103526e+01] [ 2.93853022e-04 9.99999940e-01 -1.82191724e-04 -1.77134709e+00] [-3.70266668e-03 1.83278522e-04 9.99993128e-01 -5.86807009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.372414037 meters 0.07681474332497852 Centerline is valid? [True, True] Translation: X:35.14, Y:-1.77, Z:-0.59 [[ 9.99988612e-01 2.55470186e-03 4.03100952e-03 3.51419380e+01] [-2.55391732e-03 9.99996719e-01 -1.99760643e-04 -1.76976691e+00] [-4.03150662e-03 1.89463503e-04 9.99991855e-01 -5.86581450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.402414037 meters 0.07681474332497852 Centerline is valid? [True, True] Translation: X:35.17, Y:-1.77, Z:-0.59 [[ 9.99988523e-01 2.58923670e-03 4.03100213e-03 3.51727726e+01] [-2.58845185e-03 9.99996630e-01 -1.99909111e-04 -1.77133604e+00] [-4.03150616e-03 1.89472761e-04 9.99991855e-01 -5.87581889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.432414037 meters 0.07726524554042678 Centerline is valid? [True, True] Translation: X:35.20, Y:-1.78, Z:-0.59 [[ 9.99982586e-01 4.22452115e-03 4.12085596e-03 3.52033177e+01] [-4.22371407e-03 9.99991059e-01 -2.04533936e-04 -1.77562152e+00] [-4.12168318e-03 1.87125056e-04 9.99991488e-01 -5.90623577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.462414037 meters 0.07705040379387558 Centerline is valid? [True, True] Translation: X:35.23, Y:-1.78, Z:-0.59 [[ 9.99977620e-01 5.54380485e-03 3.74516998e-03 3.52344402e+01] [-5.54314726e-03 9.99984619e-01 -1.85941466e-04 -1.77732658e+00] [-3.74614320e-03 1.65177275e-04 9.99992970e-01 -5.92306979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.492414037 meters 0.07606755556262568 Centerline is valid? [True, True] Translation: X:35.27, Y:-1.78, Z:-0.59 [[ 9.99975613e-01 6.07765652e-03 3.44037701e-03 3.52656144e+01] [-6.07710307e-03 9.99981520e-01 -1.71301016e-04 -1.77538607e+00] [-3.44135454e-03 1.50389313e-04 9.99994067e-01 -5.92210947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.522414037 meters 0.0758809662337987 Centerline is valid? [True, True] Translation: X:35.30, Y:-1.78, Z:-0.59 [[ 9.99969862e-01 6.43832138e-03 4.33851216e-03 3.52958946e+01] [-6.43744152e-03 9.99979256e-01 -2.16736773e-04 -1.77668412e+00] [-4.33981759e-03 1.88801323e-04 9.99990565e-01 -5.92656167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.552414037 meters 0.07587268644083288 Centerline is valid? [True, True] Translation: X:35.33, Y:-1.78, Z:-0.59 [[ 9.99973979e-01 6.13762202e-03 3.79079219e-03 3.53262165e+01] [-6.13694813e-03 9.99981151e-01 -1.89374614e-04 -1.77750812e+00] [-3.79188304e-03 1.66105791e-04 9.99992797e-01 -5.93304827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.582414037 meters 0.07672228498714909 Centerline is valid? [True, True] Translation: X:35.36, Y:-1.78, Z:-0.60 [[ 9.99980894e-01 5.49956979e-03 2.82234664e-03 3.53559313e+01] [-5.49919371e-03 9.99984869e-01 -1.40994489e-04 -1.78043093e+00] [-2.82307935e-03 1.25471164e-04 9.99996007e-01 -5.96045909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.612414037 meters 0.07647721611870352 Centerline is valid? [True, True] Translation: X:35.39, Y:-1.78, Z:-0.60 [[ 9.99989048e-01 4.58047421e-03 9.61141088e-04 3.53864266e+01] [-4.58043018e-03 9.99989509e-01 -4.80152205e-05 -1.78102073e+00] [-9.61350936e-04 4.36122549e-05 9.99999537e-01 -5.97241647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.642414037 meters 0.07729163309972653 Centerline is valid? [True, True] Translation: X:35.42, Y:-1.79, Z:-0.60 [[ 9.99998503e-01 1.53377003e-03 -8.00694974e-04 3.54161169e+01] [-1.53373896e-03 9.99998823e-01 3.94214415e-05 -1.78759647e+00] [ 8.00754495e-04 -3.81933255e-05 9.99999679e-01 -6.00144150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.672414037 meters 0.07772092450907976 Centerline is valid? [True, True] Translation: X:35.45, Y:-1.79, Z:-0.60 [[ 9.99999620e-01 -6.72664580e-04 5.54143623e-04 3.54457723e+01] [ 6.72680633e-04 9.99999773e-01 -2.87824986e-05 -1.79177566e+00] [-5.54124136e-04 2.91552493e-05 9.99999846e-01 -6.00902952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.702414037 meters 0.07792706889063312 Centerline is valid? [True, True] Translation: X:35.48, Y:-1.80, Z:-0.60 [[ 9.99992424e-01 -3.28519768e-03 2.08810103e-03 3.54760840e+01] [ 3.28542242e-03 9.99994598e-01 -1.04204853e-04 -1.79523686e+00] [-2.08774742e-03 1.11064357e-04 9.99997814e-01 -6.00850541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.732414037 meters 0.07817584324039195 Centerline is valid? [True, True] Translation: X:35.51, Y:-1.80, Z:-0.60 [[ 9.99977781e-01 -5.74674185e-03 3.37829084e-03 3.55085707e+01] [ 5.74733724e-03 9.99983470e-01 -1.66557157e-04 -1.79753407e+00] [-3.37727784e-03 1.85969633e-04 9.99994280e-01 -6.00130161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.762414037 meters 0.08057403326917383 Centerline is valid? [True, True] Translation: X:35.54, Y:-1.81, Z:-0.60 [[ 9.99960117e-01 -7.93032791e-03 4.10784466e-03 3.55395952e+01] [ 7.93121175e-03 9.99968528e-01 -1.98912752e-04 -1.80537366e+00] [-4.10613794e-03 2.31485005e-04 9.99991543e-01 -6.02466290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.792414037 meters 0.08066882603853644 Centerline is valid? [True, True] Translation: X:35.57, Y:-1.80, Z:-0.60 [[ 9.99901864e-01 -1.38211783e-02 2.28866952e-03 3.55711738e+01] [ 1.38214753e-02 9.99904472e-01 -1.13994228e-04 -1.80477763e+00] [-2.28687535e-03 1.45615830e-04 9.99997374e-01 -6.01819322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.822414037 meters 0.08276199646370007 Centerline is valid? [True, True] Translation: X:35.60, Y:-1.81, Z:-0.61 [[ 9.99863011e-01 -1.64167537e-02 2.10943321e-03 3.56005986e+01] [ 1.64170136e-02 9.99865226e-01 -1.05956712e-04 -1.81261615e+00] [-2.10740945e-03 1.40572791e-04 9.99997770e-01 -6.05748129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.852414037 meters 0.08578638285311592 Centerline is valid? [True, True] Translation: X:35.63, Y:-1.82, Z:-0.61 [[ 9.99746194e-01 -2.25054087e-02 1.02702984e-03 3.56298333e+01] [ 2.25054735e-02 9.99746718e-01 -5.15786076e-05 -1.82444699e+00] [-1.02560891e-03 7.46793094e-05 9.99999471e-01 -6.09421891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.882414037 meters 0.08481242451067843 Centerline is valid? [True, True] Translation: X:35.66, Y:-1.82, Z:-0.61 [[ 9.99679968e-01 -2.52958636e-02 -2.85934548e-04 3.56607374e+01] [ 2.52958687e-02 9.99680008e-01 1.44667463e-05 -1.82432463e+00] [ 2.85477102e-04 -2.16950793e-05 9.99999959e-01 -6.09223756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.912414037 meters 0.08387544552470025 Centerline is valid? [True, True] Translation: X:35.69, Y:-1.82, Z:-0.61 [[ 9.99628134e-01 -2.72638179e-02 -5.28093808e-04 3.56919319e+01] [ 2.72638360e-02 9.99628272e-01 2.71013390e-05 -1.82289942e+00] [ 5.27158614e-04 -4.14891238e-05 9.99999860e-01 -6.08129016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.942414037 meters 0.08694608305053028 Centerline is valid? [True, True] Translation: X:35.72, Y:-1.83, Z:-0.61 [[ 9.99588058e-01 -2.86837415e-02 -9.78511197e-04 3.57218585e+01] [ 2.86838039e-02 9.99588534e-01 4.97479631e-05 -1.82900640e+00] [ 9.76681615e-04 -7.77948930e-05 9.99999520e-01 -6.11375704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.972414037 meters 0.08774870213552836 Centerline is valid? [True, True] Translation: X:35.75, Y:-1.83, Z:-0.61 [[ 9.99565145e-01 -2.94291641e-02 -1.85630307e-03 3.57535578e+01] [ 2.94293910e-02 9.99566857e-01 9.50289236e-05 -1.82991849e+00] [ 1.85270240e-03 -1.49617468e-04 9.99998273e-01 -6.13621025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.002414037 meters 0.08487597170801926 Centerline is valid? [True, True] Translation: X:35.78, Y:-1.82, Z:-0.61 [[ 9.99500835e-01 -3.15823926e-02 -7.95566795e-04 3.57846664e+01] [ 3.15824348e-02 9.99501150e-01 4.06137766e-05 -1.82305977e+00] [ 7.93887246e-04 -6.57194400e-05 9.99999683e-01 -6.11352846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.032414037 meters 0.08850209016031452 Centerline is valid? [True, True] Translation: X:35.81, Y:-1.83, Z:-0.61 [[ 9.99441897e-01 -3.33983809e-02 -6.65600360e-04 3.58142293e+01] [ 3.33984124e-02 9.99442117e-01 3.61883511e-05 -1.83190658e+00] [ 6.64020400e-04 -5.83981495e-05 9.99999778e-01 -6.14935690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.062414036999996 meters 0.0859826826095411 Centerline is valid? [True, True] Translation: X:35.85, Y:-1.83, Z:-0.61 [[ 9.99407876e-01 -3.44075721e-02 1.30787100e-04 3.58468279e+01] [ 3.44075730e-02 9.99407884e-01 -4.32958022e-06 -1.82772500e+00] [-1.30560689e-04 8.82708326e-06 9.99999991e-01 -6.13478673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.092414037 meters 0.08898916845817419 Centerline is valid? [True, True] Translation: X:35.88, Y:-1.84, Z:-0.62 [[ 9.99365715e-01 -3.55587490e-02 1.93463476e-03 3.58776215e+01] [ 3.55590011e-02 9.99367574e-01 -9.60815522e-05 -1.83601567e+00] [-1.92999471e-03 1.64814289e-04 9.99998124e-01 -6.15554430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.122414037 meters 0.09054020764119436 Centerline is valid? [True, True] Translation: X:35.91, Y:-1.84, Z:-0.62 [[ 9.99315924e-01 -3.68106766e-02 3.55783200e-03 3.59081341e+01] [ 3.68115448e-02 9.99322209e-01 -1.78840935e-04 -1.83958477e+00] [-3.54883728e-03 3.09687886e-04 9.99993655e-01 -6.16523498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.152414037 meters 0.08837198978538517 Centerline is valid? [True, True] Translation: X:35.94, Y:-1.83, Z:-0.61 [[ 9.99190405e-01 -3.99850372e-02 4.44190686e-03 3.59395249e+01] [ 3.99864273e-02 9.99200198e-01 -2.24553963e-04 -1.83222216e+00] [-4.42937541e-03 4.01988151e-04 9.99990109e-01 -6.14184465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.182414037 meters 0.08945017550166812 Centerline is valid? [True, True] Translation: X:35.97, Y:-1.83, Z:-0.62 [[ 9.99116412e-01 -4.18386714e-02 3.99020926e-03 3.59703330e+01] [ 4.18398063e-02 9.99124312e-01 -2.01322573e-04 -1.83324798e+00] [-3.97829201e-03 3.68094269e-04 9.99992019e-01 -6.15242401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.212414037 meters 0.09040087997736511 Centerline is valid? [True, True] Translation: X:36.00, Y:-1.83, Z:-0.62 [[ 9.98972092e-01 -4.53049884e-02 1.48914125e-03 3.60012096e+01] [ 4.53051501e-02 9.98973192e-01 -7.49786317e-05 -1.83058576e+00] [-1.48421528e-03 1.42367328e-04 9.99998888e-01 -6.16778287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.242414037 meters 0.08947790506345832 Centerline is valid? [True, True] Translation: X:36.03, Y:-1.83, Z:-0.62 [[ 9.98880102e-01 -4.73132205e-02 2.71676151e-05 3.60320493e+01] [ 4.73132205e-02 9.98880102e-01 -1.22580482e-06 -1.82795949e+00] [-2.70791934e-05 2.50981941e-06 1.00000000e+00 -6.17007499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.272414037 meters 0.09203777685543267 Centerline is valid? [True, True] Translation: X:36.06, Y:-1.83, Z:-0.62 [[ 9.98826365e-01 -4.84324286e-02 -4.38410343e-04 3.60622974e+01] [ 4.84324432e-02 9.98826460e-01 2.27649120e-05 -1.83293743e+00] [ 4.36793291e-04 -4.39714784e-05 9.99999904e-01 -6.20307909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.302414037 meters 0.0905342611053355 Centerline is valid? [True, True] Translation: X:36.09, Y:-1.83, Z:-0.62 [[ 9.98795652e-01 -4.90476644e-02 -1.25414398e-03 3.60946688e+01] [ 4.90477854e-02 9.98796431e-01 6.58761867e-05 -1.83011322e+00] [ 1.24940346e-03 -1.27309834e-04 9.99999211e-01 -6.21154068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.332414037 meters 0.09199001110044709 Centerline is valid? [True, True] Translation: X:36.12, Y:-1.83, Z:-0.62 [[ 9.98716980e-01 -5.05827123e-02 -2.40462085e-03 3.61245269e+01] [ 5.05831509e-02 9.98719846e-01 1.21912294e-04 -1.82897885e+00] [ 2.39537591e-03 -2.43389178e-04 9.99997101e-01 -6.24166609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.362414037 meters 0.09092775915402421 Centerline is valid? [True, True] Translation: X:36.16, Y:-1.82, Z:-0.62 [[ 9.98679029e-01 -5.12866075e-02 -3.14337341e-03 3.61569457e+01] [ 5.12873684e-02 9.98683924e-01 1.61898053e-04 -1.82399579e+00] [ 3.13093329e-03 -3.22899540e-04 9.99995046e-01 -6.23811099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.392414037 meters 0.09263820252993604 Centerline is valid? [True, True] Translation: X:36.19, Y:-1.82, Z:-0.63 [[ 9.98674064e-01 -5.13565475e-02 -3.55239244e-03 3.61885015e+01] [ 5.13575174e-02 9.98680315e-01 1.82264828e-04 -1.82472808e+00] [ 3.53834391e-03 -3.64465213e-04 9.99993674e-01 -6.25865236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.422414037 meters 0.09237333339580107 Centerline is valid? [True, True] Translation: X:36.22, Y:-1.82, Z:-0.63 [[ 9.98687522e-01 -5.11047551e-02 -3.39658491e-03 3.62211057e+01] [ 5.11056432e-02 9.98693237e-01 1.75142792e-04 -1.82161574e+00] [ 3.38319575e-03 -3.48497577e-04 9.99994216e-01 -6.27113378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.452414037 meters 0.09411915611494355 Centerline is valid? [True, True] Translation: X:36.25, Y:-1.82, Z:-0.63 [[ 9.98696689e-01 -5.08038134e-02 -4.88828011e-03 3.62524930e+01] [ 5.08056429e-02 9.98708528e-01 2.50739647e-04 -1.81967335e+00] [ 4.86922850e-03 -4.98765069e-04 9.99988021e-01 -6.30667229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.482414037 meters 0.09187797947081894 Centerline is valid? [True, True] Translation: X:36.28, Y:-1.81, Z:-0.63 [[ 9.98748353e-01 -4.98332239e-02 -4.28686659e-03 3.62848200e+01] [ 4.98346240e-02 9.98757459e-01 2.20344123e-04 -1.81445756e+00] [ 4.27055952e-03 -4.33702714e-04 9.99990787e-01 -6.30519572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.512414037 meters 0.09639110842256896 Centerline is valid? [True, True] Translation: X:36.32, Y:-1.82, Z:-0.63 [[ 9.98757487e-01 -4.97086281e-02 -3.54047982e-03 3.63151072e+01] [ 4.97095840e-02 9.98763698e-01 1.82452678e-04 -1.82208265e+00] [ 3.52703325e-03 -3.58221757e-04 9.99993716e-01 -6.34513392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.542414037 meters 0.09515894110014779 Centerline is valid? [True, True] Translation: X:36.35, Y:-1.81, Z:-0.63 [[ 9.98772006e-01 -4.95422728e-02 -2.07394559e-04 3.63473176e+01] [ 4.95422764e-02 9.98772027e-01 1.22554080e-05 -1.81483862e+00] [ 2.06532724e-04 -2.25151571e-05 9.99999978e-01 -6.31946433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.572414037 meters 0.09525856706657085 Centerline is valid? [True, True] Translation: X:36.38, Y:-1.81, Z:-0.63 [[ 9.98755918e-01 -4.98636238e-02 -4.85433256e-04 3.63797274e+01] [ 4.98636427e-02 9.98756034e-01 2.70472860e-05 -1.81237293e+00] [ 4.83480718e-04 -5.12191073e-05 9.99999882e-01 -6.32169968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.602414037 meters 0.09491598012707035 Centerline is valid? [True, True] Translation: X:36.41, Y:-1.81, Z:-0.63 [[ 9.98761454e-01 -4.97487082e-02 -7.89584693e-04 3.64124908e+01] [ 4.97487573e-02 9.98761763e-01 4.26710367e-05 -1.80933708e+00] [ 7.86484171e-04 -8.18990440e-05 9.99999687e-01 -6.32239426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.632414037 meters 0.0914017749306212 Centerline is valid? [True, True] Translation: X:36.45, Y:-1.80, Z:-0.63 [[ 9.98761508e-01 -4.97472004e-02 -8.16139872e-04 3.64453888e+01] [ 4.97472529e-02 9.98761838e-01 4.41766456e-05 -1.80064705e+00] [ 8.12931694e-04 -8.47226498e-05 9.99999666e-01 -6.31588172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.662414037 meters 0.09689063163006033 Centerline is valid? [True, True] Translation: X:36.48, Y:-1.81, Z:-0.64 [[ 9.98709480e-01 -5.07854758e-02 -4.58116794e-04 3.64757917e+01] [ 5.07854924e-02 9.98709584e-01 2.46682949e-05 -1.80849730e+00] [ 4.56272841e-04 -4.79021469e-05 9.99999895e-01 -6.35602096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.692414037 meters 0.09152970547898148 Centerline is valid? [True, True] Translation: X:36.51, Y:-1.80, Z:-0.63 [[ 9.98673407e-01 -5.14319041e-02 -2.48718568e-03 3.65077780e+01] [ 5.14323830e-02 9.98676471e-01 1.28950849e-04 -1.79722786e+00] [ 2.47726162e-03 -2.56701670e-04 9.99996899e-01 -6.34184365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.722414037 meters 0.09205433900593764 Centerline is valid? [True, True] Translation: X:36.54, Y:-1.80, Z:-0.64 [[ 9.98685252e-01 -5.11777468e-02 -2.93354274e-03 3.65402765e+01] [ 5.11784191e-02 9.98689514e-01 1.54512015e-04 -1.79788313e+00] [ 2.92179079e-03 -3.04442950e-04 9.99995685e-01 -6.37642314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.752414037 meters 0.09632993128837898 Centerline is valid? [True, True] Translation: X:36.57, Y:-1.80, Z:-0.64 [[ 9.98701076e-01 -5.07400999e-02 -4.64794649e-03 3.65712431e+01] [ 5.07417803e-02 9.98711776e-01 2.44253673e-04 -1.80315227e+00] [ 4.62956544e-03 -4.79781486e-04 9.99989168e-01 -6.43111541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.782414037 meters 0.096350148306631 Centerline is valid? [True, True] Translation: X:36.60, Y:-1.80, Z:-0.64 [[ 9.98719197e-01 -5.03991851e-02 -4.45950395e-03 3.66037223e+01] [ 5.04007214e-02 9.98729049e-01 2.32722701e-04 -1.80208279e+00] [ 4.44210710e-03 -4.57186845e-04 9.99990029e-01 -6.44333782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.812414036999996 meters 0.09697179888119321 Centerline is valid? [True, True] Translation: X:36.63, Y:-1.80, Z:-0.65 [[ 9.98758956e-01 -4.96144782e-02 -4.35326146e-03 3.66339226e+01] [ 4.96159282e-02 9.98768346e-01 2.25644494e-04 -1.80153389e+00] [ 4.33670451e-03 -4.41355567e-04 9.99990499e-01 -6.45649867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.842414037 meters 0.09526057718564969 Centerline is valid? [True, True] Translation: X:36.67, Y:-1.80, Z:-0.65 [[ 9.98797614e-01 -4.88597801e-02 -4.00604069e-03 3.66656705e+01] [ 4.88610049e-02 9.98805566e-01 2.08390787e-04 -1.79635566e+00] [ 3.99107381e-03 -4.03879395e-04 9.99991954e-01 -6.45278267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.872414037 meters 0.0916242824963141 Centerline is valid? [True, True] Translation: X:36.70, Y:-1.78, Z:-0.64 [[ 9.98899326e-01 -4.66749027e-02 -4.64649054e-03 3.66972474e+01] [ 4.66765242e-02 9.98910028e-01 2.41070208e-04 -1.78460800e+00] [ 4.63017406e-03 -4.57686896e-04 9.99989176e-01 -6.44990265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.902414037 meters 0.09333118732315338 Centerline is valid? [True, True] Translation: X:36.73, Y:-1.79, Z:-0.65 [[ 9.98951402e-01 -4.55526131e-02 -4.58875785e-03 3.67278677e+01] [ 4.55541861e-02 9.98961841e-01 2.38809711e-04 -1.78739884e+00] [ 4.57311558e-03 -4.47596425e-04 9.99989443e-01 -6.47448469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.932414037 meters 0.09358214438597903 Centerline is valid? [True, True] Translation: X:36.76, Y:-1.79, Z:-0.65 [[ 9.99004403e-01 -4.44781064e-02 -3.44972631e-03 3.67599300e+01] [ 4.44789952e-02 9.99010303e-01 1.81323803e-04 -1.78648755e+00] [ 3.43824719e-03 -3.34583638e-04 9.99994033e-01 -6.49263474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.962414037 meters 0.09309709164894256 Centerline is valid? [True, True] Translation: X:36.79, Y:-1.78, Z:-0.65 [[ 9.99059097e-01 -4.32381224e-02 -3.37420871e-03 3.67916950e+01] [ 4.32389620e-02 9.99064743e-01 1.76245475e-04 -1.78404451e+00] [ 3.36343243e-03 -3.21976927e-04 9.99994292e-01 -6.49552995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.992414037 meters 0.09282457375482939 Centerline is valid? [True, True] Translation: X:36.82, Y:-1.78, Z:-0.65 [[ 9.99138524e-01 -4.13727862e-02 -3.24060710e-03 3.68233876e+01] [ 4.13735494e-02 9.99143734e-01 1.68801942e-04 -1.77683905e+00] [ 3.23084847e-03 -3.02731941e-04 9.99994735e-01 -6.49801178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.022414037 meters 0.09297944976054315 Centerline is valid? [True, True] Translation: X:36.86, Y:-1.77, Z:-0.65 [[ 9.99180074e-01 -4.04192490e-02 -2.33761735e-03 3.68550672e+01] [ 4.04196454e-02 9.99182785e-01 1.22547438e-04 -1.77493577e+00] [ 2.33075374e-03 -2.16932623e-04 9.99997260e-01 -6.50435458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.052414037 meters 0.0898343438351357 Centerline is valid? [True, True] Translation: X:36.89, Y:-1.76, Z:-0.65 [[ 9.99224458e-01 -3.92942125e-02 -2.53911580e-03 3.68872402e+01] [ 3.92946766e-02 9.99227657e-01 1.33143089e-04 -1.76377434e+00] [ 2.53192298e-03 -2.32813565e-04 9.99996768e-01 -6.48885823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.082414037 meters 0.09112952537289205 Centerline is valid? [True, True] Translation: X:36.92, Y:-1.77, Z:-0.65 [[ 9.99223309e-01 -3.92743710e-02 -3.20964375e-03 3.69184944e+01] [ 3.92751228e-02 9.99228420e-01 1.71515821e-04 -1.76617769e+00] [ 3.20043108e-03 -2.97441759e-04 9.99994834e-01 -6.51243507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.112414037 meters 0.09489874812212082 Centerline is valid? [True, True] Translation: X:36.95, Y:-1.77, Z:-0.66 [[ 9.99189079e-01 -4.01341031e-02 -3.23097018e-03 3.69488153e+01] [ 4.01348596e-02 9.99194258e-01 1.69622995e-04 -1.77409538e+00] [ 3.22155918e-03 -2.99159979e-04 9.99994766e-01 -6.56543262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.142414037 meters 0.09067802485643263 Centerline is valid? [True, True] Translation: X:36.98, Y:-1.77, Z:-0.65 [[ 9.99161376e-01 -4.07870699e-02 -3.59998028e-03 3.69818124e+01] [ 4.07880179e-02 9.99167804e-01 1.90272256e-04 -1.76592540e+00] [ 3.58922374e-03 -3.36948749e-04 9.99993502e-01 -6.54251215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.172414037 meters 0.09322639741218094 Centerline is valid? [True, True] Translation: X:37.01, Y:-1.77, Z:-0.66 [[ 9.99131984e-01 -4.15370180e-02 -3.15499976e-03 3.70126175e+01] [ 4.15377494e-02 9.99136921e-01 1.66619982e-04 -1.77106937e+00] [ 3.14535585e-03 -2.97526943e-04 9.99995009e-01 -6.56714176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.202414037 meters 0.09423099730161202 Centerline is valid? [True, True] Translation: X:37.04, Y:-1.77, Z:-0.66 [[ 9.99133563e-01 -4.15655818e-02 -2.10351082e-03 3.70437798e+01] [ 4.15659083e-02 9.99135758e-01 1.11713327e-04 -1.77237308e+00] [ 2.09704944e-03 -1.99050872e-04 9.99997781e-01 -6.57345770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.232414037 meters 0.09222861048596398 Centerline is valid? [True, True] Translation: X:37.07, Y:-1.76, Z:-0.66 [[ 9.99248344e-01 -3.87641909e-02 -2.91277051e-04 3.70745799e+01] [ 3.87641970e-02 9.99248386e-01 1.52192686e-05 -1.76412488e+00] [ 2.90468160e-04 -2.64989499e-05 9.99999957e-01 -6.56215351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.262414037 meters 0.09213795682061257 Centerline is valid? [True, True] Translation: X:37.10, Y:-1.76, Z:-0.66 [[ 9.99311995e-01 -3.70879262e-02 -1.49442110e-04 3.71049994e+01] [ 3.70879278e-02 9.99312006e-01 7.81984898e-06 -1.76284452e+00] [ 1.49049272e-04 -1.33569671e-05 9.99999989e-01 -6.57512354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.292414037 meters 0.09204117583552561 Centerline is valid? [True, True] Translation: X:37.14, Y:-1.76, Z:-0.66 [[ 9.99377846e-01 -3.52528056e-02 -1.07690679e-03 3.71362851e+01] [ 3.52528879e-02 9.99378422e-01 5.74734932e-05 -1.76206566e+00] [ 1.07421131e-03 -9.54018103e-05 9.99999418e-01 -6.59196431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.322414037 meters 0.08873312694509033 Centerline is valid? [True, True] Translation: X:37.17, Y:-1.76, Z:-0.66 [[ 9.99436159e-01 -3.35639173e-02 -9.09540758e-04 3.71680201e+01] [ 3.35639755e-02 9.99436570e-01 4.87796800e-05 -1.75503767e+00] [ 9.07391059e-04 -7.92799797e-05 9.99999585e-01 -6.57526237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.352414037 meters 0.08873312694509033 Centerline is valid? [True, True] Translation: X:37.20, Y:-1.76, Z:-0.66 [[ 9.99439636e-01 -3.34602276e-02 -9.09418481e-04 3.72006362e+01] [ 3.34602878e-02 9.99440046e-01 5.11100038e-05 -1.75684799e+00] [ 9.07199096e-04 -8.15107677e-05 9.99999585e-01 -6.58584614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.382414037 meters 0.0888453199313928 Centerline is valid? [True, True] Translation: X:37.23, Y:-1.76, Z:-0.66 [[ 9.99495793e-01 -3.17430850e-02 -7.32921132e-04 3.72323463e+01] [ 3.17431230e-02 9.99496059e-01 4.01850191e-05 -1.75545133e+00] [ 7.31276187e-04 -6.34299632e-05 9.99999731e-01 -6.60840329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.412414037 meters 0.09212905953876178 Centerline is valid? [True, True] Translation: X:37.26, Y:-1.76, Z:-0.67 [[ 9.99536480e-01 -3.04369517e-02 -6.45167670e-04 3.72623460e+01] [ 3.04369821e-02 9.99536687e-01 3.72837558e-05 -1.76293346e+00] [ 6.43733952e-04 -5.69034309e-05 9.99999791e-01 -6.65237246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.442414037 meters 0.09030950534053024 Centerline is valid? [True, True] Translation: X:37.29, Y:-1.76, Z:-0.66 [[ 9.99547580e-01 -3.00612904e-02 -9.76347996e-04 3.72946747e+01] [ 3.00613570e-02 9.99548054e-01 5.36373650e-05 -1.75838148e+00] [ 9.74294331e-04 -8.29634440e-05 9.99999522e-01 -6.64770557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.472414037 meters 0.08922621524123216 Centerline is valid? [True, True] Translation: X:37.33, Y:-1.76, Z:-0.67 [[ 9.99588219e-01 -2.86781698e-02 -9.76951124e-04 3.73263503e+01] [ 2.86782348e-02 9.99588693e-01 5.26314097e-05 -1.75555587e+00] [ 9.75039925e-04 -8.06269709e-05 9.99999521e-01 -6.65328435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.502414037 meters 0.08881349798351407 Centerline is valid? [True, True] Translation: X:37.36, Y:-1.75, Z:-0.67 [[ 9.99654074e-01 -2.62817326e-02 -1.00104381e-03 3.73577204e+01] [ 2.62817993e-02 9.99654572e-01 5.35263225e-05 -1.75126483e+00] [ 9.99291262e-04 -7.98170390e-05 9.99999498e-01 -6.65396161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.532414037 meters 0.08842350514999053 Centerline is valid? [True, True] Translation: X:37.39, Y:-1.75, Z:-0.67 [[ 9.99681474e-01 -2.52298362e-02 -6.37505562e-04 3.73888743e+01] [ 2.52298635e-02 9.99681676e-01 3.47519373e-05 -1.75000132e+00] [ 6.36425843e-04 -5.08250462e-05 9.99999796e-01 -6.66858873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.562414036999996 meters 0.08723250887139443 Centerline is valid? [True, True] Translation: X:37.42, Y:-1.75, Z:-0.67 [[ 9.99700960e-01 -2.44466980e-02 -5.91584760e-04 3.74218066e+01] [ 2.44467223e-02 9.99701134e-01 3.40310661e-05 -1.74802014e+00] [ 5.90576008e-04 -4.84831978e-05 9.99999824e-01 -6.66271019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.592414037 meters 0.08832553882553155 Centerline is valid? [True, True] Translation: X:37.45, Y:-1.75, Z:-0.67 [[ 9.99715382e-01 -2.38132692e-02 1.44322081e-03 3.74518764e+01] [ 2.38133995e-02 9.99716418e-01 -7.32206756e-05 -1.75035548e+00] [-1.44106792e-03 1.07567830e-04 9.99998956e-01 -6.67362019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.622414037 meters 0.08903852492619986 Centerline is valid? [True, True] Translation: X:37.48, Y:-1.75, Z:-0.67 [[ 9.99711067e-01 -2.39509072e-02 2.03398428e-03 3.74828374e+01] [ 2.39511728e-02 9.99713124e-01 -1.06291022e-04 -1.75290658e+00] [-2.03085501e-03 1.54976620e-04 9.99997926e-01 -6.68362236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.652414037 meters 0.0880310673264573 Centerline is valid? [True, True] Translation: X:37.52, Y:-1.75, Z:-0.67 [[ 9.99711012e-01 -2.39515996e-02 2.05278868e-03 3.75155121e+01] [ 2.39518693e-02 9.99713107e-01 -1.06863353e-04 -1.75182432e+00] [-2.04964020e-03 1.56000597e-04 9.99997887e-01 -6.68875493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.682414037 meters 0.08662200836358548 Centerline is valid? [True, True] Translation: X:37.55, Y:-1.75, Z:-0.67 [[ 9.99743615e-01 -2.25933223e-02 1.49835864e-03 3.75483589e+01] [ 2.25934610e-02 9.99744732e-01 -7.56940612e-05 -1.75054673e+00] [-1.49626598e-03 1.09527762e-04 9.99998875e-01 -6.69792771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.712414037 meters 0.08658808248665739 Centerline is valid? [True, True] Translation: X:37.58, Y:-1.75, Z:-0.67 [[ 9.99783984e-01 -2.07754986e-02 6.03216357e-04 3.75788410e+01] [ 2.07755198e-02 9.99784165e-01 -2.89035637e-05 -1.75018336e+00] [-6.02485675e-04 4.14294534e-05 9.99999818e-01 -6.71933189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.742414037 meters 0.08688287089735919 Centerline is valid? [True, True] Translation: X:37.61, Y:-1.75, Z:-0.67 [[ 9.99817026e-01 -1.90497092e-02 1.73897094e-03 3.76083838e+01] [ 1.90499001e-02 9.99818530e-01 -9.32642962e-05 -1.75142318e+00] [-1.73687871e-03 1.26374454e-04 9.99998484e-01 -6.72897932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.772414037 meters 0.08619893871380137 Centerline is valid? [True, True] Translation: X:37.64, Y:-1.75, Z:-0.67 [[ 9.99832454e-01 -1.81529910e-02 2.35216360e-03 3.76395552e+01] [ 1.81533337e-02 9.99835207e-01 -1.24418794e-04 -1.74963912e+00] [-2.34951741e-03 1.67097559e-04 9.99997226e-01 -6.72830297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.802414037 meters 0.0860867238738737 Centerline is valid? [True, True] Translation: X:37.67, Y:-1.75, Z:-0.67 [[ 9.99846210e-01 -1.73911729e-02 2.25889590e-03 3.76716444e+01] [ 1.73914849e-02 9.99848750e-01 -1.18528176e-04 -1.75044577e+00] [-2.25649290e-03 1.57795502e-04 9.99997442e-01 -6.73305184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.832414037 meters 0.0867307381179077 Centerline is valid? [True, True] Translation: X:37.70, Y:-1.75, Z:-0.67 [[ 9.99849407e-01 -1.64973005e-02 5.38545565e-03 3.77016413e+01] [ 1.64990883e-02 9.99863839e-01 -2.87700188e-04 -1.75392585e+00] [-5.37997608e-03 3.76511970e-04 9.99985457e-01 -6.73617522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.862414037 meters 0.08532888804501831 Centerline is valid? [True, True] Translation: X:37.73, Y:-1.75, Z:-0.67 [[ 9.99855923e-01 -1.60988434e-02 5.38144199e-03 3.77339359e+01] [ 1.61006131e-02 9.99870336e-01 -2.85684757e-04 -1.75315279e+00] [-5.37614502e-03 3.72288112e-04 9.99985479e-01 -6.72435363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.892414037 meters 0.08745368396503596 Centerline is valid? [True, True] Translation: X:37.76, Y:-1.76, Z:-0.68 [[ 9.99861642e-01 -1.57493682e-02 5.35290407e-03 3.77647329e+01] [ 1.57511185e-02 9.99875903e-01 -2.84976173e-04 -1.75978604e+00] [-5.34775160e-03 3.69250971e-04 9.99985633e-01 -6.76164278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.922414037 meters 0.08780061875034051 Centerline is valid? [True, True] Translation: X:37.80, Y:-1.76, Z:-0.68 [[ 9.99863548e-01 -1.61652038e-02 3.40181576e-03 3.77970040e+01] [ 1.61659102e-02 9.99869307e-01 -1.80266787e-04 -1.76156690e+00] [-3.39845712e-03 2.35235638e-04 9.99994198e-01 -6.77970408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.952414037 meters 0.08892483098181239 Centerline is valid? [True, True] Translation: X:37.83, Y:-1.76, Z:-0.68 [[ 9.99861868e-01 -1.66108987e-02 5.69126606e-04 3.78269914e+01] [ 1.66109179e-02 9.99862029e-01 -2.90719037e-05 -1.76399733e+00] [-5.68565172e-04 3.85216032e-05 9.99999838e-01 -6.81819506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.982414037 meters 0.08934301529652974 Centerline is valid? [True, True] Translation: X:37.86, Y:-1.77, Z:-0.68 [[ 9.99868945e-01 -1.61805708e-02 5.30379119e-04 3.78580039e+01] [ 1.61805873e-02 9.99869085e-01 -2.69491026e-05 -1.76597255e+00] [-5.29873632e-04 3.55274164e-05 9.99999859e-01 -6.83865628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.012414037 meters 0.08896049888869052 Centerline is valid? [True, True] Translation: X:37.89, Y:-1.77, Z:-0.68 [[ 9.99878317e-01 -1.55870281e-02 6.28971905e-04 3.78907938e+01] [ 1.55870508e-02 9.99878514e-01 -3.12763194e-05 -1.76677500e+00] [-6.28407989e-04 4.10763307e-05 9.99999802e-01 -6.84123304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.042414037 meters 0.08570984562949742 Centerline is valid? [True, True] Translation: X:37.92, Y:-1.76, Z:-0.68 [[ 9.99878561e-01 -1.53237270e-02 2.83651240e-03 3.79222863e+01] [ 1.53242182e-02 9.99882566e-01 -1.51546196e-04 -1.76066559e+00] [-2.83385705e-03 1.94995127e-04 9.99995966e-01 -6.81223264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.072414037 meters 0.08863124481067496 Centerline is valid? [True, True] Translation: X:37.95, Y:-1.77, Z:-0.68 [[ 9.99872661e-01 -1.56437993e-02 3.15173944e-03 3.79534430e+01] [ 1.56444066e-02 9.99877605e-01 -1.68139585e-04 -1.76912322e+00] [-3.14872334e-03 2.17425268e-04 9.99995019e-01 -6.83974181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.102414037 meters 0.08465378964980376 Centerline is valid? [True, True] Translation: X:37.99, Y:-1.76, Z:-0.68 [[ 9.99862789e-01 -1.61212427e-02 3.80893984e-03 3.79866805e+01] [ 1.61221332e-02 9.99870009e-01 -2.03196208e-04 -1.76108566e+00] [-3.80516894e-03 2.64576562e-04 9.99992725e-01 -6.81194706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.132414037 meters 0.08642105457208986 Centerline is valid? [True, True] Translation: X:38.02, Y:-1.77, Z:-0.68 [[ 9.99849575e-01 -1.67933096e-02 4.33738619e-03 3.80173022e+01] [ 1.67944663e-02 9.99858936e-01 -2.30387461e-04 -1.76665538e+00] [-4.33290537e-03 3.03196891e-04 9.99990567e-01 -6.83639492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.162414037 meters 0.08524922868755519 Centerline is valid? [True, True] Translation: X:38.05, Y:-1.77, Z:-0.68 [[ 9.99840826e-01 -1.74096701e-02 3.90211879e-03 3.80495944e+01] [ 1.74106176e-02 9.99848402e-01 -2.08984011e-04 -1.76586576e+00] [-3.89788890e-03 2.76889044e-04 9.99992365e-01 -6.83277047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.192414037 meters 0.08598787467210808 Centerline is valid? [True, True] Translation: X:38.08, Y:-1.77, Z:-0.68 [[ 9.99793884e-01 -1.95451993e-02 5.49323790e-03 3.80807351e+01] [ 1.95471211e-02 9.99808893e-01 -2.96378285e-04 -1.77121644e+00] [-5.48639533e-03 4.03694183e-04 9.99984868e-01 -6.83784707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.222414037 meters 0.08710523638571668 Centerline is valid? [True, True] Translation: X:38.11, Y:-1.78, Z:-0.68 [[ 9.99759696e-01 -2.08176319e-02 6.86848297e-03 3.81111980e+01] [ 2.08206552e-02 9.99783159e-01 -3.68954293e-04 -1.77600207e+00] [-6.85931284e-03 5.11871948e-04 9.99976344e-01 -6.83584342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.252414037 meters 0.08702621370721524 Centerline is valid? [True, True] Translation: X:38.14, Y:-1.78, Z:-0.68 [[ 9.99714776e-01 -2.26287153e-02 7.63592780e-03 3.81419286e+01] [ 2.26325273e-02 9.99743766e-01 -4.13167613e-04 -1.77791686e+00] [-7.62462177e-03 5.85870112e-04 9.99970761e-01 -6.83443544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.282414037 meters 0.08908060034484011 Centerline is valid? [True, True] Translation: X:38.17, Y:-1.78, Z:-0.69 [[ 9.99636860e-01 -2.63969073e-02 5.41763691e-03 3.81717309e+01] [ 2.63988859e-02 9.99651445e-01 -2.94009969e-04 -1.78449511e+00] [-5.40798761e-03 4.36922781e-04 9.99985281e-01 -6.85403431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.312414036999996 meters 0.08819271308814115 Centerline is valid? [True, True] Translation: X:38.20, Y:-1.78, Z:-0.69 [[ 9.99589850e-01 -2.83822726e-02 3.81807113e-03 3.82025553e+01] [ 2.83832686e-02 9.99597092e-01 -2.06940692e-04 -1.78470201e+00] [-3.81065936e-03 3.15225154e-04 9.99992690e-01 -6.86431208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.342414037 meters 0.09006638015412054 Centerline is valid? [True, True] Translation: X:38.23, Y:-1.79, Z:-0.69 [[ 9.99539512e-01 -3.02759250e-02 2.03290979e-03 3.82323092e+01] [ 3.02762119e-02 9.99541564e-01 -1.10488536e-04 -1.79073111e+00] [-2.02863269e-03 1.71986465e-04 9.99997928e-01 -6.90425224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.372414037 meters 0.09175551335429741 Centerline is valid? [True, True] Translation: X:38.26, Y:-1.80, Z:-0.69 [[ 9.99409998e-01 -3.43294843e-02 1.06856242e-03 3.82629775e+01] [ 3.43295650e-02 9.99410565e-01 -5.71818513e-05 -1.79784947e+00] [-1.06596954e-03 9.38313967e-05 9.99999427e-01 -6.94801755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.402414037 meters 0.09289995663083553 Centerline is valid? [True, True] Translation: X:38.29, Y:-1.80, Z:-0.70 [[ 9.99348535e-01 -3.60537115e-02 1.62366156e-03 3.82939017e+01] [ 3.60539005e-02 9.99349843e-01 -8.72559553e-05 -1.80363449e+00] [-1.61946003e-03 1.45738444e-04 9.99998678e-01 -6.95857667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.432414037 meters 0.09403801317350179 Centerline is valid? [True, True] Translation: X:38.32, Y:-1.81, Z:-0.70 [[ 9.99264267e-01 -3.82533095e-02 2.75856639e-03 3.83248204e+01] [ 3.82538651e-02 9.99268042e-01 -1.48907008e-04 -1.80876505e+00] [-2.75085105e-03 2.54323279e-04 9.99996184e-01 -6.96393324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.462414037 meters 0.09624778104031814 Centerline is valid? [True, True] Translation: X:38.35, Y:-1.82, Z:-0.70 [[ 9.99181870e-01 -4.03166076e-02 3.18776097e-03 3.83545166e+01] [ 4.03173589e-02 9.99186910e-01 -1.71731619e-04 -1.81543074e+00] [-3.17824540e-03 3.00113224e-04 9.99994904e-01 -6.96676751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.492414037 meters 0.09720706506211386 Centerline is valid? [True, True] Translation: X:38.39, Y:-1.82, Z:-0.70 [[ 9.99150977e-01 -4.10865739e-02 3.03620386e-03 3.83866578e+01] [ 4.10872589e-02 9.99155549e-01 -1.63575457e-04 -1.81847259e+00] [-3.02691918e-03 2.88185872e-04 9.99995377e-01 -6.96814104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.522414037 meters 0.09572254099950589 Centerline is valid? [True, True] Translation: X:38.42, Y:-1.82, Z:-0.69 [[ 9.99061606e-01 -4.31371881e-02 3.88469656e-03 3.84174247e+01] [ 4.31383336e-02 9.99069086e-01 -2.11528779e-04 -1.81744892e+00] [-3.87195549e-03 3.78909618e-04 9.99992432e-01 -6.94792629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.552414037 meters 0.097028251936966 Centerline is valid? [True, True] Translation: X:38.45, Y:-1.82, Z:-0.70 [[ 9.99020550e-01 -4.40862051e-02 3.78764201e-03 3.84488450e+01] [ 4.40872796e-02 9.99027663e-01 -2.00630566e-04 -1.82326025e+00] [-3.77511410e-03 3.67420891e-04 9.99992807e-01 -6.96491150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.582414037 meters 0.09678592760447917 Centerline is valid? [True, True] Translation: X:38.48, Y:-1.83, Z:-0.70 [[ 9.98978246e-01 -4.50013629e-02 4.16432207e-03 3.84807995e+01] [ 4.50026935e-02 9.98986840e-01 -2.26331311e-04 -1.82657263e+00] [-4.14991773e-03 4.13505766e-04 9.99991304e-01 -6.98147191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.612414037 meters 0.09722237031785419 Centerline is valid? [True, True] Translation: X:38.51, Y:-1.83, Z:-0.70 [[ 9.98963761e-01 -4.53901334e-02 3.33765580e-03 3.85125615e+01] [ 4.53909896e-02 9.98969281e-01 -1.81196658e-04 -1.83100570e+00] [-3.32599108e-03 3.32508394e-04 9.99994414e-01 -7.00202719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.642414037 meters 0.09754563488228556 Centerline is valid? [True, True] Translation: X:38.54, Y:-1.83, Z:-0.70 [[ 9.98962148e-01 -4.54760731e-02 2.56003494e-03 3.85442209e+01] [ 4.54765648e-02 9.98965397e-01 -1.34176896e-04 -1.83393596e+00] [-2.55128448e-03 2.50459236e-04 9.99996714e-01 -7.01855942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.672414037 meters 0.09764835940707636 Centerline is valid? [True, True] Translation: X:38.58, Y:-1.84, Z:-0.70 [[ 9.98962208e-01 -4.54950894e-02 2.16885838e-03 3.85763476e+01] [ 4.54954509e-02 9.98964539e-01 -1.17609721e-04 -1.83595257e+00] [-2.16126195e-03 2.16160856e-04 9.99997641e-01 -7.02725228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.702414037 meters 0.09857629993292778 Centerline is valid? [True, True] Translation: X:38.61, Y:-1.84, Z:-0.70 [[ 9.98986068e-01 -4.49870369e-02 1.73280564e-03 3.86073735e+01] [ 4.49872585e-02 9.98987557e-01 -8.90857844e-05 -1.83834543e+00] [-1.72704357e-03 1.66949633e-04 9.99998495e-01 -7.04560225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.732414037 meters 0.09503911135137437 Centerline is valid? [True, True] Translation: X:38.64, Y:-1.83, Z:-0.70 [[ 9.99038489e-01 -4.38186661e-02 1.42162862e-03 3.86397677e+01] [ 4.38188200e-02 9.99039491e-01 -7.72357635e-05 -1.83363360e+00] [-1.41687876e-03 1.39455589e-04 9.99998987e-01 -7.03414611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.762414037 meters 0.0958470351054932 Centerline is valid? [True, True] Translation: X:38.67, Y:-1.84, Z:-0.71 [[ 9.99109774e-01 -4.21542952e-02 1.63543055e-03 3.86696148e+01] [ 4.21544997e-02 9.99111100e-01 -9.07547034e-05 -1.83842062e+00] [-1.63015112e-03 1.59614668e-04 9.99998659e-01 -7.05023995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.792414037 meters 0.09496624961183799 Centerline is valid? [True, True] Translation: X:38.70, Y:-1.84, Z:-0.71 [[ 9.99142115e-01 -4.14100895e-02 4.88027817e-04 3.87021929e+01] [ 4.14101066e-02 9.99142233e-01 -2.49276149e-05 -1.83954731e+00] [-4.86576948e-04 4.51155138e-05 9.99999881e-01 -7.06325234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.822414037 meters 0.09506384462767661 Centerline is valid? [True, True] Translation: X:38.73, Y:-1.84, Z:-0.71 [[ 9.99241850e-01 -3.89301972e-02 -4.06746807e-04 3.87319132e+01] [ 3.89302096e-02 9.99241932e-01 2.25990611e-05 -1.84257906e+00] [ 4.05558679e-04 -3.84166661e-05 9.99999917e-01 -7.10230920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.852414037 meters 0.09373915320427155 Centerline is valid? [True, True] Translation: X:38.76, Y:-1.84, Z:-0.71 [[ 9.99264808e-01 -3.83037035e-02 -1.63384458e-03 3.87646769e+01] [ 3.83039064e-02 9.99266132e-01 9.30742004e-05 -1.84124925e+00] [ 1.62908047e-03 -1.55588403e-04 9.99998661e-01 -7.10638547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.882414037 meters 0.09399197287195445 Centerline is valid? [True, True] Translation: X:38.80, Y:-1.84, Z:-0.71 [[ 9.99291703e-01 -3.76113460e-02 -1.21592844e-03 3.87974184e+01] [ 3.76114593e-02 9.99292436e-01 7.04467918e-05 -1.84311549e+00] [ 1.21241849e-03 -1.16129738e-04 9.99999258e-01 -7.11681795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.912414037 meters 0.09544150155924497 Centerline is valid? [True, True] Translation: X:38.83, Y:-1.85, Z:-0.71 [[ 9.99306507e-01 -3.72120940e-02 -1.32886025e-03 3.88285327e+01] [ 3.72122273e-02 9.99307382e-01 7.57159681e-05 -1.84691699e+00] [ 1.32512231e-03 -1.25113309e-04 9.99999114e-01 -7.13181566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.942414037 meters 0.0925229769356134 Centerline is valid? [True, True] Translation: X:38.86, Y:-1.84, Z:-0.71 [[ 9.99328308e-01 -3.66354052e-02 -8.82743907e-04 3.88615335e+01] [ 3.66354666e-02 9.99328695e-01 5.34421982e-05 -1.84264763e+00] [ 8.80193439e-04 -8.57460365e-05 9.99999609e-01 -7.11458081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.972414037 meters 0.09328065059943508 Centerline is valid? [True, True] Translation: X:38.89, Y:-1.85, Z:-0.71 [[ 9.99349741e-01 -3.60568087e-02 2.72107297e-05 3.88928238e+01] [ 3.60568087e-02 9.99349742e-01 -4.29784237e-07 -1.84699040e+00] [-2.71775391e-05 1.41063684e-06 1.00000000e+00 -7.12394134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.002414037 meters 0.09133265690650284 Centerline is valid? [True, True] Translation: X:38.93, Y:-1.85, Z:-0.71 [[ 9.99351342e-01 -3.59993424e-02 9.70937592e-04 3.89250196e+01] [ 3.59994099e-02 9.99351810e-01 -5.21413766e-05 -1.84566761e+00] [-9.68431184e-04 8.70607350e-05 9.99999527e-01 -7.12384375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.032414037 meters 0.09255777095345971 Centerline is valid? [True, True] Translation: X:38.96, Y:-1.85, Z:-0.71 [[ 9.99331445e-01 -3.64705979e-02 2.56091581e-03 3.89571523e+01] [ 3.64710775e-02 9.99334699e-01 -1.40841884e-04 -1.85010675e+00] [-2.55407544e-03 2.34147083e-04 9.99996711e-01 -7.13071297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.062414036999996 meters 0.09363861203237976 Centerline is valid? [True, True] Translation: X:38.99, Y:-1.85, Z:-0.71 [[ 9.99302170e-01 -3.72429375e-02 2.85234308e-03 3.89882403e+01] [ 3.72435402e-02 9.99306206e-01 -1.58459208e-04 -1.85198355e+00] [-2.84446265e-03 2.64579985e-04 9.99995920e-01 -7.12851054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.092414037 meters 0.09342858251237593 Centerline is valid? [True, True] Translation: X:39.02, Y:-1.85, Z:-0.71 [[ 9.99285178e-01 -3.76998220e-02 2.80285280e-03 3.90200727e+01] [ 3.77004061e-02 9.99289075e-01 -1.55813604e-04 -1.85213307e+00] [-2.79498603e-03 2.61370914e-04 9.99996060e-01 -7.13593627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.122414037 meters 0.09155366394670504 Centerline is valid? [True, True] Translation: X:39.05, Y:-1.85, Z:-0.71 [[ 9.99257222e-01 -3.85067414e-02 1.49479693e-03 3.90510259e+01] [ 3.85069089e-02 9.99258330e-01 -8.34404794e-05 -1.84845928e+00] [-1.49047526e-03 1.40938511e-04 9.99998879e-01 -7.13801880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.152414037 meters 0.09528817364289341 Centerline is valid? [True, True] Translation: X:39.08, Y:-1.86, Z:-0.72 [[ 9.99190314e-01 -4.02024597e-02 1.57445281e-03 3.90800420e+01] [ 4.02026448e-02 9.99191543e-01 -8.61165226e-05 -1.85805509e+00] [-1.56971784e-03 1.49343963e-04 9.99998757e-01 -7.17348853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.182414037 meters 0.09697637992060935 Centerline is valid? [True, True] Translation: X:39.11, Y:-1.86, Z:-0.72 [[ 9.99114100e-01 -4.20499338e-02 1.67869302e-03 3.91101783e+01] [ 4.20501504e-02 9.99115497e-01 -9.39529374e-05 -1.86421988e+00] [-1.67325749e-03 1.64458998e-04 9.99998587e-01 -7.18673829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.212414037 meters 0.09732879542703857 Centerline is valid? [True, True] Translation: X:39.14, Y:-1.87, Z:-0.72 [[ 9.99045274e-01 -4.36578205e-02 1.59208638e-03 3.91415719e+01] [ 4.36580166e-02 9.99046530e-01 -8.85881772e-05 -1.86740233e+00] [-1.58670080e-03 1.58010933e-04 9.99998729e-01 -7.19663770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.242414037 meters 0.09732879542703857 Centerline is valid? [True, True] Translation: X:39.17, Y:-1.87, Z:-0.72 [[ 9.99049660e-01 -4.35573463e-02 1.59219998e-03 3.91742192e+01] [ 4.35575390e-02 9.99050916e-01 -8.65739572e-05 -1.86934899e+00] [-1.58691792e-03 1.55843995e-04 9.99998729e-01 -7.20723427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.272414037 meters 0.09699841719537376 Centerline is valid? [True, True] Translation: X:39.21, Y:-1.87, Z:-0.72 [[ 9.98969043e-01 -4.53912204e-02 6.98670502e-04 3.92050953e+01] [ 4.53912586e-02 9.98969285e-01 -3.89065453e-05 -1.87153979e+00] [-6.96184356e-04 7.05799678e-05 9.99999755e-01 -7.21691878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.302414037 meters 0.09980949424055963 Centerline is valid? [True, True] Translation: X:39.23, Y:-1.88, Z:-0.72 [[ 9.98773327e-01 -4.95117018e-02 -6.57438702e-04 3.92344321e+01] [ 4.95117365e-02 9.98773541e-01 3.66307955e-05 -1.87892818e+00] [ 6.54818728e-04 -6.91367933e-05 9.99999783e-01 -7.24818963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.332414037 meters 0.1012244915017082 Centerline is valid? [True, False] Translation: X:39.23, Y:-1.88, Z:-0.72 [[ 9.98764754e-01 -4.96872046e-02 -3.85147299e-04 3.92338526e+01] [ 4.96872334e-02 9.98764824e-01 6.54836758e-05 -1.87934415e+00] [ 3.81417874e-04 -8.45396910e-05 9.99999924e-01 -7.24740895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.362414037 meters 0.10118566120367058 Centerline is valid? [False, False] Translation: X:39.23, Y:-1.88, Z:-0.72 [[ 9.98765324e-01 -4.96770722e-02 -1.30190127e-04 3.92334833e+01] [ 4.96771173e-02 9.98765262e-01 3.69347650e-04 -1.88030112e+00] [ 1.11681267e-04 -3.75359096e-04 9.99999923e-01 -7.24959597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.392414037 meters 0.10907543336589186 Centerline is valid? [False, False] Translation: X:39.22, Y:-1.88, Z:-0.73 [[ 9.98958824e-01 -4.49801080e-02 7.61960707e-03 3.92239787e+01] [ 4.49974124e-02 9.98984865e-01 -2.11494660e-03 -1.88312588e+00] [-7.51674161e-03 2.45560717e-03 9.99968734e-01 -7.30183010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.422414037 meters 0.10228547013895638 Centerline is valid? [False, False] Translation: X:39.21, Y:-1.89, Z:-0.73 [[ 9.99059656e-01 -4.05040660e-02 1.54668686e-02 3.92137151e+01] [ 4.05761433e-02 9.99166871e-01 -4.37495807e-03 -1.88661525e+00] [-1.52767791e-02 4.99842998e-03 9.99870810e-01 -7.34475221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.452414037 meters 0.10334421624811742 Centerline is valid? [False, False] Translation: X:39.20, Y:-1.89, Z:-0.74 [[ 9.99122416e-01 -3.51278981e-02 2.28128907e-02 3.92042152e+01] [ 3.52909773e-02 9.99354043e-01 -6.78562046e-03 -1.88839339e+00] [-2.25597900e-02 7.58475472e-03 9.99716724e-01 -7.39052516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.482414037 meters 0.10209308482315636 Centerline is valid? [False, False] Translation: X:39.20, Y:-1.89, Z:-0.74 [[ 9.99425345e-01 -2.98740181e-02 1.60163083e-02 3.91979534e+01] [ 3.01014185e-02 9.99446687e-01 -1.41500884e-02 -1.88789147e+00] [-1.55847263e-02 1.46240706e-02 9.99771600e-01 -7.36454443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.512414037 meters 0.10231057614476217 Centerline is valid? [False, False] Translation: X:39.19, Y:-1.89, Z:-0.73 [[ 9.99728192e-01 -2.15773615e-02 8.82942826e-03 3.91904448e+01] [ 2.17276413e-02 9.99614340e-01 -1.72939321e-02 -1.88763899e+00] [-8.45286568e-03 1.74810741e-02 9.99811463e-01 -7.33609416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.542414037 meters 0.09811419053647377 Centerline is valid? [False, True] Translation: X:39.19, Y:-1.89, Z:-0.73 [[ 9.99812024e-01 -1.71744589e-02 8.99745671e-03 3.91902242e+01] [ 1.72861796e-02 9.99772569e-01 -1.24899060e-02 -1.88891325e+00] [-8.78090303e-03 1.26430899e-02 9.99881517e-01 -7.34083245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.572414037 meters 0.09780169452287091 Centerline is valid? [True, True] Translation: X:39.22, Y:-1.90, Z:-0.74 [[ 9.99812868e-01 -1.63971320e-02 1.02646932e-02 3.92213382e+01] [ 1.64076268e-02 9.99864945e-01 -9.39028939e-04 -1.89655048e+00] [-1.02479095e-02 1.10727247e-03 9.99946876e-01 -7.40111556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.602414037 meters 0.1045155753166537 Centerline is valid? [True, False] Translation: X:39.22, Y:-1.90, Z:-0.74 [[ 9.99874296e-01 -1.18089388e-02 1.05802618e-02 3.92208171e+01] [ 1.17642511e-02 9.99921656e-01 4.27601179e-03 -1.89965453e+00] [-1.06299281e-02 -4.15100542e-03 9.99934885e-01 -7.40409729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.632414037 meters 0.0952226476318092 Centerline is valid? [False, True] Translation: X:39.22, Y:-1.90, Z:-0.74 [[ 9.99881827e-01 -1.12895345e-02 1.04345139e-02 3.92215917e+01] [ 1.12379401e-02 9.99924401e-01 4.99006793e-03 -1.90099163e+00] [-1.04900606e-02 -4.87221579e-03 9.99933108e-01 -7.41118039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.662414037 meters 0.09824565312954188 Centerline is valid? [True, True] Translation: X:39.25, Y:-1.91, Z:-0.74 [[ 9.99891799e-01 -1.03762659e-02 1.04270630e-02 3.92512408e+01] [ 1.03870787e-02 9.99945569e-01 -9.83367241e-04 -1.90749853e+00] [-1.04162918e-02 1.09156756e-03 9.99945153e-01 -7.41098452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.692414037 meters 0.09733077484803357 Centerline is valid? [True, True] Translation: X:39.28, Y:-1.91, Z:-0.74 [[ 9.99897857e-01 -9.60573771e-03 1.05832781e-02 3.92831362e+01] [ 9.61682678e-03 9.99953260e-01 -9.97398738e-04 -1.90846158e+00] [-1.05732027e-02 1.09907441e-03 9.99943498e-01 -7.42029061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.722414037 meters 0.09672748630426814 Centerline is valid? [True, True] Translation: X:39.31, Y:-1.91, Z:-0.74 [[ 9.99916511e-01 -8.13864711e-03 1.00366245e-02 3.93144790e+01] [ 8.14855578e-03 9.99966352e-01 -9.46753011e-04 -1.90891512e+00] [-1.00285815e-02 1.02845796e-03 9.99949184e-01 -7.42142391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.752414037 meters 0.0961525596708677 Centerline is valid? [True, True] Translation: X:39.35, Y:-1.91, Z:-0.74 [[ 9.99922800e-01 -7.87207149e-03 9.61381617e-03 3.93469063e+01] [ 7.88114431e-03 9.99968533e-01 -9.06206208e-04 -1.91103647e+00] [-9.60637993e-03 9.81904121e-04 9.99953376e-01 -7.43361271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.782414037 meters 0.09695657405823821 Centerline is valid? [True, True] Translation: X:39.38, Y:-1.92, Z:-0.75 [[ 9.99917757e-01 -8.06672364e-03 9.97035753e-03 3.93782361e+01] [ 8.07650381e-03 9.99966942e-01 -9.41049167e-04 -1.91583799e+00] [-9.96243675e-03 1.02149740e-03 9.99949852e-01 -7.45090639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.812414036999996 meters 0.09636202398559314 Centerline is valid? [True, True] Translation: X:39.41, Y:-1.92, Z:-0.75 [[ 9.99919540e-01 -8.70434401e-03 9.22756061e-03 3.94100827e+01] [ 8.71274648e-03 9.99961664e-01 -8.70775418e-04 -1.91912129e+00] [-9.21962733e-03 9.51102752e-04 9.99957046e-01 -7.46659212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.842414037 meters 0.09738783379951672 Centerline is valid? [True, True] Translation: X:39.44, Y:-1.92, Z:-0.75 [[ 9.99913048e-01 -9.13490726e-03 9.51054580e-03 3.94404412e+01] [ 9.14386385e-03 9.99957790e-01 -8.98696197e-04 -1.92476550e+00] [-9.50193485e-03 9.85581189e-04 9.99954370e-01 -7.49095999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.872414037 meters 0.09656348086780672 Centerline is valid? [True, True] Translation: X:39.47, Y:-1.93, Z:-0.75 [[ 9.99876198e-01 -1.11679878e-02 1.10843987e-02 3.94714429e+01] [ 1.11802973e-02 9.99936948e-01 -1.04918123e-03 -1.92708927e+00] [-1.10719825e-02 1.17297821e-03 9.99938016e-01 -7.49268370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.902414037 meters 0.09790798569850402 Centerline is valid? [True, True] Translation: X:39.50, Y:-1.93, Z:-0.75 [[ 9.99871434e-01 -1.14965575e-02 1.11778498e-02 3.95022836e+01] [ 1.15090880e-02 9.99933209e-01 -1.05733201e-03 -1.93294361e+00] [-1.11649475e-02 1.18584293e-03 9.99936967e-01 -7.49683395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.932414037 meters 0.09653053679675401 Centerline is valid? [True, True] Translation: X:39.53, Y:-1.93, Z:-0.75 [[ 9.99860233e-01 -1.23775534e-02 1.12387723e-02 3.95338370e+01] [ 1.23902824e-02 9.99922672e-01 -1.06367452e-03 -1.93473947e+00] [-1.12247376e-02 1.20277742e-03 9.99936277e-01 -7.50235465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.962414037 meters 0.09902129751488001 Centerline is valid? [True, True] Translation: X:39.56, Y:-1.94, Z:-0.75 [[ 9.99846272e-01 -1.31227673e-02 1.16286437e-02 3.95637939e+01] [ 1.31364323e-02 9.99913109e-01 -1.09951430e-03 -1.94346098e+00] [-1.16132046e-02 1.25210416e-03 9.99931781e-01 -7.52533879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.992414037 meters 0.09902129751488001 Centerline is valid? [True, True] Translation: X:39.60, Y:-1.95, Z:-0.75 [[ 9.99847600e-01 -1.30213253e-02 1.16284687e-02 3.95963573e+01] [ 1.30350047e-02 9.99914434e-01 -1.10135877e-03 -1.94665781e+00] [-1.16131326e-02 1.25276807e-03 9.99931781e-01 -7.53751173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.022414037 meters 0.0987406759951914 Centerline is valid? [True, True] Translation: X:39.63, Y:-1.95, Z:-0.76 [[ 9.99840264e-01 -1.38905474e-02 1.12471708e-02 3.96283687e+01] [ 1.39034203e-02 9.99902773e-01 -1.06716930e-03 -1.95023352e+00] [-1.12312537e-02 1.22337298e-03 9.99936179e-01 -7.55002482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.052414037 meters 0.10027267670496078 Centerline is valid? [True, False] Translation: X:39.63, Y:-1.95, Z:-0.76 [[ 9.99847912e-01 -1.32592097e-02 1.13289608e-02 3.96288127e+01] [ 1.32578639e-02 9.99912092e-01 1.93892225e-04 -1.95301811e+00] [-1.13305357e-02 -4.36649167e-05 9.99935806e-01 -7.55955260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.082414037 meters 0.10042788761325394 Centerline is valid? [False, False] Translation: X:39.63, Y:-1.95, Z:-0.75 [[ 9.99904593e-01 -1.30400458e-02 -4.55649982e-03 3.96315393e+01] [ 1.30299274e-02 9.99912590e-01 -2.24332114e-03 -1.95430111e+00] [ 4.58535455e-03 2.18373625e-03 9.99987103e-01 -7.52339552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.112414037 meters 0.1010922304655486 Centerline is valid? [False, False] Translation: X:39.63, Y:-1.96, Z:-0.75 [[ 9.99912570e-01 -1.24334867e-02 -4.50118621e-03 3.96319796e+01] [ 1.24284358e-02 9.99922105e-01 -1.14836382e-03 -1.95681474e+00] [ 4.51511375e-03 1.09232072e-03 9.99989210e-01 -7.53180485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.142414037 meters 0.09796557585152195 Centerline is valid? [False, True] Translation: X:39.63, Y:-1.96, Z:-0.75 [[ 9.99918755e-01 -1.21032620e-02 -3.99937136e-03 3.96312902e+01] [ 1.21031565e-02 9.99926753e-01 -5.05910333e-05 -1.96021814e+00] [ 3.99969074e-03 2.18190565e-06 9.99992001e-01 -7.53642856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.172414037 meters 0.10085478637065565 Centerline is valid? [True, False] Translation: X:39.63, Y:-1.96, Z:-0.75 [[ 9.99924360e-01 -1.16493933e-02 -3.94535230e-03 3.96315940e+01] [ 1.16523632e-02 9.99931842e-01 7.30612349e-04 -1.96193706e+00] [ 3.93657221e-03 -7.76529764e-04 9.99991950e-01 -7.54239183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.202414037 meters 0.10209400244386144 Centerline is valid? [False, False] Translation: X:39.63, Y:-1.96, Z:-0.75 [[ 9.99929230e-01 -1.12149343e-02 -3.96990853e-03 3.96319710e+01] [ 1.12207138e-02 9.99936014e-01 1.43656157e-03 -1.96337234e+00] [ 3.95354356e-03 -1.48100512e-03 9.99991088e-01 -7.54727126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.232414037 meters 0.09869556207567119 Centerline is valid? [False, True] Translation: X:39.62, Y:-1.97, Z:-0.76 [[ 9.99984828e-01 -4.45056005e-03 3.24603184e-03 3.96215112e+01] [ 4.44861011e-03 9.99989920e-01 6.07687498e-04 -1.96730323e+00] [-3.24870367e-03 -5.93237948e-04 9.99994547e-01 -7.58322902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.262414037 meters 0.09945264786097573 Centerline is valid? [True, True] Translation: X:39.65, Y:-1.97, Z:-0.76 [[ 9.99990748e-01 -3.51422765e-03 2.48094260e-03 3.96518147e+01] [ 3.51490838e-03 9.99993786e-01 -2.70073327e-04 -1.97287067e+00] [-2.47997808e-03 2.78791114e-04 9.99996886e-01 -7.58640966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.292414037 meters 0.0998225982753205 Centerline is valid? [True, True] Translation: X:39.68, Y:-1.98, Z:-0.76 [[ 9.99993976e-01 -3.13919572e-03 1.48081235e-03 3.96839240e+01] [ 3.13943612e-03 9.99995059e-01 -1.60043205e-04 -1.97843166e+00] [-1.48030263e-03 1.64691157e-04 9.99998891e-01 -7.60736875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.322414037 meters 0.09963668593700405 Centerline is valid? [True, True] Translation: X:39.72, Y:-1.98, Z:-0.76 [[ 9.99996431e-01 -2.53324159e-03 8.49227615e-04 3.97153238e+01] [ 2.53331983e-03 9.99996787e-01 -9.10723398e-05 -1.98342839e+00] [-8.48994178e-04 9.32233799e-05 9.99999635e-01 -7.62280405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.352414037 meters 0.09799819332602948 Centerline is valid? [True, True] Translation: X:39.75, Y:-1.99, Z:-0.76 [[ 9.99999341e-01 -1.10503666e-03 3.10329173e-04 3.97465191e+01] [ 1.10504698e-03 9.99999389e-01 -3.30832660e-05 -1.98736708e+00] [-3.10292425e-04 3.34261725e-05 9.99999951e-01 -7.64178203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.382414037 meters 0.10053311125327608 Centerline is valid? [True, False] Translation: X:39.75, Y:-1.99, Z:-0.76 [[ 9.99999616e-01 -8.63353331e-04 1.52493839e-04 3.97468542e+01] [ 8.63313366e-04 9.99999593e-01 2.61946552e-04 -1.98815717e+00] [-1.52719930e-04 -2.61814802e-04 9.99999954e-01 -7.64200881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.412414037 meters 0.09792388251193161 Centerline is valid? [False, True] Translation: X:39.75, Y:-1.99, Z:-0.76 [[ 9.99999525e-01 -9.68142913e-04 1.10782580e-04 3.97466663e+01] [ 9.68131285e-04 9.99999526e-01 1.04966315e-04 -1.98800725e+00] [-1.10884150e-04 -1.04859013e-04 9.99999988e-01 -7.63815186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.442414037 meters 0.09855473309040465 Centerline is valid? [True, True] Translation: X:39.78, Y:-1.99, Z:-0.76 [[ 9.99999987e-01 8.96581470e-05 1.31605060e-04 3.97767886e+01] [-8.96563372e-05 9.99999996e-01 -1.37577968e-05 -1.99224040e+00] [-1.31606293e-04 1.37459974e-05 9.99999991e-01 -7.63722173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.472414037 meters 0.09532320230171323 Centerline is valid? [True, True] Translation: X:39.81, Y:-1.99, Z:-0.76 [[ 9.99997117e-01 2.26661064e-03 7.92246455e-04 3.98077989e+01] [-2.26654354e-03 9.99997428e-01 -8.55829313e-05 -1.99008280e+00] [-7.92438400e-04 8.37870235e-05 9.99999683e-01 -7.64062793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.502414037 meters 0.0949948684225675 Centerline is valid? [True, True] Translation: X:39.84, Y:-1.99, Z:-0.77 [[ 9.99992408e-01 3.84952677e-03 6.04507079e-04 3.98379273e+01] [-3.84948800e-03 9.99992589e-01 -6.52843065e-05 -1.99373865e+00] [-6.04753912e-04 6.29567681e-05 9.99999815e-01 -7.65774044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.532414037 meters 0.09690330786114013 Centerline is valid? [True, True] Translation: X:39.87, Y:-2.00, Z:-0.77 [[ 9.99986819e-01 5.09683298e-03 6.20379811e-04 3.98665397e+01] [-5.09679212e-03 9.99987009e-01 -6.74403284e-05 -2.00084757e+00] [-6.20715483e-04 6.42774926e-05 9.99999805e-01 -7.68133063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.562414036999996 meters 0.09667983601355888 Centerline is valid? [True, True] Translation: X:39.90, Y:-2.00, Z:-0.77 [[ 9.99977085e-01 6.64587436e-03 1.28884565e-03 3.98964484e+01] [-6.64569991e-03 9.99977907e-01 -1.39589286e-04 -2.00404480e+00] [-1.28974487e-03 1.31020806e-04 9.99999160e-01 -7.69135171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.592414037 meters 0.09369606274417303 Centerline is valid? [True, True] Translation: X:39.93, Y:-2.00, Z:-0.77 [[ 9.99974248e-01 6.97148652e-03 1.70368731e-03 3.99257490e+01] [-6.97118026e-03 9.99975684e-01 -1.85636204e-04 -2.00123953e+00] [-1.70494004e-03 1.73754712e-04 9.99998531e-01 -7.68071369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.622414037 meters 0.09408633309731673 Centerline is valid? [True, True] Translation: X:39.95, Y:-2.00, Z:-0.77 [[ 9.99976104e-01 6.78466809e-03 1.32645068e-03 3.99548135e+01] [-6.78448302e-03 9.99976975e-01 -1.43977113e-04 -2.00495701e+00] [-1.32739697e-03 1.34974391e-04 9.99999110e-01 -7.68461021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.652414037 meters 0.094286761587398 Centerline is valid? [True, True] Translation: X:39.98, Y:-2.01, Z:-0.77 [[ 9.99976838e-01 6.60644888e-03 1.63650621e-03 3.99831787e+01] [-6.60616598e-03 9.99978163e-01 -1.78215321e-04 -2.00852838e+00] [-1.63764784e-03 1.67400162e-04 9.99998645e-01 -7.68986507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.682414037 meters 0.09544148348815536 Centerline is valid? [True, True] Translation: X:40.01, Y:-2.02, Z:-0.77 [[ 9.99979192e-01 5.72120284e-03 2.98036592e-03 4.00115616e+01] [-5.72026695e-03 9.99983587e-01 -3.22447802e-04 -2.01572029e+00] [-2.98216180e-03 3.05392604e-04 9.99995507e-01 -7.69830935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.712414037 meters 0.09532835458317407 Centerline is valid? [True, True] Translation: X:40.04, Y:-2.02, Z:-0.77 [[ 9.99982842e-01 5.14029126e-03 2.80956292e-03 4.00417556e+01] [-5.13946088e-03 9.99986747e-01 -3.02694315e-04 -2.01950946e+00] [-2.81108162e-03 2.88249482e-04 9.99996007e-01 -7.70308915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.742414037 meters 0.09520803333297462 Centerline is valid? [True, True] Translation: X:40.07, Y:-2.02, Z:-0.77 [[ 9.99985037e-01 4.57699892e-03 2.99612981e-03 4.00723932e+01] [-4.57605210e-03 9.99989478e-01 -3.22794501e-04 -2.02321681e+00] [-2.99757572e-03 3.09079225e-04 9.99995459e-01 -7.70474587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.772414037 meters 0.09781530666046388 Centerline is valid? [True, True] Translation: X:40.10, Y:-2.03, Z:-0.77 [[ 9.99989200e-01 3.56465281e-03 2.98203881e-03 4.01012993e+01] [-3.56371639e-03 9.99993599e-01 -3.19272503e-04 -2.03210089e+00] [-2.98315781e-03 3.08641914e-04 9.99995503e-01 -7.72190337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.802414037 meters 0.09693867578315365 Centerline is valid? [True, True] Translation: X:40.13, Y:-2.04, Z:-0.77 [[ 9.99993844e-01 1.61563038e-03 3.11461116e-03 4.01322678e+01] [-1.61459504e-03 9.99998640e-01 -3.34899146e-04 -2.03533001e+00] [-3.11514800e-03 3.29868249e-04 9.99995094e-01 -7.71827963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.832414037 meters 0.09490025508639198 Centerline is valid? [True, True] Translation: X:40.16, Y:-2.04, Z:-0.77 [[ 9.99996418e-01 6.13192627e-05 2.67582770e-03 4.01630481e+01] [-6.05482787e-05 9.99999957e-01 -2.88209236e-04 -2.03554087e+00] [-2.67584526e-03 2.88046187e-04 9.99996378e-01 -7.72206690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.862414037 meters 0.09770415039234014 Centerline is valid? [True, True] Translation: X:40.19, Y:-2.05, Z:-0.78 [[ 9.99997876e-01 -9.35383061e-04 1.83657692e-03 4.01923108e+01] [ 9.35747722e-04 9.99999543e-01 -1.97705429e-04 -2.04562591e+00] [-1.83639115e-03 1.99423581e-04 9.99998294e-01 -7.75438484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.892414037 meters 0.0988624114385616 Centerline is valid? [True, True] Translation: X:40.22, Y:-2.05, Z:-0.78 [[ 9.99996640e-01 -1.95105782e-03 1.70664732e-03 4.02231679e+01] [ 1.95137346e-03 9.99998079e-01 -1.83301406e-04 -2.05272507e+00] [-1.70628641e-03 1.86631097e-04 9.99998527e-01 -7.77544240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.922414037 meters 0.10101315779289236 Centerline is valid? [True, False] Translation: X:40.22, Y:-2.06, Z:-0.78 [[ 9.99996712e-01 -1.55851333e-03 2.03623592e-03 4.02229737e+01] [ 1.55666785e-03 9.99998377e-01 9.07588870e-04 -2.05586337e+00] [-2.03764710e-03 -9.04416144e-04 9.99997515e-01 -7.78260927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.952414037 meters 0.10050237881281206 Centerline is valid? [False, False] Translation: X:40.22, Y:-2.06, Z:-0.78 [[ 9.99996830e-01 -1.43140806e-03 2.07144492e-03 4.02229879e+01] [ 1.42897111e-03 9.99998286e-01 1.17745105e-03 -2.05666077e+00] [-2.07312679e-03 -1.17448728e-03 9.99997161e-01 -7.78396407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.982414037 meters 0.10087219072262706 Centerline is valid? [False, False] Translation: X:40.22, Y:-2.06, Z:-0.78 [[ 9.99996654e-01 -1.46960733e-03 2.12868416e-03 4.02228058e+01] [ 1.46708054e-03 9.99998218e-01 1.18809418e-03 -2.05688993e+00] [-2.13042640e-03 -1.18496725e-03 9.99997029e-01 -7.78304752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.012414037 meters 0.10058429822436342 Centerline is valid? [False, False] Translation: X:40.22, Y:-2.06, Z:-0.78 [[ 9.99997022e-01 -1.29579968e-03 2.06803338e-03 4.02231582e+01] [ 1.29285933e-03 9.99998152e-01 1.42251257e-03 -2.05728681e+00] [-2.06987285e-03 -1.41983466e-03 9.99996850e-01 -7.78634650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.042414037 meters 0.09923874422031519 Centerline is valid? [False, True] Translation: X:40.22, Y:-2.06, Z:-0.78 [[ 9.99997141e-01 -1.05616820e-03 2.14552010e-03 4.02232082e+01] [ 1.05209553e-03 9.99997644e-01 1.89846644e-03 -2.05839940e+00] [-2.14752015e-03 -1.89620372e-03 9.99995896e-01 -7.78914350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.072414037 meters 0.10336470678259074 Centerline is valid? [True, False] Translation: X:40.22, Y:-2.06, Z:-0.78 [[ 9.99997378e-01 -8.45103593e-04 2.12851288e-03 4.02233919e+01] [ 8.40392336e-04 9.99997197e-01 2.21332584e-03 -2.05904490e+00] [-2.13037741e-03 -2.21153125e-03 9.99995285e-01 -7.79123124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.102414037 meters 0.09832054323233945 Centerline is valid? [False, True] Translation: X:40.22, Y:-2.06, Z:-0.78 [[ 9.99996815e-01 -1.12835019e-03 2.25756083e-03 4.02226485e+01] [ 1.12412290e-03 9.99997614e-01 1.87289769e-03 -2.05888249e+00] [-2.25966873e-03 -1.87035394e-03 9.99995698e-01 -7.78398866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.132414037 meters 0.09832054323233945 Centerline is valid? [True, True] Translation: X:40.25, Y:-2.06, Z:-0.78 [[ 9.99997432e-01 -1.03846150e-03 2.01428394e-03 4.02536273e+01] [ 1.03893094e-03 9.99999433e-01 -2.32020775e-04 -2.06146904e+00] [-2.01404185e-03 2.34112881e-04 9.99997944e-01 -7.78547209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.162414037 meters 0.09898333897936827 Centerline is valid? [True, True] Translation: X:40.28, Y:-2.07, Z:-0.78 [[ 9.99991758e-01 -1.22753626e-03 3.86996696e-03 4.02849922e+01] [ 1.22927425e-03 9.99999145e-01 -4.46750449e-04 -2.06613199e+00] [-3.86941524e-03 4.51504018e-04 9.99992412e-01 -7.78006032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.192414037 meters 0.09957219363636013 Centerline is valid? [True, True] Translation: X:40.32, Y:-2.07, Z:-0.78 [[ 9.99993818e-01 -1.12326250e-03 3.33197979e-03 4.03165855e+01] [ 1.12454765e-03 9.99999294e-01 -3.83853167e-04 -2.07064347e+00] [-3.33154627e-03 3.87597764e-04 9.99994375e-01 -7.79501432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.222414037 meters 0.10287617751884998 Centerline is valid? [True, False] Translation: X:40.32, Y:-2.07, Z:-0.78 [[ 9.99994368e-01 -1.07354161e-03 3.17983709e-03 4.03168755e+01] [ 1.07478909e-03 9.99999346e-01 -3.90627140e-04 -2.07072983e+00] [-3.17941566e-03 3.94042595e-04 9.99994868e-01 -7.79503018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.252414037 meters 0.10280481685809045 Centerline is valid? [False, False] Translation: X:40.32, Y:-2.07, Z:-0.78 [[ 9.99995206e-01 -5.38881315e-04 3.04905144e-03 4.03180514e+01] [ 5.37956670e-04 9.99999809e-01 3.04068704e-04 -2.07151548e+00] [-3.04921472e-03 -3.02426989e-04 9.99995305e-01 -7.80857204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.282414037 meters 0.09995135073561925 Centerline is valid? [False, True] Translation: X:40.32, Y:-2.07, Z:-0.78 [[ 9.99995275e-01 -5.88858299e-04 3.01722870e-03 4.03179119e+01] [ 5.88188951e-04 9.99999802e-01 2.22724648e-04 -2.07161550e+00] [-3.01735926e-03 -2.20948895e-04 9.99995423e-01 -7.80578324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.312414036999996 meters 0.10358602757363505 Centerline is valid? [True, False] Translation: X:40.32, Y:-2.07, Z:-0.78 [[ 9.99995878e-01 -4.29242029e-04 2.83880420e-03 4.03183058e+01] [ 4.28196285e-04 9.99999840e-01 3.68972634e-04 -2.07187192e+00] [-2.83896213e-03 -3.67755547e-04 9.99995903e-01 -7.80636414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.342414037 meters 0.10145673598901797 Centerline is valid? [False, False] Translation: X:40.32, Y:-2.07, Z:-0.78 [[ 9.99996529e-01 -3.22012655e-04 2.61517312e-03 4.03187798e+01] [ 3.20962007e-04 9.99999868e-01 4.02160617e-04 -2.07166777e+00] [-2.61530227e-03 -4.01319849e-04 9.99996500e-01 -7.80706416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.372414037 meters 0.09970238556859884 Centerline is valid? [False, True] Translation: X:40.32, Y:-2.07, Z:-0.78 [[ 9.99997706e-01 -3.25667474e-04 2.11721349e-03 4.03196776e+01] [ 3.25833087e-04 9.99999944e-01 -7.78777297e-05 -2.06977635e+00] [-2.11718800e-03 7.85674093e-05 9.99997756e-01 -7.80641418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.402414037 meters 0.09561760069796323 Centerline is valid? [True, True] Translation: X:40.35, Y:-2.06, Z:-0.78 [[ 9.99998233e-01 8.83743786e-04 1.65912814e-03 4.03519510e+01] [-8.83440627e-04 9.99999593e-01 -1.83445571e-04 -2.06488042e+00] [-1.65928959e-03 1.81979505e-04 9.99998607e-01 -7.80581420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.432414037 meters 0.09591775967929728 Centerline is valid? [True, True] Translation: X:40.38, Y:-2.07, Z:-0.78 [[ 9.99995458e-01 2.52415525e-03 1.64683619e-03 4.03815392e+01] [-2.52385726e-03 9.99996798e-01 -1.83001139e-04 -2.06879911e+00] [-1.64729284e-03 1.78843928e-04 9.99998627e-01 -7.81924416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.462414037 meters 0.09561502146967768 Centerline is valid? [True, True] Translation: X:40.41, Y:-2.07, Z:-0.78 [[ 9.99993817e-01 3.00568345e-03 1.82521045e-03 4.04120384e+01] [-3.00531820e-03 9.99995463e-01 -2.02822596e-04 -2.07263609e+00] [-1.82581179e-03 1.97336004e-04 9.99998314e-01 -7.82898528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.492414037 meters 0.0985189479790778 Centerline is valid? [True, True] Translation: X:40.44, Y:-2.08, Z:-0.78 [[ 9.99992091e-01 2.02233285e-03 3.42470766e-03 4.04405231e+01] [-2.02104164e-03 9.99997885e-01 -3.80448541e-04 -2.08281346e+00] [-3.42546981e-03 3.73524055e-04 9.99994063e-01 -7.83736185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.522414037 meters 0.0978334035779603 Centerline is valid? [True, True] Translation: X:40.47, Y:-2.09, Z:-0.78 [[ 9.99996239e-01 1.56333528e-03 2.25364111e-03 4.04717669e+01] [-1.56277664e-03 9.99998748e-01 -2.49623351e-04 -2.08589760e+00] [-2.25402853e-03 2.46100475e-04 9.99997429e-01 -7.83942266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.552414037 meters 0.09877809313404211 Centerline is valid? [True, True] Translation: X:40.50, Y:-2.09, Z:-0.79 [[ 9.99995658e-01 6.97390566e-04 2.86325989e-03 4.05029699e+01] [-6.96484312e-04 9.99999707e-01 -3.17496117e-04 -2.09180892e+00] [-2.86348047e-03 3.15500523e-04 9.99995850e-01 -7.85295557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.582414037 meters 0.10086174860242111 Centerline is valid? [True, False] Translation: X:40.50, Y:-2.09, Z:-0.79 [[ 9.99994825e-01 1.01942218e-03 3.05125856e-03 4.05029179e+01] [-1.02108841e-03 9.99999330e-01 5.44571111e-04 -2.09453698e+00] [-3.05070136e-03 -5.47683897e-04 9.99995197e-01 -7.85769865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.612414037 meters 0.10286793861508466 Centerline is valid? [False, False] Translation: X:40.50, Y:-2.10, Z:-0.79 [[ 9.99994116e-01 1.39839562e-03 3.13237328e-03 4.05032160e+01] [-1.40236912e-03 9.99998214e-01 1.26669075e-03 -2.09610831e+00] [-3.13059636e-03 -1.27107604e-03 9.99994292e-01 -7.86442708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.642414037 meters 0.10099659486221367 Centerline is valid? [False, False] Translation: X:40.50, Y:-2.10, Z:-0.79 [[ 9.99993248e-01 1.44323574e-03 3.37964804e-03 4.05027108e+01] [-1.44869360e-03 9.99997650e-01 1.61302914e-03 -2.09749704e+00] [-3.37731211e-03 -1.61791432e-03 9.99992988e-01 -7.86413506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.672414037 meters 0.10132303930701335 Centerline is valid? [False, False] Translation: X:40.50, Y:-2.10, Z:-0.79 [[ 9.99991227e-01 1.14408495e-03 4.02963900e-03 4.05011760e+01] [-1.15233681e-03 9.99997243e-01 2.04606557e-03 -2.10053708e+00] [-4.02728701e-03 -2.05069112e-03 9.99989788e-01 -7.85970124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.702414037 meters 0.1038435315928628 Centerline is valid? [False, False] Translation: X:40.50, Y:-2.10, Z:-0.79 [[ 9.99990018e-01 1.44074874e-03 4.22952966e-03 4.05010448e+01] [-1.45239869e-03 9.99995157e-01 2.75265382e-03 -2.10267618e+00] [-4.22554329e-03 -2.75876930e-03 9.99987267e-01 -7.86330128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.732414037 meters 0.10535098060114567 Centerline is valid? [False, False] Translation: X:40.50, Y:-2.10, Z:-0.79 [[ 9.99988712e-01 1.52424621e-03 4.50037728e-03 4.05004689e+01] [-1.53862286e-03 9.99993719e-01 3.19281295e-03 -2.10444855e+00] [-4.49548238e-03 -3.19970129e-03 9.99984776e-01 -7.86228093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.762414037 meters 0.10722095244832527 Centerline is valid? [False, False] Translation: X:40.50, Y:-2.10, Z:-0.79 [[ 9.99989743e-01 -2.07500082e-03 4.02582940e-03 4.05020902e+01] [ 2.07643376e-03 9.99997782e-01 -3.51790099e-04 -2.10495900e+00] [-4.02509051e-03 3.60145859e-04 9.99991834e-01 -7.87240746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.792414037 meters 0.10508771707919953 Centerline is valid? [False, False] Translation: X:40.50, Y:-2.11, Z:-0.79 [[ 9.99988892e-01 -1.75997859e-03 4.37247146e-03 4.05013568e+01] [ 1.75736114e-03 9.99998274e-01 6.02390554e-04 -2.10832466e+00] [-4.37352411e-03 -5.94699851e-04 9.99990259e-01 -7.87046223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.822414037 meters 0.1016500740688837 Centerline is valid? [False, False] Translation: X:40.50, Y:-2.11, Z:-0.79 [[ 9.99989267e-01 -1.57063168e-03 4.35875834e-03 4.05012409e+01] [ 1.56631504e-03 9.99998280e-01 9.93574376e-04 -2.10959119e+00] [-4.36031138e-03 -9.86736523e-04 9.99990007e-01 -7.86856327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.852414037 meters 0.10268197618640802 Centerline is valid? [False, False] Translation: X:40.50, Y:-2.11, Z:-0.79 [[ 9.99989943e-01 -1.41098182e-03 4.25717086e-03 4.05013362e+01] [ 1.40576689e-03 9.99998258e-01 1.22772015e-03 -2.11021986e+00] [-4.25889573e-03 -1.22172321e-03 9.99990185e-01 -7.86696953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.882414037 meters 0.10215604298477308 Centerline is valid? [False, False] Translation: X:40.50, Y:-2.11, Z:-0.79 [[ 9.99991171e-01 -1.31881320e-03 3.98974501e-03 4.05017296e+01] [ 1.31393799e-03 9.99998387e-01 1.22430972e-03 -2.11015131e+00] [-3.99135321e-03 -1.21905663e-03 9.99991291e-01 -7.86495561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.912414037 meters 0.10159916775523425 Centerline is valid? [False, False] Translation: X:40.50, Y:-2.11, Z:-0.79 [[ 9.99992418e-01 -1.04054710e-03 3.75243474e-03 4.05021375e+01] [ 1.03468499e-03 9.99998242e-01 1.56381675e-03 -2.11121036e+00] [-3.75405537e-03 -1.55992230e-03 9.99991737e-01 -7.86423012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.942414037 meters 0.10346394901927755 Centerline is valid? [False, False] Translation: X:40.50, Y:-2.11, Z:-0.79 [[ 9.99993546e-01 -5.19271519e-04 3.55495166e-03 4.05029055e+01] [ 5.11156875e-04 9.99997263e-01 2.28315943e-03 -2.11283905e+00] [-3.55612750e-03 -2.28132756e-03 9.99991075e-01 -7.87001966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.972414037 meters 0.09746089104802373 Centerline is valid? [False, True] Translation: X:40.50, Y:-2.11, Z:-0.79 [[ 9.99994003e-01 -9.70304872e-05 3.46196921e-03 4.05033290e+01] [ 8.67694740e-05 9.99995604e-01 2.96395099e-03 -2.11463669e+00] [-3.46224158e-03 -2.96363282e-03 9.99989615e-01 -7.87372329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.002414037 meters 0.10534395482161331 Centerline is valid? [True, False] Translation: X:40.50, Y:-2.11, Z:-0.79 [[ 9.99994624e-01 -9.91208895e-05 3.27760696e-03 4.05035193e+01] [ 8.97424863e-05 9.99995902e-01 2.86138017e-03 -2.11447832e+00] [-3.27787715e-03 -2.86107064e-03 9.99990535e-01 -7.87113494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.032414037 meters 0.100218185140428 Centerline is valid? [False, False] Translation: X:40.50, Y:-2.11, Z:-0.79 [[ 9.99994840e-01 -2.38449551e-04 3.20358811e-03 4.05034098e+01] [ 2.30055373e-04 9.99996540e-01 2.62035557e-03 -2.11404330e+00] [-3.20420185e-03 -2.61960505e-03 9.99991435e-01 -7.86744154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.062414036999996 meters 0.09909862786973621 Centerline is valid? [False, True] Translation: X:40.50, Y:-2.11, Z:-0.79 [[ 9.99994893e-01 -4.36848314e-04 3.16594920e-03 4.05031052e+01] [ 4.29554882e-04 9.99997253e-01 2.30402495e-03 -2.11366482e+00] [-3.16694702e-03 -2.30265324e-03 9.99992334e-01 -7.86190617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.092414037 meters 0.10284004935338152 Centerline is valid? [True, False] Translation: X:40.50, Y:-2.12, Z:-0.79 [[ 9.99994649e-01 -1.69482480e-04 3.26707563e-03 4.05027327e+01] [ 1.60051958e-04 9.99995821e-01 2.88657876e-03 -2.11588317e+00] [-3.26755120e-03 -2.88604041e-03 9.99990497e-01 -7.85927542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.122414037 meters 0.09879634747241636 Centerline is valid? [False, True] Translation: X:40.50, Y:-2.12, Z:-0.79 [[ 9.99990500e-01 -3.45805807e-03 2.65364627e-03 4.05048029e+01] [ 3.45891071e-03 9.99993968e-01 -3.16786355e-04 -2.11694939e+00] [-2.65253480e-03 3.25962071e-04 9.99996429e-01 -7.87266623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.152414037 meters 0.09817429322417884 Centerline is valid? [True, True] Translation: X:40.54, Y:-2.12, Z:-0.79 [[ 9.99988664e-01 -3.74077999e-03 2.94603965e-03 4.05369635e+01] [ 3.74177450e-03 9.99992944e-01 -3.32137299e-04 -2.12168890e+00] [-2.94477641e-03 3.43156950e-04 9.99995605e-01 -7.88899528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.182414037 meters 0.09977581247351099 Centerline is valid? [True, True] Translation: X:40.57, Y:-2.13, Z:-0.79 [[ 9.99990772e-01 -3.42778267e-03 2.58982640e-03 4.05679361e+01] [ 3.42855007e-03 9.99994080e-01 -2.91933433e-04 -2.12951712e+00] [-2.58881039e-03 3.00810089e-04 9.99996604e-01 -7.90430347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.212414037 meters 0.0984037041324747 Centerline is valid? [True, True] Translation: X:40.60, Y:-2.13, Z:-0.79 [[ 9.99992854e-01 -3.77118845e-03 2.63632941e-04 4.05997366e+01] [ 3.77119621e-03 9.99992889e-01 -2.89252911e-05 -2.12824484e+00] [-2.63521984e-04 2.99192960e-05 9.99999965e-01 -7.90573955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.242414036999996 meters 0.09986650176715725 Centerline is valid? [True, True] Translation: X:40.63, Y:-2.13, Z:-0.79 [[ 9.99993080e-01 -3.69438652e-03 4.37676459e-04 4.06310431e+01] [ 3.69440797e-03 9.99993174e-01 -4.82083593e-05 -2.13302802e+00] [-4.37495371e-04 4.98249811e-05 9.99999903e-01 -7.92030011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.272414037 meters 0.09877110422230737 Centerline is valid? [True, True] Translation: X:40.66, Y:-2.13, Z:-0.79 [[ 9.99992562e-01 -3.83985905e-03 3.63359053e-04 4.06621163e+01] [ 3.83987393e-03 9.99992627e-01 -4.02793271e-05 -2.13364510e+00] [-3.63201707e-04 4.16742804e-05 9.99999933e-01 -7.92180735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.302414037 meters 0.10028447868609464 Centerline is valid? [True, False] Translation: X:40.66, Y:-2.14, Z:-0.79 [[ 9.99994691e-01 -3.24345692e-03 3.13363065e-04 4.06625435e+01] [ 3.24316543e-03 9.99994312e-01 9.26294615e-04 -2.13626588e+00] [-3.16365680e-04 -9.25273409e-04 9.99999522e-01 -7.92688520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.332414037 meters 0.10737121193770925 Centerline is valid? [False, False] Translation: X:40.66, Y:-2.14, Z:-0.79 [[ 9.99996228e-01 -2.72652776e-03 3.32387349e-04 4.06631008e+01] [ 2.72594781e-03 9.99994783e-01 1.73295711e-03 -2.13793748e+00] [-3.37110570e-04 -1.73204450e-03 9.99998443e-01 -7.93560080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.362414037 meters 0.1005236744399549 Centerline is valid? [False, False] Translation: X:40.66, Y:-2.14, Z:-0.79 [[ 9.99996149e-01 -2.74794127e-03 3.87484651e-04 4.06629676e+01] [ 2.74727376e-03 9.99994759e-01 1.71282386e-03 -2.13814130e+00] [-3.92189359e-04 -1.71175274e-03 9.99998458e-01 -7.93517255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.392414037 meters 0.099859613942285 Centerline is valid? [False, True] Translation: X:40.66, Y:-2.14, Z:-0.79 [[ 9.99995706e-01 -2.90715061e-03 3.68562157e-04 4.06631021e+01] [ 2.90661986e-03 9.99994750e-01 1.43252362e-03 -2.13711410e+00] [-3.72724784e-04 -1.43144620e-03 9.99998906e-01 -7.93650118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.422414037 meters 0.09826078635181686 Centerline is valid? [True, True] Translation: X:40.70, Y:-2.13, Z:-0.79 [[ 9.99992951e-01 -3.75271491e-03 -1.20352639e-04 4.06953717e+01] [ 3.75271676e-03 9.99992958e-01 1.51729967e-05 -2.13283451e+00] [ 1.20294851e-04 -1.56245391e-05 9.99999993e-01 -7.91924081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.452414037 meters 0.10458383553048772 Centerline is valid? [True, False] Translation: X:40.70, Y:-2.13, Z:-0.79 [[ 9.99993209e-01 -3.68095096e-03 -1.81478673e-04 4.06958803e+01] [ 3.68095692e-03 9.99993225e-01 3.24792070e-05 -2.13230097e+00] [ 1.81357889e-04 -3.31470016e-05 9.99999983e-01 -7.92482137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.482414037 meters 0.09971250386205315 Centerline is valid? [False, True] Translation: X:40.70, Y:-2.13, Z:-0.79 [[ 9.99994124e-01 -3.41428085e-03 -3.07981719e-04 4.06965344e+01] [ 3.41438532e-03 9.99994113e-01 3.39318982e-04 -2.13257514e+00] [ 3.06821376e-04 -3.40368557e-04 9.99999895e-01 -7.93072273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.512414037 meters 0.10161369992494795 Centerline is valid? [True, False] Translation: X:40.70, Y:-2.13, Z:-0.79 [[ 9.99994980e-01 -3.14534963e-03 -3.83139199e-04 4.06970871e+01] [ 3.14561622e-03 9.99994809e-01 6.97189290e-04 -2.13307930e+00] [ 3.80944306e-04 -6.98390999e-04 9.99999684e-01 -7.93681448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.542414037 meters 0.1051002789526668 Centerline is valid? [False, False] Translation: X:40.70, Y:-2.13, Z:-0.79 [[ 9.99995214e-01 -3.04701590e-03 -5.36823463e-04 4.06976933e+01] [ 3.04737426e-03 9.99995134e-01 6.68001942e-04 -2.13251112e+00] [ 5.34785438e-04 -6.69634646e-04 9.99999633e-01 -7.94124600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.572414037 meters 0.10060128546957801 Centerline is valid? [False, False] Translation: X:40.70, Y:-2.13, Z:-0.79 [[ 9.99994728e-01 -3.16181671e-03 -7.39425136e-04 4.06981371e+01] [ 3.16203425e-03 9.99994958e-01 2.93215863e-04 -2.13099069e+00] [ 7.38494312e-04 -2.95552405e-04 9.99999684e-01 -7.94212053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.602414037 meters 0.10049471153211087 Centerline is valid? [False, False] Translation: X:40.70, Y:-2.13, Z:-0.79 [[ 9.99994052e-01 -3.28771951e-03 -1.04205607e-03 4.06989535e+01] [ 3.28747899e-03 9.99994569e-01 -2.32448839e-04 -2.12876748e+00] [ 1.04281464e-03 2.29021719e-04 9.99999430e-01 -7.94529263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.632414037 meters 0.10134776024109995 Centerline is valid? [False, False] Translation: X:40.70, Y:-2.13, Z:-0.79 [[ 9.99999625e-01 3.91355237e-04 -7.72136573e-04 4.06979133e+01] [-3.88841371e-04 9.99994633e-01 3.25319557e-03 -2.12756228e+00] [ 7.73405584e-04 -3.25289411e-03 9.99994410e-01 -7.93777988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.662414037 meters 0.09765398898751636 Centerline is valid? [False, True] Translation: X:40.70, Y:-2.12, Z:-0.79 [[ 9.99999294e-01 1.57895564e-04 -1.17735816e-03 4.06986559e+01] [-1.55021208e-04 9.99997009e-01 2.44105255e-03 -2.12465004e+00] [ 1.17774007e-03 -2.44086831e-03 9.99996328e-01 -7.93736193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.692414037 meters 0.09582840025270219 Centerline is valid? [True, True] Translation: X:40.73, Y:-2.12, Z:-0.79 [[ 9.99998704e-01 9.86833598e-04 -1.27224519e-03 4.07284283e+01] [-9.86647257e-04 9.99999502e-01 1.47086080e-04 -2.12350869e+00] [ 1.27238971e-03 -1.45830632e-04 9.99999180e-01 -7.93651667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.722414037 meters 0.09973923282880491 Centerline is valid? [True, True] Translation: X:40.76, Y:-2.13, Z:-0.80 [[ 9.99996060e-01 1.34791430e-03 -2.46218825e-03 4.07567246e+01] [-1.34721318e-03 9.99999051e-01 2.86389547e-04 -2.13299603e+00] [ 2.46257194e-03 -2.83071326e-04 9.99996928e-01 -7.97736491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.752414037 meters 0.10097354593279224 Centerline is valid? [True, False] Translation: X:40.76, Y:-2.13, Z:-0.80 [[ 9.99995693e-01 1.41639858e-03 -2.57045494e-03 4.07573797e+01] [-1.41569930e-03 9.99998960e-01 2.73843053e-04 -2.13233198e+00] [ 2.57084014e-03 -2.70202883e-04 9.99996659e-01 -7.98365461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.782414037 meters 0.10024688260907014 Centerline is valid? [False, False] Translation: X:40.76, Y:-2.13, Z:-0.80 [[ 9.99995886e-01 1.16068414e-03 -2.62313419e-03 4.07574045e+01] [-1.16116569e-03 9.99999309e-01 -1.82063445e-04 -2.13123258e+00] [ 2.62292106e-03 1.85108589e-04 9.99996543e-01 -7.98258683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.812414036999996 meters 0.10046780276487224 Centerline is valid? [False, False] Translation: X:40.76, Y:-2.13, Z:-0.80 [[ 9.99995514e-01 1.32230150e-03 -2.68766634e-03 4.07580832e+01] [-1.32237281e-03 9.99999125e-01 -2.47542554e-05 -2.13093718e+00] [ 2.68763125e-03 2.83082413e-05 9.99996388e-01 -7.99048482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.842414037 meters 0.10219115466427693 Centerline is valid? [False, False] Translation: X:40.76, Y:-2.13, Z:-0.80 [[ 9.99995617e-01 1.29944684e-03 -2.66032370e-03 4.07582716e+01] [-1.29965447e-03 9.99999153e-01 -7.63204319e-05 -2.13054080e+00] [ 2.66022227e-03 7.97775989e-05 9.99996458e-01 -7.99384519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.872414037 meters 0.10248023189824301 Centerline is valid? [False, False] Translation: X:40.76, Y:-2.13, Z:-0.80 [[ 9.99996033e-01 1.02632963e-03 -2.62312976e-03 4.07583772e+01] [-1.02776846e-03 9.99999322e-01 -5.47229493e-04 -2.12899616e+00] [ 2.62256635e-03 5.49923292e-04 9.99996410e-01 -7.99607796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.902414037 meters 0.10178259995780943 Centerline is valid? [False, False] Translation: X:40.76, Y:-2.13, Z:-0.80 [[ 9.99996166e-01 7.02494227e-04 -2.67852522e-03 4.07584326e+01] [-7.05510947e-04 9.99999118e-01 -1.12548287e-03 -2.12740437e+00] [ 2.67773222e-03 1.12736829e-03 9.99995779e-01 -7.99510245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.932414037 meters 0.10271218000579836 Centerline is valid? [False, False] Translation: X:40.76, Y:-2.13, Z:-0.80 [[ 9.99995822e-01 7.57960381e-04 -2.78954028e-03 4.07591490e+01] [-7.61381183e-04 9.99998959e-01 -1.22543809e-03 -2.12635153e+00] [ 2.78860854e-03 1.22755687e-03 9.99995358e-01 -8.00203837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.962414037 meters 0.10221370194887995 Centerline is valid? [False, False] Translation: X:40.76, Y:-2.12, Z:-0.80 [[ 9.99995212e-01 7.06142933e-04 -3.01288898e-03 4.07600832e+01] [-7.10979424e-04 9.99998460e-01 -1.60449792e-03 -2.12435724e+00] [ 3.01175133e-03 1.60663234e-03 9.99994174e-01 -8.00968820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.992414036999996 meters 0.1015834216046829 Centerline is valid? [False, False] Translation: X:40.76, Y:-2.12, Z:-0.80 [[ 9.99994479e-01 8.64849285e-04 -3.20855996e-03 4.07609152e+01] [-8.69897524e-04 9.99998386e-01 -1.57230394e-03 -2.12372405e+00] [ 3.20719498e-03 1.57508637e-03 9.99993616e-01 -8.01599875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.022414037 meters 0.1015834216046829 Centerline is valid? [False, False] Translation: X:40.76, Y:-2.12, Z:-0.80 [[ 9.99994479e-01 8.64849285e-04 -3.20855996e-03 4.07609152e+01] [-8.69897524e-04 9.99998386e-01 -1.57230394e-03 -2.12372405e+00] [ 3.20719498e-03 1.57508637e-03 9.99993616e-01 -8.01599875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.052414037 meters 0.10423487713653813 Centerline is valid? [False, False] Translation: X:40.76, Y:-2.12, Z:-0.80 [[ 9.99994635e-01 7.30814124e-04 -3.19299687e-03 4.07610465e+01] [-7.36677213e-04 9.99998044e-01 -1.83544364e-03 -2.12276665e+00] [ 3.19164926e-03 1.83778600e-03 9.99993218e-01 -8.01816329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.082414037 meters 0.09901604755473116 Centerline is valid? [False, True] Translation: X:40.76, Y:-2.12, Z:-0.80 [[ 9.99993690e-01 5.97806070e-04 -3.50175435e-03 4.07619143e+01] [-6.06382695e-04 9.99996818e-01 -2.44868725e-03 -2.11996807e+00] [ 3.50027936e-03 2.45079520e-03 9.99990871e-01 -8.02222251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.112414037 meters 0.0999132103297177 Centerline is valid? [True, True] Translation: X:40.79, Y:-2.12, Z:-0.80 [[ 9.99991699e-01 1.15298184e-03 -3.90793770e-03 4.07904327e+01] [-1.15124357e-03 9.99999237e-01 4.47023349e-04 -2.12418638e+00] [ 3.90845013e-03 -4.42520650e-04 9.99992264e-01 -8.03940459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.142414037 meters 0.1063923250191414 Centerline is valid? [True, False] Translation: X:40.79, Y:-2.12, Z:-0.80 [[ 9.99991821e-01 6.57495055e-04 -3.99057068e-03 4.07903641e+01] [-6.59242499e-04 9.99999687e-01 -4.36593731e-04 -2.12191907e+00] [ 3.99028237e-03 4.39220914e-04 9.99991942e-01 -8.03585289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.172414037 meters 0.10256475895845496 Centerline is valid? [False, False] Translation: X:40.79, Y:-2.12, Z:-0.80 [[ 9.99991953e-01 2.15214036e-04 -4.00588101e-03 4.07902381e+01] [-2.20019311e-04 9.99999257e-01 -1.19915321e-03 -2.11997178e+00] [ 4.00561996e-03 1.20002493e-03 9.99991257e-01 -8.03332988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.202414037 meters 0.10211918939518144 Centerline is valid? [False, False] Translation: X:40.79, Y:-2.12, Z:-0.80 [[ 9.99991420e-01 2.51721236e-04 -4.13476631e-03 4.07909093e+01] [-2.57115411e-04 9.99999117e-01 -1.30411041e-03 -2.11893111e+00] [ 4.13443438e-03 1.30516234e-03 9.99990601e-01 -8.03914493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.232414037 meters 0.10206568449275386 Centerline is valid? [False, False] Translation: X:40.79, Y:-2.12, Z:-0.80 [[ 9.99991344e-01 -1.30504275e-04 -4.15871200e-03 4.07911520e+01] [ 1.21928892e-04 9.99997866e-01 -2.06221544e-03 -2.11649797e+00] [ 4.15897225e-03 2.06169053e-03 9.99989226e-01 -8.04209878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.262414037 meters 0.10109645166908304 Centerline is valid? [False, False] Translation: X:40.79, Y:-2.12, Z:-0.80 [[ 9.99990869e-01 -1.34337429e-04 -4.27139887e-03 4.07915038e+01] [ 1.25104702e-04 9.99997656e-01 -2.16171686e-03 -2.11588748e+00] [ 4.27167926e-03 2.16116275e-03 9.99988541e-01 -8.04414183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.292414037 meters 0.09976184131819697 Centerline is valid? [False, True] Translation: X:40.79, Y:-2.12, Z:-0.80 [[ 9.99990691e-01 -2.40361988e-04 -4.30809839e-03 4.07916448e+01] [ 2.29996591e-04 9.99997078e-01 -2.40635987e-03 -2.11500117e+00] [ 4.30866420e-03 2.40534662e-03 9.99987825e-01 -8.04491511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.322414037 meters 0.10111235613375687 Centerline is valid? [True, False] Translation: X:40.79, Y:-2.11, Z:-0.80 [[ 9.99989038e-01 -5.52430267e-04 -4.64958128e-03 4.07923180e+01] [ 5.37363991e-04 9.99994604e-01 -3.24097701e-03 -2.11204392e+00] [ 4.65134660e-03 3.23844296e-03 9.99983939e-01 -8.04484447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.352414037 meters 0.10316814452594779 Centerline is valid? [False, False] Translation: X:40.79, Y:-2.11, Z:-0.80 [[ 9.99987568e-01 -6.72043562e-04 -4.94087036e-03 4.07930997e+01] [ 6.53622840e-04 9.99992834e-01 -3.72890405e-03 -2.10997780e+00] [ 4.94334094e-03 3.72562823e-03 9.99980841e-01 -8.04758861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.382414037 meters 0.10463732302628746 Centerline is valid? [False, False] Translation: X:40.80, Y:-2.11, Z:-0.81 [[ 9.99985240e-01 1.99867111e-03 -5.05214287e-03 4.07956660e+01] [-2.00639050e-03 9.99996827e-01 -1.52333698e-03 -2.10668537e+00] [ 5.04908219e-03 1.53345107e-03 9.99986078e-01 -8.07611958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.412414037 meters 0.10521707370617225 Centerline is valid? [False, False] Translation: X:40.80, Y:-2.10, Z:-0.81 [[ 9.99984796e-01 1.76613532e-03 -5.22381856e-03 4.07960944e+01] [-1.77704818e-03 9.99996247e-01 -2.08515483e-03 -2.10496153e+00] [ 5.22011629e-03 2.09440610e-03 9.99984182e-01 -8.07748943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.442414037 meters 0.09932593919819825 Centerline is valid? [False, True] Translation: X:40.80, Y:-2.10, Z:-0.81 [[ 9.99983720e-01 1.86899034e-03 -5.39139365e-03 4.07968733e+01] [-1.88049593e-03 9.99995964e-01 -2.12978595e-03 -2.10412583e+00] [ 5.38739134e-03 2.13988978e-03 9.99983198e-01 -8.08396664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.472414037 meters 0.10036786079823581 Centerline is valid? [True, False] Translation: X:40.80, Y:-2.10, Z:-0.81 [[ 9.99982982e-01 2.00458046e-03 -5.47886879e-03 4.07975515e+01] [-2.01609004e-03 9.99995771e-01 -2.09600677e-03 -2.10355872e+00] [ 5.47464400e-03 2.10701699e-03 9.99982794e-01 -8.09096637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.502414037 meters 0.09783325808389863 Centerline is valid? [False, True] Translation: X:40.80, Y:-2.10, Z:-0.81 [[ 9.99983105e-01 1.50485114e-03 -5.61466793e-03 4.07976943e+01] [-1.52223975e-03 9.99994055e-01 -3.09401063e-03 -2.10056522e+00] [ 5.60997853e-03 3.10250523e-03 9.99979451e-01 -8.08922787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.532414037 meters 0.10087803745798075 Centerline is valid? [True, False] Translation: X:40.80, Y:-2.10, Z:-0.81 [[ 9.99982106e-01 1.46198968e-03 -5.80084629e-03 4.07983386e+01] [-1.48152487e-03 9.99993242e-01 -3.36477822e-03 -2.09910213e+00] [ 5.79588782e-03 3.37331211e-03 9.99977514e-01 -8.09272356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.562414036999996 meters 0.09945932216437284 Centerline is valid? [False, True] Translation: X:40.80, Y:-2.10, Z:-0.81 [[ 9.99982076e-01 1.28465070e-03 -5.84779899e-03 4.07986781e+01] [-1.30641914e-03 9.99992227e-01 -3.72020411e-03 -2.09747011e+00] [ 5.84297437e-03 3.72777711e-03 9.99975981e-01 -8.09607009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.592414037 meters 0.10042171925866265 Centerline is valid? [True, False] Translation: X:40.80, Y:-2.10, Z:-0.81 [[ 9.99981626e-01 1.21310693e-03 -5.93932888e-03 4.07990934e+01] [-1.23664903e-03 9.99991388e-01 -3.96169725e-03 -2.09624936e+00] [ 5.93447176e-03 3.96896932e-03 9.99974514e-01 -8.09903217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.622414037 meters 0.09890218435933529 Centerline is valid? [False, True] Translation: X:40.80, Y:-2.10, Z:-0.81 [[ 9.99981629e-01 1.05870381e-03 -5.96831894e-03 4.07992465e+01] [-1.08413523e-03 9.99990341e-01 -4.25944520e-03 -2.09509762e+00] [ 5.96375180e-03 4.26583741e-03 9.99973118e-01 -8.10033424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.652414037 meters 0.09910381693753059 Centerline is valid? [True, True] Translation: X:40.83, Y:-2.10, Z:-0.81 [[ 9.99988399e-01 4.01103714e-05 -4.81664044e-03 4.08274399e+01] [-3.75491924e-05 9.99999858e-01 5.31824804e-04 -2.09894263e+00] [ 4.81666109e-03 -5.31637774e-04 9.99988258e-01 -8.12815680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.682414037 meters 0.09981097370732152 Centerline is valid? [True, True] Translation: X:40.86, Y:-2.10, Z:-0.81 [[ 9.99989779e-01 -6.82767264e-04 -4.46951980e-03 4.08557380e+01] [ 6.84977870e-04 9.99999644e-01 4.93083927e-04 -2.10273951e+00] [ 4.46918154e-03 -4.96140409e-04 9.99989890e-01 -8.13981093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.712414037 meters 0.09962951420011822 Centerline is valid? [True, True] Translation: X:40.88, Y:-2.10, Z:-0.82 [[ 9.99981893e-01 -1.05044701e-03 -5.92538523e-03 4.08847058e+01] [ 1.05433910e-03 9.99999230e-01 6.53765027e-04 -2.10318492e+00] [ 5.92469392e-03 -6.60000555e-04 9.99982231e-01 -8.15499469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.742414036999996 meters 0.10123203759698254 Centerline is valid? [True, False] Translation: X:40.89, Y:-2.10, Z:-0.82 [[ 9.99980570e-01 -1.04188725e-03 -6.14604914e-03 4.08856250e+01] [ 1.04443266e-03 9.99999370e-01 4.10959077e-04 -2.10154971e+00] [ 6.14561709e-03 -4.17370226e-04 9.99981028e-01 -8.16181194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.772414037 meters 0.10123126205016975 Centerline is valid? [False, False] Translation: X:40.89, Y:-2.10, Z:-0.82 [[ 9.99979049e-01 -1.27290994e-03 -6.34677848e-03 4.08861496e+01] [ 1.27194053e-03 9.99999179e-01 -1.56775647e-04 -2.09949134e+00] [ 6.34697283e-03 1.48699638e-04 9.99979847e-01 -8.16357462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.802414037 meters 0.09857751694390879 Centerline is valid? [False, True] Translation: X:40.89, Y:-2.10, Z:-0.82 [[ 9.99977021e-01 -1.18800656e-03 -6.67424396e-03 4.08872746e+01] [ 1.18561376e-03 9.99999231e-01 -3.62456408e-04 -2.09778791e+00] [ 6.67466943e-03 3.54535004e-04 9.99977661e-01 -8.17026489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.832414037 meters 0.10100132785584985 Centerline is valid? [True, False] Translation: X:40.89, Y:-2.10, Z:-0.82 [[ 9.99976414e-01 2.54011162e-03 -6.38121813e-03 4.08865711e+01] [-2.52035566e-03 9.99992012e-01 3.10208979e-03 -2.09585188e+00] [ 6.38904682e-03 -3.08593368e-03 9.99974828e-01 -8.16851731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.862414037 meters 0.0986528512414479 Centerline is valid? [False, True] Translation: X:40.89, Y:-2.09, Z:-0.82 [[ 9.99976685e-01 2.28445256e-03 -6.43510692e-03 4.08867417e+01] [-2.26788978e-03 9.99994100e-01 2.57993808e-03 -2.09412185e+00] [ 6.44096270e-03 -2.56528381e-03 9.99975966e-01 -8.16930793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.892414037 meters 0.10294098812879583 Centerline is valid? [True, False] Translation: X:40.89, Y:-2.09, Z:-0.82 [[ 9.99976735e-01 2.10513487e-03 -6.48824572e-03 4.08870502e+01] [-2.09106021e-03 9.99995448e-01 2.17527629e-03 -2.09262353e+00] [ 6.49279544e-03 -2.16165837e-03 9.99976585e-01 -8.17193806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.922414037 meters 0.10277542948334452 Centerline is valid? [False, False] Translation: X:40.89, Y:-2.09, Z:-0.82 [[ 9.99976056e-01 1.79914222e-03 -6.68216403e-03 4.08874634e+01] [-1.78944529e-03 9.99997338e-01 1.45686063e-03 -2.09006915e+00] [ 6.68476734e-03 -1.44486838e-03 9.99976613e-01 -8.17263959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.952414037 meters 0.09866729320313018 Centerline is valid? [False, True] Translation: X:40.89, Y:-2.09, Z:-0.82 [[ 9.99975981e-01 1.62527934e-03 -6.73768373e-03 4.08875343e+01] [-1.61797937e-03 9.99998098e-01 1.08876293e-03 -2.08906083e+00] [ 6.73944046e-03 -1.07783534e-03 9.99976709e-01 -8.17185580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.982414037 meters 0.09906286915604774 Centerline is valid? [True, True] Translation: X:40.91, Y:-2.09, Z:-0.82 [[ 9.99971592e-01 2.29895077e-03 -7.17838469e-03 4.09149642e+01] [-2.29358266e-03 9.99997084e-01 7.55958717e-04 -2.09182055e+00] [ 7.18010167e-03 -7.39473023e-04 9.99973949e-01 -8.18346578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.012414037 meters 0.09834423550156547 Centerline is valid? [True, True] Translation: X:40.94, Y:-2.09, Z:-0.82 [[ 9.99962437e-01 2.58345085e-03 -8.27346515e-03 4.09435793e+01] [-2.57632948e-03 9.99996302e-01 8.71289992e-04 -2.09190548e+00] [ 8.27568549e-03 -8.49942092e-04 9.99965395e-01 -8.18503330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.042414037 meters 0.10428584603865125 Centerline is valid? [True, False] Translation: X:40.94, Y:-2.09, Z:-0.82 [[ 9.99960088e-01 2.29476040e-03 -8.63455685e-03 4.09444332e+01] [-2.29500091e-03 9.99997366e-01 -1.79455135e-05 -2.08843496e+00] [ 8.63449293e-03 3.77611131e-05 9.99962721e-01 -8.18733914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.072414037 meters 0.09707242981700287 Centerline is valid? [False, True] Translation: X:40.94, Y:-2.09, Z:-0.82 [[ 9.99959759e-01 2.10772680e-03 -8.71998405e-03 4.09445908e+01] [-2.11124380e-03 9.99997694e-01 -3.94140359e-04 -2.08719630e+00] [ 8.71913320e-03 4.12534511e-04 9.99961903e-01 -8.18695404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.102414037 meters 0.09637779232214246 Centerline is valid? [True, True] Translation: X:40.97, Y:-2.09, Z:-0.82 [[ 9.99959166e-01 2.63961582e-03 -8.64280907e-03 4.09736459e+01] [-2.63209742e-03 9.99996148e-01 8.81161497e-04 -2.08857646e+00] [ 8.64510170e-03 -8.58376801e-04 9.99962262e-01 -8.19315893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.132414037 meters 0.094925340245593 Centerline is valid? [True, True] Translation: X:41.00, Y:-2.09, Z:-0.82 [[ 9.99954215e-01 2.77218888e-03 -9.15876038e-03 4.10027052e+01] [-2.76375664e-03 9.99995745e-01 9.33203556e-04 -2.08807737e+00] [ 9.16130843e-03 -9.07848245e-04 9.99957622e-01 -8.20419395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.162414037 meters 0.09728117359775955 Centerline is valid? [True, True] Translation: X:41.03, Y:-2.10, Z:-0.82 [[ 9.99955132e-01 2.24262932e-03 -9.20348766e-03 4.10297987e+01] [-2.23410230e-03 9.99997066e-01 9.36675445e-04 -2.09610530e+00] [ 9.20556127e-03 -9.16071886e-04 9.99957208e-01 -8.23569323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.192414037 meters 0.09666845871974744 Centerline is valid? [True, True] Translation: X:41.06, Y:-2.10, Z:-0.82 [[ 9.99955008e-01 1.69651628e-03 -9.33296387e-03 4.10582321e+01] [-1.68772679e-03 9.99998125e-01 9.49563290e-04 -2.09804355e+00] [ 9.33455732e-03 -9.33769074e-04 9.99955996e-01 -8.24166721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.222414037 meters 0.09891671902575729 Centerline is valid? [True, True] Translation: X:41.09, Y:-2.10, Z:-0.83 [[ 9.99965088e-01 1.16704856e-03 -8.27410551e-03 4.10852627e+01] [-1.16013210e-03 9.99998974e-01 8.40666757e-04 -2.10472790e+00] [ 8.27507812e-03 -8.31038352e-04 9.99965416e-01 -8.25051606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.252414037 meters 0.0977655410409239 Centerline is valid? [True, True] Translation: X:41.11, Y:-2.10, Z:-0.82 [[ 9.99981830e-01 4.97637305e-04 -6.00764884e-03 4.11146855e+01] [-4.93982291e-04 9.99999692e-01 6.09861991e-04 -2.10327798e+00] [ 6.00795048e-03 -6.06883237e-04 9.99981768e-01 -8.21167332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.282414037 meters 0.09694835568803074 Centerline is valid? [True, True] Translation: X:41.14, Y:-2.10, Z:-0.82 [[ 9.99987677e-01 8.42516335e-04 -4.89245271e-03 4.11434059e+01] [-8.40099278e-04 9.99999524e-01 4.96071804e-04 -2.10379545e+00] [ 4.89286833e-03 -4.91955545e-04 9.99987909e-01 -8.20597815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.312414036999996 meters 0.09607049161718532 Centerline is valid? [True, True] Translation: X:41.17, Y:-2.10, Z:-0.82 [[ 9.99975163e-01 1.40176437e-03 -6.90713154e-03 4.11720834e+01] [-1.39699031e-03 9.99998782e-01 6.95954583e-04 -2.10351195e+00] [ 6.90809869e-03 -6.86288101e-04 9.99975903e-01 -8.22783847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.342414037 meters 0.09720697480114997 Centerline is valid? [True, True] Translation: X:41.20, Y:-2.11, Z:-0.83 [[ 9.99966889e-01 1.30131631e-03 -8.03289983e-03 4.11999095e+01] [-1.29483175e-03 9.99998832e-01 8.12399045e-04 -2.10817791e+00] [ 8.03394763e-03 -8.01970892e-04 9.99967406e-01 -8.25169825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.372414037 meters 0.09640895629661685 Centerline is valid? [True, True] Translation: X:41.23, Y:-2.11, Z:-0.83 [[ 9.99955322e-01 1.39600585e-03 -9.34909043e-03 4.12286162e+01] [-1.38722668e-03 9.99998591e-01 9.45459336e-04 -2.10930976e+00] [ 9.35039713e-03 -9.32447787e-04 9.99955849e-01 -8.26510613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.402414037 meters 0.09579349416421241 Centerline is valid? [True, True] Translation: X:41.26, Y:-2.11, Z:-0.83 [[ 9.99949840e-01 1.40499401e-03 -9.91681337e-03 4.12575019e+01] [-1.39512271e-03 9.99998525e-01 1.00225731e-03 -2.11077864e+00] [ 9.91820691e-03 -9.88371865e-04 9.99950325e-01 -8.27689327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.432414037 meters 0.09673818793679159 Centerline is valid? [True, True] Translation: X:41.29, Y:-2.11, Z:-0.83 [[ 9.99949165e-01 1.17807334e-03 -1.00139987e-02 4.12853585e+01] [-1.16801595e-03 9.99998808e-01 1.01012197e-03 -2.11402583e+00] [ 1.00151767e-02 -9.98374113e-04 9.99949348e-01 -8.29395719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.462414037 meters 0.09672418626826816 Centerline is valid? [True, True] Translation: X:41.32, Y:-2.12, Z:-0.83 [[ 9.99972792e-01 1.93552201e-03 -7.11825437e-03 4.13153206e+01] [-1.93045620e-03 9.99997879e-01 7.18466368e-04 -2.11565902e+00] [ 7.11962987e-03 -7.04705342e-04 9.99974407e-01 -8.28015521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.492414036999996 meters 0.0960481720146773 Centerline is valid? [True, True] Translation: X:41.34, Y:-2.12, Z:-0.83 [[ 9.99984370e-01 2.14284492e-03 -5.16416227e-03 4.13442632e+01] [-2.14018699e-03 9.99997575e-01 5.20159023e-04 -2.11645193e+00] [ 5.16526436e-03 -5.09098619e-04 9.99986530e-01 -8.25639988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.522414037 meters 0.0952978208766082 Centerline is valid? [True, True] Translation: X:41.37, Y:-2.12, Z:-0.82 [[ 9.99990565e-01 2.88131666e-03 -3.25070021e-03 4.13744621e+01] [-2.88026596e-03 9.99995798e-01 3.27860656e-04 -2.11755049e+00] [ 3.25163122e-03 -3.18494682e-04 9.99994663e-01 -8.24308406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.552414037 meters 0.09566420967234986 Centerline is valid? [True, True] Translation: X:41.40, Y:-2.12, Z:-0.82 [[ 9.99985615e-01 3.70900554e-03 -3.87460660e-03 4.14020238e+01] [-3.70752498e-03 9.99993051e-01 3.89230323e-04 -2.12070753e+00] [ 3.87602333e-03 -3.74859524e-04 9.99992418e-01 -8.24470951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.582414037 meters 0.09593797658170151 Centerline is valid? [True, True] Translation: X:41.43, Y:-2.12, Z:-0.83 [[ 9.99984106e-01 3.64932707e-03 -4.29761676e-03 4.14307253e+01] [-3.64750409e-03 9.99993255e-01 4.31945238e-04 -2.12362923e+00] [ 4.29916408e-03 -4.16262798e-04 9.99990672e-01 -8.25960706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.612414037 meters 0.09915592537807819 Centerline is valid? [True, True] Translation: X:41.46, Y:-2.13, Z:-0.83 [[ 9.99981985e-01 2.70258993e-03 -5.35957933e-03 4.14580803e+01] [-2.69973697e-03 9.99996210e-01 5.39473241e-04 -2.13178705e+00] [ 5.36101699e-03 -5.24994068e-04 9.99985492e-01 -8.28676834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.642414037 meters 0.09930423779631328 Centerline is valid? [True, True] Translation: X:41.49, Y:-2.14, Z:-0.83 [[ 9.99977662e-01 1.93985167e-03 -6.39632750e-03 4.14874348e+01] [-1.93577331e-03 9.99997919e-01 6.43738924e-04 -2.13537415e+00] [ 6.39756294e-03 -6.31342704e-04 9.99979336e-01 -8.29499975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.672414037 meters 0.0956998209708563 Centerline is valid? [True, True] Translation: X:41.52, Y:-2.13, Z:-0.83 [[ 9.99975340e-01 7.95364899e-04 -6.97754767e-03 4.15170093e+01] [-7.90488649e-04 9.99999441e-01 7.01578700e-04 -2.13193321e+00] [ 6.97810178e-03 -6.96045727e-04 9.99975411e-01 -8.28775022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.702414037 meters 0.09832108728578114 Centerline is valid? [True, True] Translation: X:41.54, Y:-2.14, Z:-0.83 [[ 9.99974510e-01 4.29551447e-06 -7.14002026e-03 4.15442464e+01] [ 8.24904301e-07 9.99999743e-01 7.17140351e-04 -2.14059688e+00] [ 7.14002150e-03 -7.17127961e-04 9.99974253e-01 -8.30896004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.732414037 meters 0.09636966005223573 Centerline is valid? [True, True] Translation: X:41.57, Y:-2.14, Z:-0.83 [[ 9.99982433e-01 -2.27694853e-04 -5.92297658e-03 4.15732723e+01] [ 2.31218740e-04 9.99999797e-01 5.94274111e-04 -2.14115199e+00] [ 5.92284006e-03 -5.95633174e-04 9.99982282e-01 -8.29536790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.762414037 meters 0.09448592859655557 Centerline is valid? [True, True] Translation: X:41.60, Y:-2.14, Z:-0.83 [[ 9.99983179e-01 -2.14025534e-04 -5.79613139e-03 4.16017624e+01] [ 2.17372132e-04 9.99999810e-01 5.76760912e-04 -2.14045949e+00] [ 5.79600685e-03 -5.78011128e-04 9.99983036e-01 -8.29537866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.792414037 meters 0.09649783817769414 Centerline is valid? [True, True] Translation: X:41.63, Y:-2.15, Z:-0.83 [[ 9.99981547e-01 3.44891447e-04 -6.06524890e-03 4.16291973e+01] [-3.41220740e-04 9.99999758e-01 6.06227423e-04 -2.14658381e+00] [ 6.06545652e-03 -6.04146648e-04 9.99981422e-01 -8.30818861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.822414037 meters 0.09565694873742293 Centerline is valid? [True, True] Translation: X:41.66, Y:-2.15, Z:-0.83 [[ 9.99979751e-01 1.61184910e-03 -6.15629199e-03 4.16590642e+01] [-1.60808615e-03 9.99998517e-01 6.16136099e-04 -2.14724546e+00] [ 6.15727598e-03 -6.06223774e-04 9.99980860e-01 -8.29896320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.852414037 meters 0.09557260590820582 Centerline is valid? [True, True] Translation: X:41.69, Y:-2.15, Z:-0.83 [[ 9.99981900e-01 1.80487236e-03 -5.73954873e-03 4.16879113e+01] [-1.80161098e-03 9.99998213e-01 5.73347452e-04 -2.15049966e+00] [ 5.74057329e-03 -5.62996640e-04 9.99983364e-01 -8.31002889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.882414037 meters 0.09670900456280998 Centerline is valid? [True, True] Translation: X:41.72, Y:-2.16, Z:-0.83 [[ 9.99982606e-01 2.11978497e-03 -5.50406292e-03 4.17162386e+01] [-2.11679274e-03 9.99997609e-01 5.49408647e-04 -2.15658571e+00] [ 5.50521438e-03 -5.37748130e-04 9.99984702e-01 -8.32246504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.912414037 meters 0.09656900619475754 Centerline is valid? [True, True] Translation: X:41.74, Y:-2.16, Z:-0.83 [[ 9.99978769e-01 2.08506561e-03 -6.17359427e-03 4.17448188e+01] [-2.08130208e-03 9.99997644e-01 6.15978393e-04 -2.16031782e+00] [ 6.17486408e-03 -6.03116201e-04 9.99980753e-01 -8.33499597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.942414037 meters 0.09656900619475754 Centerline is valid? [True, True] Translation: X:41.77, Y:-2.16, Z:-0.83 [[ 9.99978906e-01 2.01859018e-03 -6.17363434e-03 4.17731285e+01] [-2.01482786e-03 9.99997781e-01 6.15577090e-04 -2.16307619e+00] [ 6.17486323e-03 -6.03125294e-04 9.99980753e-01 -8.34044369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.972414037 meters 0.09621743810406728 Centerline is valid? [True, True] Translation: X:41.80, Y:-2.17, Z:-0.84 [[ 9.99971442e-01 1.50915616e-03 -7.40528617e-03 4.18027230e+01] [-1.50372429e-03 9.99998596e-01 7.39026178e-04 -2.16667195e+00] [ 7.40639108e-03 -7.27869564e-04 9.99972307e-01 -8.35901131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.002414037 meters 0.09496424980765548 Centerline is valid? [True, True] Translation: X:41.83, Y:-2.17, Z:-0.84 [[ 9.99966810e-01 1.44946840e-03 -8.01740455e-03 4.18314011e+01] [-1.44310871e-03 9.99998640e-01 7.98962911e-04 -2.16728708e+00] [ 8.01855171e-03 -7.87366407e-04 9.99967541e-01 -8.35637808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.032414037 meters 0.09625328538231612 Centerline is valid? [True, True] Translation: X:41.86, Y:-2.17, Z:-0.84 [[ 9.99969692e-01 1.72396985e-03 -7.59236192e-03 4.18585034e+01] [-1.71828225e-03 9.99998238e-01 7.55579905e-04 -2.17246193e+00] [ 7.59365114e-03 -7.42511183e-04 9.99970892e-01 -8.35678143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.062414036999996 meters 0.09611747648390047 Centerline is valid? [True, True] Translation: X:41.89, Y:-2.18, Z:-0.83 [[ 9.99974690e-01 2.02829912e-03 -6.81953342e-03 4.18873235e+01] [-2.02371948e-03 9.99997722e-01 6.78380129e-04 -2.17540873e+00] [ 6.82089384e-03 -6.64562137e-04 9.99976517e-01 -8.34404537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.092414037 meters 0.09637270740449011 Centerline is valid? [True, True] Translation: X:41.92, Y:-2.18, Z:-0.83 [[ 9.99975774e-01 1.82301648e-03 -6.71775464e-03 4.19161786e+01] [-1.81857105e-03 9.99998123e-01 6.67793004e-04 -2.17909127e+00] [ 6.71895943e-03 -6.55560112e-04 9.99977213e-01 -8.34328041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.122414037 meters 0.0963944770388834 Centerline is valid? [True, True] Translation: X:41.94, Y:-2.18, Z:-0.83 [[ 9.99981761e-01 1.69977801e-03 -5.79548847e-03 4.19444387e+01] [-1.69647060e-03 9.99998395e-01 5.75556670e-04 -2.18284764e+00] [ 5.79645749e-03 -5.65714297e-04 9.99983040e-01 -8.34026133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.152414037 meters 0.09793214076724743 Centerline is valid? [True, True] Translation: X:41.97, Y:-2.19, Z:-0.84 [[ 9.99977540e-01 1.27785990e-03 -6.57930193e-03 4.19714858e+01] [-1.27359273e-03 9.99998976e-01 6.52723059e-04 -2.18901201e+00] [ 6.58012928e-03 -6.44329048e-04 9.99978143e-01 -8.35631837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.182414037 meters 0.09892878999707322 Centerline is valid? [True, True] Translation: X:42.00, Y:-2.19, Z:-0.84 [[ 9.99968019e-01 9.51451078e-04 -7.94079589e-03 4.19999997e+01] [-9.45223867e-04 9.99999243e-01 7.87920974e-04 -2.19419764e+00] [ 7.94153954e-03 -7.80389945e-04 9.99968161e-01 -8.37562168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.212414037 meters 0.09905057588333632 Centerline is valid? [True, True] Translation: X:42.03, Y:-2.20, Z:-0.84 [[ 9.99958210e-01 4.65465680e-04 -9.13024315e-03 4.20296145e+01] [-4.57208394e-04 9.99999485e-01 9.06454813e-04 -2.19777941e+00] [ 9.13066037e-03 -9.02242509e-04 9.99957908e-01 -8.39898515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.242414036999996 meters 0.09330432720762476 Centerline is valid? [True, True] Translation: X:42.06, Y:-2.19, Z:-0.84 [[ 9.99940105e-01 6.35077638e-04 -1.09262873e-02 4.20595762e+01] [-6.23276593e-04 9.99999219e-01 1.08343113e-03 -2.18932593e+00] [ 1.09269668e-02 -1.07655614e-03 9.99939719e-01 -8.38919732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.272414037 meters 0.10128378376580181 Centerline is valid? [True, False] Translation: X:42.06, Y:-2.19, Z:-0.84 [[ 9.99938756e-01 8.17750725e-04 -1.10370457e-02 4.20600799e+01] [-8.03842329e-04 9.99998877e-01 1.26453304e-03 -2.18941614e+00] [ 1.10380674e-02 -1.25558355e-03 9.99938290e-01 -8.39301592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.302414037 meters 0.09672284803274195 Centerline is valid? [False, True] Translation: X:42.06, Y:-2.19, Z:-0.84 [[ 9.99938415e-01 7.39464053e-04 -1.10733411e-02 4.20599998e+01] [-7.26996798e-04 9.99999097e-01 1.12986306e-03 -2.18928174e+00] [ 1.10741666e-02 -1.12174319e-03 9.99938050e-01 -8.39066594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.332414037 meters 0.09762874272621895 Centerline is valid? [True, True] Translation: X:42.09, Y:-2.19, Z:-0.84 [[ 9.99943991e-01 1.84798543e-03 -1.04211143e-02 4.20889148e+01] [-1.83747614e-03 9.99997794e-01 1.01794567e-03 -2.19423302e+00] [ 1.04229725e-02 -9.98740104e-04 9.99945181e-01 -8.39880264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.362414037 meters 0.09342526397790687 Centerline is valid? [True, True] Translation: X:42.12, Y:-2.19, Z:-0.84 [[ 9.99954535e-01 4.37824474e-03 -8.47103891e-03 4.21200551e+01] [-4.37138717e-03 9.99990103e-01 8.27877931e-04 -2.18920212e+00] [ 8.47457973e-03 -7.90810101e-04 9.99963777e-01 -8.35935690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.392414037 meters 0.09294078438261304 Centerline is valid? [True, True] Translation: X:42.15, Y:-2.19, Z:-0.84 [[ 9.99960774e-01 5.45694341e-03 -6.97650775e-03 4.21501769e+01] [-5.45232088e-03 9.99984904e-01 6.81432270e-04 -2.19083343e+00] [ 6.98012097e-03 -6.43367381e-04 9.99975432e-01 -8.35021186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.422414037 meters 0.0921630191113776 Centerline is valid? [True, True] Translation: X:42.18, Y:-2.19, Z:-0.83 [[ 9.99961302e-01 6.17332999e-03 -6.26770985e-03 4.21787578e+01] [-6.16962172e-03 9.99980781e-01 6.10808335e-04 -2.19242101e+00] [ 6.27136011e-03 -5.72115300e-04 9.99980171e-01 -8.34174283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.452414037 meters 0.09381097686055509 Centerline is valid? [True, True] Translation: X:42.21, Y:-2.20, Z:-0.84 [[ 9.99964413e-01 5.96214642e-03 -5.96864989e-03 4.22062673e+01] [-5.95878499e-03 9.99982078e-01 5.80804832e-04 -2.19915696e+00] [ 5.97200576e-03 -5.45218262e-04 9.99982019e-01 -8.35315437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.482414037 meters 0.09124277538821687 Centerline is valid? [True, True] Translation: X:42.24, Y:-2.20, Z:-0.83 [[ 9.99962810e-01 5.28368072e-03 -6.81632553e-03 4.22356574e+01] [-5.27928078e-03 9.99985844e-01 6.63331304e-04 -2.19716171e+00] [ 6.81973387e-03 -6.27321338e-04 9.99976549e-01 -8.33963192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.512414037 meters 0.12743875369563465 Centerline is valid? [True, False] Translation: X:42.31, Y:-2.20, Z:-0.83 [[ 9.99972634e-01 3.27537496e-03 -6.63346996e-03 4.23118269e+01] [-3.27494668e-03 9.99994635e-01 7.54242379e-05 -2.20451548e+00] [ 6.63368141e-03 -5.36979135e-05 9.99977995e-01 -8.33782677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.542414037 meters 0.09164936335054193 Centerline is valid? [False, True] Translation: X:42.26, Y:-2.20, Z:-0.84 [[ 9.99976469e-01 4.09674543e-03 -5.50259203e-03 4.22560196e+01] [-4.07992115e-03 9.99986979e-01 3.06527152e-03 -2.20136735e+00] [ 5.51507802e-03 -3.04274925e-03 9.99980163e-01 -8.35933754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.572414037 meters 0.0961644321399707 Centerline is valid? [True, True] Translation: X:42.28, Y:-2.21, Z:-0.84 [[ 9.99966072e-01 2.64650974e-03 -7.80068665e-03 4.22842168e+01] [-2.64068877e-03 9.99996227e-01 7.56417567e-04 -2.21219725e+00] [ 7.80265909e-03 -7.35792718e-04 9.99969288e-01 -8.40585505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.602414037 meters 0.09399982439709814 Centerline is valid? [True, True] Translation: X:42.31, Y:-2.21, Z:-0.84 [[ 9.99952299e-01 1.26926894e-03 -9.68442050e-03 4.23148326e+01] [-1.26023590e-03 9.99998765e-01 9.38784791e-04 -2.21033560e+00] [ 9.68560011e-03 -9.26535356e-04 9.99952664e-01 -8.39850015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.632414037 meters 0.09378463339573795 Centerline is valid? [True, True] Translation: X:42.34, Y:-2.21, Z:-0.84 [[ 9.99952919e-01 5.11828420e-04 -9.69008003e-03 4.23436329e+01] [-5.02765374e-04 9.99999434e-01 9.37704048e-04 -2.21248386e+00] [ 9.69055448e-03 -9.32788063e-04 9.99952610e-01 -8.40030822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.662414037 meters 0.09377811803683035 Centerline is valid? [True, True] Translation: X:42.37, Y:-2.21, Z:-0.84 [[ 9.99957610e-01 -6.00092819e-05 -9.20730868e-03 4.23718761e+01] [ 6.82045529e-05 9.99999602e-01 8.89771810e-04 -2.21479854e+00] [ 9.20725162e-03 -8.90362073e-04 9.99957216e-01 -8.40912848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.692414037 meters 0.09626781301076649 Centerline is valid? [True, True] Translation: X:42.40, Y:-2.22, Z:-0.84 [[ 9.99967859e-01 -1.93699611e-03 -7.78004087e-03 4.23993902e+01] [ 1.94290110e-03 9.99997830e-01 7.51505733e-04 -2.22371905e+00] [ 7.77856832e-03 -7.66597429e-04 9.99969453e-01 -8.42589470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.722414037 meters 0.09759720071436583 Centerline is valid? [True, True] Translation: X:42.43, Y:-2.23, Z:-0.84 [[ 9.99980746e-01 -3.04729258e-03 -5.40575233e-03 4.24265138e+01] [ 3.05015263e-03 9.99995213e-01 5.20908519e-04 -2.23017113e+00] [ 5.40413909e-03 -5.37386859e-04 9.99985253e-01 -8.42651222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.752414037 meters 0.09556591099941783 Centerline is valid? [True, True] Translation: X:42.46, Y:-2.23, Z:-0.84 [[ 9.99980475e-01 -4.34571963e-03 -4.49050406e-03 4.24557938e+01] [ 4.34770656e-03 9.99990455e-01 4.32807619e-04 -2.22960673e+00] [ 4.48858034e-03 -4.52322562e-04 9.99989824e-01 -8.40438820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.782414037 meters 0.09656138935089194 Centerline is valid? [True, True] Translation: X:42.49, Y:-2.23, Z:-0.84 [[ 9.99973040e-01 -6.37683250e-03 -3.64070016e-03 4.24854297e+01] [ 6.37815362e-03 9.99979598e-01 3.51380957e-04 -2.23273231e+00] [ 3.63838519e-03 -3.74592429e-04 9.99993311e-01 -8.38513142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.812414036999996 meters 0.09657251977996972 Centerline is valid? [True, True] Translation: X:42.52, Y:-2.23, Z:-0.84 [[ 9.99963790e-01 -7.30705541e-03 -4.36183779e-03 4.25160750e+01] [ 7.30896235e-03 9.99973200e-01 4.21406402e-04 -2.23445094e+00] [ 4.35864166e-03 -4.53271651e-04 9.99990398e-01 -8.39435037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.842414037 meters 0.09800199226345917 Centerline is valid? [True, True] Translation: X:42.55, Y:-2.24, Z:-0.84 [[ 9.99957529e-01 -7.77756511e-03 -4.94461857e-03 4.25457355e+01] [ 7.78002351e-03 9.99969621e-01 4.78146227e-04 -2.23915909e+00] [ 4.94074955e-03 -5.16595169e-04 9.99987661e-01 -8.40561511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.872414037 meters 0.09717722071762719 Centerline is valid? [True, True] Translation: X:42.58, Y:-2.24, Z:-0.84 [[ 9.99952670e-01 -7.72225283e-03 -5.91818659e-03 4.25765748e+01] [ 7.72577119e-03 9.99969992e-01 5.71868921e-04 -2.24040716e+00] [ 5.91359288e-03 -6.17564410e-04 9.99982324e-01 -8.42335530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.902414037 meters 0.09834851020134808 Centerline is valid? [True, True] Translation: X:42.61, Y:-2.25, Z:-0.85 [[ 9.99953802e-01 -6.93767466e-03 -6.65299338e-03 4.26052559e+01] [ 6.94210069e-03 9.99975697e-01 6.42405657e-04 -2.24646531e+00] [ 6.64837489e-03 -6.88561729e-04 9.99977662e-01 -8.47057080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.932414037 meters 0.09766150965369837 Centerline is valid? [True, True] Translation: X:42.63, Y:-2.25, Z:-0.85 [[ 9.99959523e-01 -6.33046295e-03 -6.39363477e-03 4.26348596e+01] [ 6.33453462e-03 9.99979746e-01 6.16780627e-04 -2.24858573e+00] [ 6.38960077e-03 -6.57256362e-04 9.99979370e-01 -8.48084928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.962414037 meters 0.09639289440169672 Centerline is valid? [True, True] Translation: X:42.67, Y:-2.25, Z:-0.85 [[ 9.99967493e-01 -5.98031956e-03 -5.40815306e-03 4.26652573e+01] [ 5.98322850e-03 9.99981964e-01 5.21860392e-04 -2.24853948e+00] [ 5.40493463e-03 -5.54201644e-04 9.99985240e-01 -8.47795866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.992414036999996 meters 0.09786316332737055 Centerline is valid? [True, True] Translation: X:42.69, Y:-2.25, Z:-0.85 [[ 9.99978926e-01 -4.88758605e-03 -4.27312161e-03 4.26949270e+01] [ 4.88939342e-03 9.99987962e-01 4.12616831e-04 -2.25389004e+00] [ 4.27105347e-03 -4.33501108e-04 9.99990785e-01 -8.48529256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.022414037 meters 0.09510668853814333 Centerline is valid? [True, True] Translation: X:42.73, Y:-2.25, Z:-0.85 [[ 9.99994610e-01 -2.07703395e-03 -2.54270435e-03 4.27259900e+01] [ 2.07766475e-03 9.99997812e-01 2.45468386e-04 -2.25000801e+00] [ 2.54218894e-03 -2.50749950e-04 9.99996737e-01 -8.46907102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.052414037 meters 0.09587924608607418 Centerline is valid? [True, True] Translation: X:42.76, Y:-2.25, Z:-0.85 [[ 9.99998241e-01 -9.00251252e-05 -1.87343235e-03 4.27554497e+01] [ 9.03634533e-05 9.99999980e-01 1.80508794e-04 -2.25425683e+00] [ 1.87341606e-03 -1.80677767e-04 9.99998229e-01 -8.47399162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.082414037 meters 0.0956416013560525 Centerline is valid? [True, True] Translation: X:42.78, Y:-2.26, Z:-0.85 [[ 9.99992499e-01 3.71268339e-03 -1.10401086e-03 4.27845380e+01] [-3.71256870e-03 9.99993103e-01 1.05920310e-04 -2.25715896e+00] [ 1.10439650e-03 -1.01820799e-04 9.99999385e-01 -8.48603800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.112414037 meters 0.09539439532340899 Centerline is valid? [True, True] Translation: X:42.81, Y:-2.26, Z:-0.85 [[ 9.99986706e-01 5.15079040e-03 -2.38110489e-04 4.28143923e+01] [-5.15078515e-03 9.99986734e-01 2.26363420e-05 -2.25960793e+00] [ 2.38223925e-04 -2.14095851e-05 9.99999971e-01 -8.48759647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.142414037 meters 0.09302591596844628 Centerline is valid? [True, True] Translation: X:42.84, Y:-2.26, Z:-0.85 [[ 9.99980890e-01 6.15688230e-03 -5.58145057e-04 4.28435264e+01] [-6.15685399e-03 9.99981045e-01 5.24320407e-05 -2.25707353e+00] [ 5.58457296e-04 -4.89946211e-05 9.99999843e-01 -8.48757619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.172414037 meters 0.09585743283382024 Centerline is valid? [True, True] Translation: X:42.87, Y:-2.26, Z:-0.85 [[ 9.99976945e-01 6.65921672e-03 -1.32860086e-03 4.28711147e+01] [-6.65905428e-03 9.99977820e-01 1.26650964e-04 -2.26472522e+00] [ 1.32941479e-03 -1.17800819e-04 9.99999109e-01 -8.51529730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.202414037 meters 0.0894153957571226 Centerline is valid? [True, True] Translation: X:42.90, Y:-2.25, Z:-0.85 [[ 9.99971145e-01 7.28105672e-03 -2.16685999e-03 4.29007265e+01] [-7.28062467e-03 9.99973474e-01 2.07211315e-04 -2.25412723e+00] [ 2.16831123e-03 -1.91429242e-04 9.99997631e-01 -8.49868116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.232414037 meters 0.0972199674453717 Centerline is valid? [True, True] Translation: X:42.93, Y:-2.27, Z:-0.86 [[ 9.99970194e-01 6.95698345e-03 -3.34847710e-03 4.29261880e+01] [-6.95595080e-03 9.99975756e-01 3.19940466e-04 -2.27289288e+00] [ 3.35062174e-03 -2.96639088e-04 9.99994343e-01 -8.56096560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.262414037 meters 0.09791922676920545 Centerline is valid? [True, True] Translation: X:42.95, Y:-2.28, Z:-0.86 [[ 9.99969929e-01 6.98657096e-03 -3.36576825e-03 4.29548322e+01] [-6.98552564e-03 9.99975549e-01 3.22230025e-04 -2.27674305e+00] [ 3.36793724e-03 -2.98708674e-04 9.99994284e-01 -8.57477424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.292414037 meters 0.09054791528873371 Centerline is valid? [True, True] Translation: X:42.99, Y:-2.26, Z:-0.85 [[ 9.99967133e-01 6.48394299e-03 -4.86732860e-03 4.29850447e+01] [-6.48175030e-03 9.99978885e-01 4.66129920e-04 -2.26433256e+00] [ 4.87024819e-03 -4.34565791e-04 9.99988046e-01 -8.54685552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.322414037 meters 0.0898085077866585 Centerline is valid? [True, True] Translation: X:43.01, Y:-2.27, Z:-0.86 [[ 9.99964750e-01 6.94280611e-03 -4.72179465e-03 4.30141720e+01] [-6.94074949e-03 9.99975811e-01 4.51805494e-04 -2.26574932e+00] [ 4.72481723e-03 -4.19016774e-04 9.99988750e-01 -8.56345134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.352414037 meters 0.09806432937107848 Centerline is valid? [True, True] Translation: X:43.04, Y:-2.28, Z:-0.86 [[ 9.99968084e-01 6.84111298e-03 -4.12671916e-03 4.30397966e+01] [-6.83954495e-03 9.99976532e-01 3.93964211e-04 -2.28486149e+00] [ 4.12931747e-03 -3.65726756e-04 9.99991407e-01 -8.62212135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.382414037 meters 0.09000405573668613 Centerline is valid? [True, True] Translation: X:43.07, Y:-2.27, Z:-0.86 [[ 9.99970841e-01 6.55959593e-03 -3.91019295e-03 4.30703490e+01] [-6.55818600e-03 9.99978425e-01 3.73291664e-04 -2.27193219e+00] [ 3.91255723e-03 -3.47637007e-04 9.99992285e-01 -8.58150486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.412414037 meters 0.09111990430449811 Centerline is valid? [True, True] Translation: X:43.10, Y:-2.28, Z:-0.86 [[ 9.99978937e-01 6.12648459e-03 -2.14294081e-03 4.30980095e+01] [-6.12606308e-03 9.99981215e-01 2.03208819e-04 -2.27822962e+00] [ 2.14414551e-03 -1.90076748e-04 9.99997683e-01 -8.57831020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.442414037 meters 0.09181493553244154 Centerline is valid? [True, True] Translation: X:43.13, Y:-2.28, Z:-0.86 [[ 9.99980961e-01 6.13886546e-03 -6.26217560e-04 4.31255871e+01] [-6.13883024e-03 9.99981156e-01 5.81477870e-05 -2.28270924e+00] [ 6.26562721e-04 -5.43024367e-05 9.99999802e-01 -8.58490410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.472414037 meters 0.09247968371242066 Centerline is valid? [True, True] Translation: X:43.15, Y:-2.29, Z:-0.86 [[ 9.99980599e-01 6.01938555e-03 -1.60270195e-03 4.31531886e+01] [-6.01915051e-03 9.99981873e-01 1.51432635e-04 -2.28682775e+00] [ 1.60358443e-03 -1.41782793e-04 9.99998704e-01 -8.59358404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.502414037 meters 0.09208516945920742 Centerline is valid? [True, True] Translation: X:43.18, Y:-2.29, Z:-0.86 [[ 9.99979974e-01 6.18354489e-03 -1.34742466e-03 4.31816317e+01] [-6.18337894e-03 9.99980875e-01 1.27289480e-04 -2.28816363e+00] [ 1.34818599e-03 -1.18955293e-04 9.99999084e-01 -8.58705056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.532414037 meters 0.09090323744037729 Centerline is valid? [True, True] Translation: X:43.21, Y:-2.29, Z:-0.86 [[ 9.99974463e-01 6.91923931e-03 -1.78788128e-03 4.32111539e+01] [-6.91894705e-03 9.99976049e-01 1.69603422e-04 -2.28815145e+00] [ 1.78901199e-03 -1.57228835e-04 9.99998387e-01 -8.58307933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.562414036999996 meters 0.09021193224974351 Centerline is valid? [True, True] Translation: X:43.24, Y:-2.29, Z:-0.86 [[ 9.99972126e-01 7.37111028e-03 -1.18887816e-03 4.32405256e+01] [-7.37098186e-03 9.99972828e-01 1.12359499e-04 -2.28947096e+00] [ 1.18967407e-03 -1.03593168e-04 9.99999287e-01 -8.58680497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.592414037 meters 0.08992311170529832 Centerline is valid? [True, True] Translation: X:43.27, Y:-2.29, Z:-0.86 [[ 9.99961082e-01 8.75942562e-03 -1.05194143e-03 4.32706804e+01] [-8.75932525e-03 9.99961631e-01 9.99863753e-05 -2.29220102e+00] [ 1.05277689e-03 -9.07681869e-05 9.99999442e-01 -8.59955166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.622414037 meters 0.08959039074001884 Centerline is valid? [True, True] Translation: X:43.30, Y:-2.29, Z:-0.86 [[ 9.99926121e-01 1.21549262e-02 -1.00375281e-04 4.33005721e+01] [-1.21549253e-02 9.99926126e-01 9.58335140e-06 -2.29376437e+00] [ 1.00484351e-04 -8.36258935e-06 9.99999995e-01 -8.59901151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.652414037 meters 0.08959039074001884 Centerline is valid? [True, True] Translation: X:43.33, Y:-2.30, Z:-0.86 [[ 9.99926929e-01 1.20882872e-02 -1.00508870e-04 4.33288521e+01] [-1.20882864e-02 9.99926934e-01 8.18234164e-06 -2.29639114e+00] [ 1.00600437e-04 -6.96676373e-06 9.99999995e-01 -8.60494240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.682414037 meters 0.08747138697553328 Centerline is valid? [True, True] Translation: X:43.36, Y:-2.29, Z:-0.86 [[ 9.99865155e-01 1.64094006e-02 -6.35440266e-04 4.33596330e+01] [-1.64093657e-02 9.99865355e-01 6.00224123e-05 -2.29149180e+00] [ 6.36339639e-04 -4.95871468e-05 9.99999796e-01 -8.60399913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.712414037 meters 0.08619757225044418 Centerline is valid? [True, True] Translation: X:43.39, Y:-2.29, Z:-0.86 [[ 9.99827591e-01 1.85303022e-02 -1.18976393e-03 4.33897769e+01] [-1.85301807e-02 9.99828295e-01 1.13001357e-04 -2.29105169e+00] [ 1.19165359e-03 -9.09353334e-05 9.99999286e-01 -8.61338926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.742414036999996 meters 0.08634740045650276 Centerline is valid? [True, True] Translation: X:43.42, Y:-2.29, Z:-0.86 [[ 9.99784920e-01 2.07115063e-02 -1.07070646e-03 4.34180923e+01] [-2.07114101e-02 9.99785491e-01 1.00903670e-04 -2.29373820e+00] [ 1.07256665e-03 -7.87061266e-05 9.99999422e-01 -8.63570221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.772414037 meters 0.08477779743666163 Centerline is valid? [True, True] Translation: X:43.45, Y:-2.29, Z:-0.87 [[ 9.99688635e-01 2.48976558e-02 -1.65517331e-03 4.34482811e+01] [-2.48974289e-02 9.99689999e-01 1.57552265e-04 -2.29342261e+00] [ 1.65858289e-03 -1.16293649e-04 9.99998618e-01 -8.65117649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.802414037 meters 0.08399167528358284 Centerline is valid? [True, True] Translation: X:43.48, Y:-2.29, Z:-0.87 [[ 9.99639501e-01 2.68062321e-02 -1.51470744e-03 4.34778963e+01] [-2.68060453e-02 9.99640643e-01 1.43473533e-04 -2.29397383e+00] [ 1.51800911e-03 -1.02818494e-04 9.99998843e-01 -8.66321461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.832414037 meters 0.08399167528358284 Centerline is valid? [True, True] Translation: X:43.51, Y:-2.30, Z:-0.87 [[ 9.99642211e-01 2.67049540e-02 -1.51485554e-03 4.35053009e+01] [-2.67047695e-02 9.99643354e-01 1.41916456e-04 -2.29647996e+00] [ 1.51810515e-03 -1.01411812e-04 9.99998843e-01 -8.66896402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.862414037 meters 0.08430230778241557 Centerline is valid? [True, True] Translation: X:43.53, Y:-2.30, Z:-0.87 [[ 9.99587413e-01 2.87001026e-02 -1.14360458e-03 4.35343069e+01] [-2.86999977e-02 9.99588064e-01 1.07999127e-04 -2.29997686e+00] [ 1.14623308e-03 -7.51331187e-05 9.99999340e-01 -8.67660061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.892414037 meters 0.084445328597001 Centerline is valid? [True, True] Translation: X:43.56, Y:-2.30, Z:-0.87 [[ 9.99542093e-01 3.02497225e-02 -7.47914232e-04 4.35629780e+01] [-3.02496785e-02 9.99542371e-01 7.00190133e-05 -2.30198736e+00] [ 7.49690021e-04 -4.73627860e-05 9.99999718e-01 -8.68096228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.922414037 meters 0.08463718896619414 Centerline is valid? [True, True] Translation: X:43.59, Y:-2.30, Z:-0.87 [[ 9.99480078e-01 3.22424012e-02 -2.80257431e-05 4.35915122e+01] [-3.22424012e-02 9.99480079e-01 1.63523391e-06 -2.30326053e+00] [ 2.80638958e-05 -7.30766465e-07 1.00000000e+00 -8.67869634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.952414037 meters 0.08273847282537818 Centerline is valid? [True, True] Translation: X:43.62, Y:-2.30, Z:-0.87 [[ 9.99472993e-01 3.24607431e-02 -1.90638488e-04 4.36205887e+01] [-3.24607405e-02 9.99473011e-01 1.66867567e-05 -2.30055278e+00] [ 1.91079688e-04 -1.04896962e-05 9.99999982e-01 -8.66665063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.982414037 meters 0.08264019448208856 Centerline is valid? [True, True] Translation: X:43.65, Y:-2.31, Z:-0.87 [[ 9.99441597e-01 3.34139197e-02 7.15229961e-05 4.36490478e+01] [-3.34139192e-02 9.99441599e-01 -8.17660888e-06 -2.30548500e+00] [-7.17562702e-05 5.78217942e-06 9.99999997e-01 -8.68021611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.012414037 meters 0.08364699626573775 Centerline is valid? [True, True] Translation: X:43.68, Y:-2.31, Z:-0.87 [[ 9.99450046e-01 3.31602794e-02 3.82752597e-05 4.36766836e+01] [-3.31602792e-02 9.99450047e-01 -5.35673836e-06 -2.31230457e+00] [-3.84318411e-05 4.08457410e-06 9.99999999e-01 -8.70139518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.042414037 meters 0.08509339602047361 Centerline is valid? [True, True] Translation: X:43.70, Y:-2.32, Z:-0.87 [[ 9.99449568e-01 3.31575084e-02 -1.06842876e-03 4.37033136e+01] [-3.31574214e-02 9.99450137e-01 9.90754239e-05 -2.31982708e+00] [ 1.07112637e-03 -6.35945468e-05 9.99999424e-01 -8.73447228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.072414037 meters 0.08289329884995277 Centerline is valid? [True, True] Translation: X:43.73, Y:-2.32, Z:-0.87 [[ 9.99434818e-01 3.34812387e-02 -3.00845447e-03 4.37328680e+01] [-3.34805376e-02 9.99439330e-01 2.83124822e-04 -2.31689394e+00] [ 3.01624709e-03 -1.82240132e-04 9.99995435e-01 -8.72331162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.102414037 meters 0.08264498560005967 Centerline is valid? [True, True] Translation: X:43.76, Y:-2.32, Z:-0.87 [[ 9.99422615e-01 3.39192092e-02 -1.98094218e-03 4.37623016e+01] [-3.39189066e-02 9.99424571e-01 1.86195278e-04 -2.31780306e+00] [ 1.98611789e-03 -1.18896379e-04 9.99998021e-01 -8.72155452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.132414037 meters 0.08635753476350035 Centerline is valid? [True, True] Translation: X:43.79, Y:-2.33, Z:-0.88 [[ 9.99416047e-01 3.40490669e-02 -2.86827427e-03 4.37877416e+01] [-3.40484406e-02 9.99420148e-01 2.66928950e-04 -2.32894474e+00] [ 2.87569977e-03 -1.69112810e-04 9.99995851e-01 -8.76557203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.162414037 meters 0.08244578045433659 Centerline is valid? [True, True] Translation: X:43.82, Y:-2.32, Z:-0.87 [[ 9.99406889e-01 3.43295610e-02 -2.71132186e-03 4.38172916e+01] [-3.43289972e-02 9.99410554e-01 2.54220012e-04 -2.32216243e+00] [ 2.71845094e-03 -1.60992271e-04 9.99996292e-01 -8.73000423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.192414037 meters 0.08260097093757963 Centerline is valid? [True, True] Translation: X:43.85, Y:-2.33, Z:-0.87 [[ 9.99409255e-01 3.43340158e-02 -1.52228168e-03 4.38461661e+01] [-3.43338386e-02 9.99410410e-01 1.42388940e-04 -2.32845542e+00] [ 1.52627294e-03 -9.00390513e-05 9.99998831e-01 -8.73562831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.222414037 meters 0.08200890163732591 Centerline is valid? [True, True] Translation: X:43.87, Y:-2.33, Z:-0.87 [[ 9.99410921e-01 3.42793287e-02 -1.65490319e-03 4.38735433e+01] [-3.42791212e-02 9.99412286e-01 1.53647408e-04 -2.33114002e+00] [ 1.65919752e-03 -9.68282707e-05 9.99998619e-01 -8.73376568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.252414037 meters 0.08199175664540918 Centerline is valid? [True, True] Translation: X:43.90, Y:-2.34, Z:-0.87 [[ 9.99416754e-01 3.41143574e-02 -1.53698945e-03 4.39020819e+01] [-3.41141774e-02 9.99417932e-01 1.43152452e-04 -2.33522422e+00] [ 1.54097837e-03 -9.06358287e-05 9.99998809e-01 -8.74052768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.282414037 meters 0.08164582031674264 Centerline is valid? [True, True] Translation: X:43.93, Y:-2.34, Z:-0.87 [[ 9.99400208e-01 3.45879798e-02 -1.70202676e-03 4.39306210e+01] [-3.45877598e-02 9.99401652e-01 1.58552552e-04 -2.33876483e+00] [ 1.70649237e-03 -9.95881610e-05 9.99998539e-01 -8.74658072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.312414036999996 meters 0.08384909212756997 Centerline is valid? [True, True] Translation: X:43.96, Y:-2.35, Z:-0.88 [[ 9.99404645e-01 3.43741270e-02 -2.96233352e-03 4.39573878e+01] [-3.43734582e-02 9.99409020e-01 2.76415598e-04 -2.34824918e+00] [ 2.97008438e-03 -1.74425385e-04 9.99995574e-01 -8.78103227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.342414037 meters 0.08162823670581507 Centerline is valid? [True, True] Translation: X:43.99, Y:-2.35, Z:-0.88 [[ 9.99401939e-01 3.44167013e-02 -3.35478651e-03 4.39853228e+01] [-3.44158454e-02 9.99407550e-01 3.12550982e-04 -2.34600315e+00] [ 3.36355594e-03 -1.96906244e-04 9.99994324e-01 -8.76145010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.372414037 meters 0.08206375482598656 Centerline is valid? [True, True] Translation: X:44.01, Y:-2.36, Z:-0.88 [[ 9.99391875e-01 3.47322234e-02 -3.09074276e-03 4.40126765e+01] [-3.47314986e-02 9.99396638e-01 2.87887749e-04 -2.35502977e+00] [ 3.09887690e-03 -1.80366550e-04 9.99995182e-01 -8.78029772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.402414037 meters 0.08315284436166753 Centerline is valid? [True, True] Translation: X:44.04, Y:-2.36, Z:-0.88 [[ 9.99362078e-01 3.55564526e-02 -3.34315284e-03 4.40395120e+01] [-3.55556096e-02 9.99367651e-01 3.11277907e-04 -2.36299540e+00] [ 3.35210673e-03 -1.92211498e-04 9.99994363e-01 -8.80277440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.432414037 meters 0.08124430186908056 Centerline is valid? [True, True] Translation: X:44.07, Y:-2.36, Z:-0.88 [[ 9.99346722e-01 3.59625833e-02 -3.58087572e-03 4.40685974e+01] [-3.59616180e-02 9.99353116e-01 3.33617290e-04 -2.36165588e+00] [ 3.59055704e-03 -2.04625260e-04 9.99993533e-01 -8.78970341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.462414037 meters 0.08032456548507548 Centerline is valid? [True, True] Translation: X:44.10, Y:-2.36, Z:-0.88 [[ 9.99264663e-01 3.80038898e-02 -5.08299934e-03 4.40969553e+01] [-3.80019699e-02 9.99277552e-01 4.73806637e-04 -2.36452251e+00] [ 5.09733363e-03 -2.80294242e-04 9.99986969e-01 -8.78847734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.492414036999996 meters 0.08047802711789595 Centerline is valid? [True, True] Translation: X:44.12, Y:-2.37, Z:-0.88 [[ 9.99208549e-01 3.95347392e-02 -4.39087242e-03 4.41249728e+01] [-3.95333234e-02 9.99218169e-01 4.08809737e-04 -2.36910685e+00] [ 4.40360169e-03 -2.34900404e-04 9.99990277e-01 -8.79541465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.522414037 meters 0.08044191065612782 Centerline is valid? [True, True] Translation: X:44.15, Y:-2.37, Z:-0.88 [[ 9.99143541e-01 4.10058186e-02 -5.54138365e-03 4.41533084e+01] [-4.10035860e-02 9.99158866e-01 5.15951999e-04 -2.37299901e+00] [ 5.55787964e-03 -2.88293505e-04 9.99984513e-01 -8.80554923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.552414037 meters 0.0798038500687369 Centerline is valid? [True, True] Translation: X:44.18, Y:-2.38, Z:-0.88 [[ 9.99046740e-01 4.32198685e-02 -6.13623615e-03 4.41824155e+01] [-4.32171812e-02 9.99065539e-01 5.69915265e-04 -2.37576266e+00] [ 6.15513373e-03 -3.04181158e-04 9.99981011e-01 -8.81543226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.582414037 meters 0.07925224351345535 Centerline is valid? [True, True] Translation: X:44.21, Y:-2.38, Z:-0.88 [[ 9.98963970e-01 4.49232809e-02 -7.27219752e-03 4.42113904e+01] [-4.49195458e-02 9.98990379e-01 6.76223234e-04 -2.37790088e+00] [ 7.29523352e-03 -3.48858837e-04 9.99973329e-01 -8.82607665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.612414037 meters 0.07898241576907696 Centerline is valid? [True, True] Translation: X:44.24, Y:-2.38, Z:-0.88 [[ 9.98860448e-01 4.71156556e-02 -7.61056810e-03 4.42405693e+01] [-4.71116649e-02 9.98889382e-01 7.02894028e-04 -2.38077698e+00] [ 7.63523298e-03 -3.43546510e-04 9.99970792e-01 -8.84413863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.642414037 meters 0.07826854660801413 Centerline is valid? [True, True] Translation: X:44.27, Y:-2.38, Z:-0.89 [[ 9.98636965e-01 5.14952290e-02 -8.51197101e-03 4.42688200e+01] [-5.14903645e-02 9.98673179e-01 7.89800747e-04 -2.38368275e+00] [ 8.54134812e-03 -3.50439732e-04 9.99963461e-01 -8.86221743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.672414037 meters 0.0781819446046093 Centerline is valid? [True, True] Translation: X:44.30, Y:-2.39, Z:-0.89 [[ 9.98529043e-01 5.37056660e-02 -7.44654142e-03 4.42979494e+01] [-5.37020045e-02 9.98556767e-01 6.90921247e-04 -2.38714268e+00] [ 7.47290071e-03 -2.90010730e-04 9.99972035e-01 -8.86967651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.702414037 meters 0.07729660602597409 Centerline is valid? [True, True] Translation: X:44.33, Y:-2.39, Z:-0.88 [[ 9.98398160e-01 5.64290137e-02 -4.10860936e-03 4.43280471e+01] [-5.64279223e-02 9.98406603e-01 3.81178994e-04 -2.39000516e+00] [ 4.12357227e-03 -1.48728117e-04 9.99991487e-01 -8.84115823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.732414037 meters 0.07714904573034985 Centerline is valid? [True, True] Translation: X:44.36, Y:-2.40, Z:-0.88 [[ 9.98413096e-01 5.62506960e-02 -2.67372810e-03 4.43568260e+01] [-5.62502473e-02 9.98416672e-01 2.42789958e-04 -2.39523856e+00] [ 2.68315181e-03 -9.20068068e-05 9.99996396e-01 -8.83504309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.762414037 meters 0.07664388648732964 Centerline is valid? [True, True] Translation: X:44.38, Y:-2.40, Z:-0.88 [[ 9.98430444e-01 5.59302038e-02 -2.90873489e-03 4.43844490e+01] [-5.59296750e-02 9.98434676e-01 2.62903333e-04 -2.39873598e+00] [ 2.91888601e-03 -9.98060948e-05 9.99995735e-01 -8.82408796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.792414037 meters 0.07669821997782503 Centerline is valid? [True, True] Translation: X:44.41, Y:-2.40, Z:-0.88 [[ 9.98465462e-01 5.52213431e-02 -4.16235113e-03 4.44130586e+01] [-5.52202450e-02 9.98474127e-01 3.78377329e-04 -2.40366509e+00] [ 4.17689441e-03 -1.47950646e-04 9.99991266e-01 -8.82922451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.822414037 meters 0.07723374477501643 Centerline is valid? [True, True] Translation: X:44.44, Y:-2.41, Z:-0.89 [[ 9.98487531e-01 5.47466927e-02 -5.04478342e-03 4.44400844e+01] [-5.47450594e-02 9.98500258e-01 4.61374010e-04 -2.41071249e+00] [ 5.06247624e-03 -1.84499229e-04 9.99987169e-01 -8.85164286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.852414037 meters 0.07772191170390629 Centerline is valid? [True, True] Translation: X:44.47, Y:-2.42, Z:-0.89 [[ 9.98591680e-01 5.27121273e-02 -6.00730141e-03 4.44688213e+01] [-5.27097609e-02 9.98609722e-01 5.51667188e-04 -2.41984403e+00] [ 6.02802915e-03 -2.34246843e-04 9.99981804e-01 -8.87067228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.882414037 meters 0.0781592776598041 Centerline is valid? [True, True] Translation: X:44.50, Y:-2.43, Z:-0.89 [[ 9.98661467e-01 5.11072327e-02 -7.95767384e-03 4.44982030e+01] [-5.11030297e-02 9.98693119e-01 7.30738536e-04 -2.42705224e+00] [ 7.98462013e-03 -3.23099176e-04 9.99968070e-01 -8.89005976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.912414037 meters 0.0786667913251046 Centerline is valid? [True, True] Translation: X:44.53, Y:-2.43, Z:-0.89 [[ 9.98734634e-01 4.96852712e-02 -7.77843833e-03 4.45251518e+01] [-4.96812255e-02 9.98764871e-01 7.12593662e-04 -2.43387496e+00] [ 7.80423636e-03 -3.25249622e-04 9.99969494e-01 -8.91488689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.942414037 meters 0.07934021980699243 Centerline is valid? [True, True] Translation: X:44.55, Y:-2.44, Z:-0.89 [[ 9.98872326e-01 4.65850490e-02 -9.16026738e-03 4.45548789e+01] [-4.65792894e-02 9.98914242e-01 8.41209261e-04 -2.44364348e+00] [ 9.18950931e-03 -4.13581906e-04 9.99957690e-01 -8.93112425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.972414037 meters 0.07845667411869417 Centerline is valid? [True, True] Translation: X:44.58, Y:-2.44, Z:-0.89 [[ 9.98949469e-01 4.50745618e-02 -8.26094187e-03 4.45834414e+01] [-4.50698841e-02 9.98983554e-01 7.51632986e-04 -2.44486053e+00] [ 8.28642459e-03 -3.78523679e-04 9.99965595e-01 -8.90559052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.002414037 meters 0.07933419964686554 Centerline is valid? [True, True] Translation: X:44.61, Y:-2.45, Z:-0.89 [[ 9.99008759e-01 4.36641230e-02 -8.65701428e-03 4.46100177e+01] [-4.36589137e-02 9.99046183e-01 7.89902346e-04 -2.45235764e+00] [ 8.68324746e-03 -4.11163523e-04 9.99962215e-01 -8.93228242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.032414037 meters 0.07911102338111403 Centerline is valid? [True, True] Translation: X:44.64, Y:-2.46, Z:-0.89 [[ 9.99121577e-01 4.07348727e-02 -9.83587931e-03 4.46391827e+01] [-4.07279878e-02 9.99169867e-01 8.99350353e-04 -2.46003604e+00] [ 9.86434914e-03 -4.97964770e-04 9.99951222e-01 -8.92317060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.062414036999996 meters 0.08057459662799347 Centerline is valid? [True, True] Translation: X:44.67, Y:-2.47, Z:-0.90 [[ 9.99173416e-01 3.94386111e-02 -9.85298466e-03 4.46655607e+01] [-3.94316670e-02 9.99221866e-01 8.98117792e-04 -2.47069590e+00] [ 9.88073823e-03 -5.08855812e-04 9.99951055e-01 -8.95140245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.092414037 meters 0.07939072741456707 Centerline is valid? [True, True] Translation: X:44.70, Y:-2.47, Z:-0.89 [[ 9.99245191e-01 3.76628025e-02 -9.51640857e-03 4.46955734e+01] [-3.76562348e-02 9.99290375e-01 8.68443470e-04 -2.47195219e+00] [ 9.54236350e-03 -5.09435845e-04 9.99954341e-01 -8.92863004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.122414037 meters 0.08025853247817748 Centerline is valid? [True, True] Translation: X:44.72, Y:-2.48, Z:-0.89 [[ 9.99317305e-01 3.50275053e-02 -1.17472053e-02 4.47243336e+01] [-3.50173143e-02 9.99386131e-01 1.07215659e-03 -2.48225709e+00] [ 1.17775491e-02 -6.60069048e-04 9.99930424e-01 -8.94559485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.152414037 meters 0.08121794559768476 Centerline is valid? [True, True] Translation: X:44.75, Y:-2.49, Z:-0.90 [[ 9.99361150e-01 3.37254562e-02 -1.18273243e-02 4.47513868e+01] [-3.37150623e-02 9.99430905e-01 1.07715085e-03 -2.48897093e+00] [ 1.18569208e-02 -6.77703736e-04 9.99929475e-01 -8.96262826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.182414037 meters 0.08159517858523412 Centerline is valid? [True, True] Translation: X:44.78, Y:-2.49, Z:-0.90 [[ 9.99392356e-01 3.27140672e-02 -1.20295178e-02 4.47793663e+01] [-3.27032533e-02 9.99464506e-01 1.09461235e-03 -2.49379526e+00] [ 1.20588853e-02 -7.00542849e-04 9.99927044e-01 -8.96810511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.212414037 meters 0.08207839916224244 Centerline is valid? [True, True] Translation: X:44.81, Y:-2.50, Z:-0.90 [[ 9.99429349e-01 3.18083773e-02 -1.13667888e-02 4.48080416e+01] [-3.17986695e-02 9.99493760e-01 1.03380698e-03 -2.49927123e+00] [ 1.13939182e-02 -6.71768280e-04 9.99934862e-01 -8.97711123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.242414036999996 meters 0.08144100477541254 Centerline is valid? [True, True] Translation: X:44.84, Y:-2.50, Z:-0.90 [[ 9.99469067e-01 3.10057844e-02 -1.00112240e-02 4.48362335e+01] [-3.09982334e-02 9.99519026e-01 9.08587175e-04 -2.50208916e+00] [ 1.00345803e-02 -5.97774519e-04 9.99949474e-01 -8.96981605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.272414037 meters 0.08334811871500988 Centerline is valid? [True, True] Translation: X:44.86, Y:-2.51, Z:-0.90 [[ 9.99529930e-01 2.91963233e-02 -9.35385610e-03 4.48636318e+01] [-2.91896533e-02 9.99573531e-01 8.48825899e-04 -2.51493251e+00] [ 9.37464956e-03 -5.75391074e-04 9.99955891e-01 -8.99937550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.302414037 meters 0.08273787166867307 Centerline is valid? [True, True] Translation: X:44.89, Y:-2.52, Z:-0.90 [[ 9.99558807e-01 2.83951511e-02 -8.71246032e-03 4.48919692e+01] [-2.83893398e-02 9.99596629e-01 7.89983486e-04 -2.51841544e+00] [ 8.73137767e-03 -5.42293954e-04 9.99961734e-01 -8.99626621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.332414037 meters 0.08273582152737272 Centerline is valid? [True, True] Translation: X:44.92, Y:-2.52, Z:-0.90 [[ 9.99587318e-01 2.70771092e-02 -9.59289074e-03 4.49213277e+01] [-2.70699986e-02 9.99633162e-01 8.70323806e-04 -2.52470709e+00] [ 9.61293755e-03 -6.10285100e-04 9.99953608e-01 -9.00231915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.362414037 meters 0.08405957933791754 Centerline is valid? [True, True] Translation: X:44.95, Y:-2.53, Z:-0.90 [[ 9.99604323e-01 2.66210967e-02 -9.08378213e-03 4.49477777e+01] [-2.66147456e-02 9.99645429e-01 8.19358430e-04 -2.53156069e+00] [ 9.10237351e-03 -5.77271677e-04 9.99958406e-01 -9.01966377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.392414037 meters 0.08330354514710737 Centerline is valid? [True, True] Translation: X:44.98, Y:-2.53, Z:-0.90 [[ 9.99599785e-01 2.66257712e-02 -9.55708663e-03 4.49765970e+01] [-2.66187224e-02 9.99645286e-01 8.64009789e-04 -2.53317704e+00] [ 9.57670152e-03 -6.09266563e-04 9.99953957e-01 -9.00490353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.422414037 meters 0.08433393332741826 Centerline is valid? [True, True] Translation: X:45.00, Y:-2.54, Z:-0.90 [[ 9.99597312e-01 2.68821369e-02 -9.08647166e-03 4.50039851e+01] [-2.68757863e-02 9.99638444e-01 8.20308760e-04 -2.53836088e+00] [ 9.10523804e-03 -5.75772361e-04 9.99958381e-01 -9.01511845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.452414037 meters 0.08334256672186269 Centerline is valid? [True, True] Translation: X:45.03, Y:-2.54, Z:-0.90 [[ 9.99599232e-01 2.69052016e-02 -8.80263216e-03 4.50328034e+01] [-2.68992452e-02 9.99637834e-01 7.94382504e-04 -2.53953241e+00] [ 8.82081716e-03 -5.57279980e-04 9.99960941e-01 -9.00125819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.482414037 meters 0.08482328827099778 Centerline is valid? [True, True] Translation: X:45.06, Y:-2.55, Z:-0.90 [[ 9.99596382e-01 2.70013040e-02 -8.83194872e-03 4.50596321e+01] [-2.69953210e-02 9.99635243e-01 7.95967176e-04 -2.54707162e+00] [ 8.85021936e-03 -5.57224618e-04 9.99960681e-01 -9.02403598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.512414037 meters 0.08549963129033479 Centerline is valid? [True, True] Translation: X:45.09, Y:-2.55, Z:-0.91 [[ 9.99575358e-01 2.74992991e-02 -9.63808772e-03 4.50866984e+01] [-2.74922025e-02 9.99621641e-01 8.68055867e-04 -2.55489068e+00] [ 9.65831199e-03 -6.02714995e-04 9.99953176e-01 -9.05549856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.542414037 meters 0.08275174028150657 Centerline is valid? [True, True] Translation: X:45.12, Y:-2.55, Z:-0.90 [[ 9.99569397e-01 2.73486334e-02 -1.06335547e-02 4.51159461e+01] [-2.73399895e-02 9.99625734e-01 9.57430650e-04 -2.55165516e+00] [ 1.06557594e-02 -6.66297102e-04 9.99943004e-01 -9.03229926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.572414037 meters 0.08285765854056379 Centerline is valid? [True, True] Translation: X:45.14, Y:-2.55, Z:-0.90 [[ 9.99549013e-01 2.80227517e-02 -1.07933362e-02 4.51449911e+01] [-2.80138928e-02 9.99607062e-01 9.71120551e-04 -2.55417210e+00] [ 1.08163086e-02 -6.68319225e-04 9.99941279e-01 -9.03934215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.602414037 meters 0.0825569950524456 Centerline is valid? [True, True] Translation: X:45.17, Y:-2.55, Z:-0.90 [[ 9.99477561e-01 3.03980734e-02 -1.09801177e-02 4.51742926e+01] [-3.03890440e-02 9.99537658e-01 9.88289136e-04 -2.55483745e+00] [ 1.10050832e-02 -6.54097534e-04 9.99939228e-01 -9.04763290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.632414037 meters 0.08255383869866714 Centerline is valid? [True, True] Translation: X:45.20, Y:-2.56, Z:-0.91 [[ 9.99435645e-01 3.13316271e-02 -1.21128022e-02 4.52027423e+01] [-3.13207240e-02 9.99508793e-01 1.08882369e-03 -2.55656315e+00] [ 1.21409669e-02 -7.08827476e-04 9.99926045e-01 -9.05815467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.662414037 meters 0.08074654249236055 Centerline is valid? [True, True] Translation: X:45.23, Y:-2.56, Z:-0.91 [[ 9.99322593e-01 3.42811654e-02 -1.33849707e-02 4.52326245e+01] [-3.42681106e-02 9.99411951e-01 1.20353335e-03 -2.55572487e+00] [ 1.34183582e-02 -7.44040414e-04 9.99909693e-01 -9.05661669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.692414037 meters 0.08154900010262961 Centerline is valid? [True, True] Translation: X:45.26, Y:-2.56, Z:-0.91 [[ 9.99282601e-01 3.50138359e-02 -1.44331177e-02 4.52601605e+01] [-3.49987863e-02 9.99386517e-01 1.29406027e-03 -2.56081865e+00] [ 1.44695733e-02 -7.87990313e-04 9.99895000e-01 -9.08740463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.722414037 meters 0.0793514825167386 Centerline is valid? [True, True] Translation: X:45.29, Y:-2.56, Z:-0.91 [[ 9.99211216e-01 3.71229546e-02 -1.41008139e-02 4.52909249e+01] [-3.71087716e-02 9.99310430e-01 1.26623848e-03 -2.55712259e+00] [ 1.41380969e-02 -7.41975810e-04 9.99899777e-01 -9.06406012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.752414037 meters 0.08074984212263477 Centerline is valid? [True, True] Translation: X:45.32, Y:-2.56, Z:-0.91 [[ 9.99154532e-01 3.83347539e-02 -1.48548721e-02 4.53181363e+01] [-3.83192093e-02 9.99264665e-01 1.32975708e-03 -2.56346148e+00] [ 1.48949247e-02 -7.59405858e-04 9.99888776e-01 -9.11629972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.782414037 meters 0.08074984212263477 Centerline is valid? [True, True] Translation: X:45.35, Y:-2.57, Z:-0.91 [[ 9.99158322e-01 3.82358088e-02 -1.48549507e-02 4.53455482e+01] [-3.82202663e-02 9.99268455e-01 1.32887832e-03 -2.56581608e+00] [ 1.48948944e-02 -7.59999656e-04 9.99888776e-01 -9.12205295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.812414036999996 meters 0.07859117295699157 Centerline is valid? [True, True] Translation: X:45.38, Y:-2.56, Z:-0.91 [[ 9.99107537e-01 4.00134279e-02 -1.35297819e-02 4.53759247e+01] [-4.00006884e-02 9.99198918e-01 1.21100475e-03 -2.55986424e+00] [ 1.35673999e-02 -6.68723386e-04 9.99907735e-01 -9.08392338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.842414037 meters 0.0787943855657206 Centerline is valid? [True, True] Translation: X:45.40, Y:-2.56, Z:-0.91 [[ 9.99100505e-01 4.06136278e-02 -1.21948590e-02 4.54035469e+01] [-4.06033502e-02 9.99174750e-01 1.08928602e-03 -2.56273456e+00] [ 1.22290350e-02 -5.93154084e-04 9.99925047e-01 -9.09089201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.872414037 meters 0.07896315670206049 Centerline is valid? [True, True] Translation: X:45.43, Y:-2.57, Z:-0.91 [[ 9.99094883e-01 4.11456926e-02 -1.07910793e-02 4.54308620e+01] [-4.11376990e-02 9.99153024e-01 9.61774480e-04 -2.56656728e+00] [ 1.08215124e-02 -5.16983789e-04 9.99941312e-01 -9.09654991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.902414037 meters 0.07936674437641894 Centerline is valid? [True, True] Translation: X:45.46, Y:-2.57, Z:-0.91 [[ 9.99106062e-01 4.09759305e-02 -1.03947067e-02 4.54583399e+01] [-4.09685074e-02 9.99160009e-01 9.26145214e-04 -2.57071062e+00] [ 1.04239249e-02 -4.99461681e-04 9.99945545e-01 -9.10322517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.932414037 meters 0.07892984174672721 Centerline is valid? [True, True] Translation: X:45.49, Y:-2.57, Z:-0.91 [[ 9.99165877e-01 3.95048829e-02 -1.03399063e-02 4.54872826e+01] [-3.94974632e-02 9.99219246e-01 9.20879476e-04 -2.57297971e+00] [ 1.03682126e-02 -5.11711280e-04 9.99946118e-01 -9.08304763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.962414037 meters 0.07962443473738491 Centerline is valid? [True, True] Translation: X:45.51, Y:-2.58, Z:-0.91 [[ 9.99199303e-01 3.85169980e-02 -1.08255946e-02 4.55144470e+01] [-3.85088202e-02 9.99257796e-01 9.62926363e-04 -2.57842560e+00] [ 1.08546489e-02 -5.45274473e-04 9.99940938e-01 -9.10396015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.992414036999996 meters 0.0801485787180335 Centerline is valid? [True, True] Translation: X:45.54, Y:-2.58, Z:-0.91 [[ 9.99250095e-01 3.66515325e-02 -1.24865400e-02 4.55437084e+01] [-3.66404958e-02 9.99327893e-01 1.11159052e-03 -2.58327900e+00] [ 1.25188892e-02 -6.53243918e-04 9.99921422e-01 -9.12307359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.022414037 meters 0.08107902190972693 Centerline is valid? [True, True] Translation: X:45.57, Y:-2.59, Z:-0.91 [[ 9.99341178e-01 3.33258095e-02 -1.43736195e-02 4.55738228e+01] [-3.33108339e-02 9.99444220e-01 1.28010247e-03 -2.59049561e+00] [ 1.44082914e-02 -8.00461857e-04 9.99895875e-01 -9.14583013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.052414037 meters 0.08192650799150034 Centerline is valid? [True, True] Translation: X:45.60, Y:-2.59, Z:-0.92 [[ 9.99414442e-01 3.16113908e-02 -1.30955340e-02 4.56011759e+01] [-3.15988490e-02 9.99499954e-01 1.16357693e-03 -2.59474860e+00] [ 1.31257679e-02 -7.49091790e-04 9.99913573e-01 -9.15608978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.082414037 meters 0.08057587121157625 Centerline is valid? [True, True] Translation: X:45.63, Y:-2.59, Z:-0.91 [[ 9.99445345e-01 3.06800926e-02 -1.29511939e-02 4.56299875e+01] [-3.06677558e-02 9.99528972e-01 1.15013354e-03 -2.59292252e+00] [ 1.29803797e-02 -7.52311561e-04 9.99915468e-01 -9.12483528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.112414037 meters 0.08268869762372129 Centerline is valid? [True, True] Translation: X:45.66, Y:-2.60, Z:-0.91 [[ 9.99513450e-01 2.93116088e-02 -1.06627236e-02 4.56565179e+01] [-2.93032204e-02 9.99570124e-01 9.42123111e-04 -2.60228811e+00] [ 1.06857551e-02 -6.29212582e-04 9.99942708e-01 -9.14657391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.142414037 meters 0.08171632235000555 Centerline is valid? [True, True] Translation: X:45.69, Y:-2.60, Z:-0.91 [[ 9.99525358e-01 2.86223295e-02 -1.13939002e-02 4.56856496e+01] [-2.86126833e-02 9.99590064e-01 1.00875437e-03 -2.60345187e+00] [ 1.14181024e-02 -6.82265517e-04 9.99934579e-01 -9.14385164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.172414037 meters 0.08246256614902707 Centerline is valid? [True, True] Translation: X:45.71, Y:-2.61, Z:-0.92 [[ 9.99564602e-01 2.71621263e-02 -1.15249491e-02 4.57134025e+01] [-2.71521697e-02 9.99630792e-01 1.01953039e-03 -2.60917678e+00] [ 1.15483866e-02 -7.06159118e-04 9.99933066e-01 -9.16120613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.202414037 meters 0.08249233423109116 Centerline is valid? [True, True] Translation: X:45.74, Y:-2.61, Z:-0.92 [[ 9.99604496e-01 2.61329880e-02 -1.03884135e-02 4.57422570e+01] [-2.61248514e-02 9.99658266e-01 9.18189419e-04 -2.61284790e+00] [ 1.04088585e-02 -6.46430512e-04 9.99945617e-01 -9.16301667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.232414037 meters 0.08352139771795325 Centerline is valid? [True, True] Translation: X:45.77, Y:-2.62, Z:-0.92 [[ 9.99661264e-01 2.40333167e-02 -9.98780855e-03 4.57701925e+01] [-2.40256983e-02 9.99710952e-01 8.82067031e-04 -2.61718230e+00] [ 1.00061206e-02 -6.41804168e-04 9.99949732e-01 -9.17590363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.262414037 meters 0.08392294756255815 Centerline is valid? [True, True] Translation: X:45.80, Y:-2.62, Z:-0.92 [[ 9.99663920e-01 2.33236500e-02 -1.13160753e-02 4.57991824e+01] [-2.33138319e-02 9.99727697e-01 9.98780989e-04 -2.61975831e+00] [ 1.13362891e-02 -7.34624242e-04 9.99935472e-01 -9.17772038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.292414037 meters 0.08466792431579556 Centerline is valid? [True, True] Translation: X:45.83, Y:-2.62, Z:-0.92 [[ 9.99691228e-01 2.20600882e-02 -1.14368077e-02 4.58275052e+01] [-2.20499791e-02 9.99756360e-01 1.00926567e-03 -2.62354294e+00] [ 1.14562857e-02 -7.56772665e-04 9.99934088e-01 -9.19172041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.322414037 meters 0.08406686668212555 Centerline is valid? [True, True] Translation: X:45.86, Y:-2.62, Z:-0.92 [[ 9.99705401e-01 2.14618828e-02 -1.13357143e-02 4.58561256e+01] [-2.14519262e-02 9.99769382e-01 9.99210421e-04 -2.62496260e+00] [ 1.13545450e-02 -7.55743149e-04 9.99935249e-01 -9.18073512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.352414037 meters 0.0831114358218892 Centerline is valid? [True, True] Translation: X:45.88, Y:-2.63, Z:-0.92 [[ 9.99701038e-01 2.15971332e-02 -1.14629123e-02 4.58846690e+01] [-2.15869699e-02 9.99766464e-01 1.00963257e-03 -2.62709553e+00] [ 1.14820404e-02 -7.61881189e-04 9.99933789e-01 -9.17746383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.382414037 meters 0.08355250332431681 Centerline is valid? [True, True] Translation: X:45.91, Y:-2.63, Z:-0.92 [[ 9.99688215e-01 2.20049140e-02 -1.18006668e-02 4.59118505e+01] [-2.19942011e-02 9.99757561e-01 1.03685118e-03 -2.63070760e+00] [ 1.18206217e-02 -7.76981669e-04 9.99929832e-01 -9.18713636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.412414037 meters 0.08169429032627816 Centerline is valid? [True, True] Translation: X:45.94, Y:-2.63, Z:-0.92 [[ 9.99676454e-01 2.26268500e-02 -1.16195018e-02 4.59408872e+01] [-2.26165025e-02 9.99743693e-01 1.02118007e-03 -2.62805130e+00] [ 1.16396297e-02 -7.58057184e-04 9.99931970e-01 -9.17632860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.442414037 meters 0.08214072825433627 Centerline is valid? [True, True] Translation: X:45.97, Y:-2.63, Z:-0.92 [[ 9.99664929e-01 2.31892420e-02 -1.15016725e-02 4.59685819e+01] [-2.31791560e-02 9.99730818e-01 1.00946503e-03 -2.63095677e+00] [ 1.15219852e-02 -7.42527726e-04 9.99933344e-01 -9.18503939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.472414037 meters 0.08391404268333742 Centerline is valid? [True, True] Translation: X:46.00, Y:-2.64, Z:-0.92 [[ 9.99662888e-01 2.34535663e-02 -1.11373937e-02 4.59957640e+01] [-2.34441363e-02 9.99724672e-01 9.76513182e-04 -2.63741794e+00] [ 1.11572300e-02 -7.15077411e-04 9.99937500e-01 -9.21371743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.502414037 meters 0.08645964134090654 Centerline is valid? [True, True] Translation: X:46.02, Y:-2.65, Z:-0.93 [[ 9.99653286e-01 2.37855486e-02 -1.12940785e-02 4.60232884e+01] [-2.37758761e-02 9.99716824e-01 9.89938379e-04 -2.64636619e+00] [ 1.13144265e-02 -7.21068542e-04 9.99935730e-01 -9.25588186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.532414037 meters 0.08146469287798401 Centerline is valid? [True, True] Translation: X:46.05, Y:-2.64, Z:-0.92 [[ 9.99637904e-01 2.44834525e-02 -1.11634402e-02 4.60531198e+01] [-2.44740555e-02 9.99699987e-01 9.77621695e-04 -2.63607049e+00] [ 1.11840265e-02 -7.04053048e-04 9.99937209e-01 -9.20412837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.562414036999996 meters 0.08087244405764915 Centerline is valid? [True, True] Translation: X:46.08, Y:-2.64, Z:-0.92 [[ 9.99628003e-01 2.49626545e-02 -1.09873219e-02 4.60818204e+01] [-2.49535894e-02 9.99688148e-01 9.61388748e-04 -2.63696749e+00] [ 1.10078943e-02 -6.86857995e-04 9.99939175e-01 -9.20038409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.592414037 meters 0.08347481712216709 Centerline is valid? [True, True] Translation: X:46.11, Y:-2.65, Z:-0.92 [[ 9.99623619e-01 2.48402891e-02 -1.16438638e-02 4.61086169e+01] [-2.48301149e-02 9.99691167e-01 1.01755735e-03 -2.64728256e+00] [ 1.16655443e-02 -7.28055882e-04 9.99931690e-01 -9.24880653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.622414037 meters 0.08111726210082555 Centerline is valid? [True, True] Translation: X:46.14, Y:-2.64, Z:-0.92 [[ 9.99616400e-01 2.48422189e-02 -1.22440300e-02 4.61381298e+01] [-2.48309738e-02 9.99691092e-01 1.06960136e-03 -2.64395257e+00] [ 1.22668190e-02 -7.65159876e-04 9.99924467e-01 -9.22751616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.652414037 meters 0.08140478730711938 Centerline is valid? [True, True] Translation: X:46.17, Y:-2.65, Z:-0.92 [[ 9.99621309e-01 2.47388674e-02 -1.20510408e-02 4.61660380e+01] [-2.47279837e-02 9.99693664e-01 1.05132728e-03 -2.64831333e+00] [ 1.20733577e-02 -7.52931207e-04 9.99926831e-01 -9.23724097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.682414037 meters 0.08129711678721913 Centerline is valid? [True, True] Translation: X:46.19, Y:-2.65, Z:-0.92 [[ 9.99620915e-01 2.51572442e-02 -1.11865803e-02 4.61933641e+01] [-2.51479185e-02 9.99683267e-01 9.73564453e-04 -2.65282742e+00] [ 1.12075294e-02 -6.91876179e-04 9.99936954e-01 -9.23663457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.712414037 meters 0.08022581857513113 Centerline is valid? [True, True] Translation: X:46.22, Y:-2.65, Z:-0.92 [[ 9.99600978e-01 2.58306673e-02 -1.14307301e-02 4.62223114e+01] [-2.58209692e-02 9.99666088e-01 9.95219560e-04 -2.65193912e+00] [ 1.14526204e-02 -6.99669917e-04 9.99934172e-01 -9.23155543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.742414036999996 meters 0.08121671883075711 Centerline is valid? [True, True] Translation: X:46.25, Y:-2.66, Z:-0.93 [[ 9.99507021e-01 2.84455699e-02 -1.32877824e-02 4.62497708e+01] [-2.84327115e-02 9.99595041e-01 1.15563330e-03 -2.65629419e+00] [ 1.33152740e-02 -7.77255910e-04 9.99911046e-01 -9.25766388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.772414037 meters 0.0808778946544797 Centerline is valid? [True, True] Translation: X:46.28, Y:-2.66, Z:-0.93 [[ 9.99442427e-01 3.03424193e-02 -1.39346221e-02 4.62791262e+01] [-3.03285416e-02 9.99539256e-01 1.20620404e-03 -2.65771230e+00] [ 1.39648010e-02 -7.82914723e-04 9.99902181e-01 -9.26368746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.802414037 meters 0.0803817931090871 Centerline is valid? [True, True] Translation: X:46.31, Y:-2.66, Z:-0.93 [[ 9.99385048e-01 3.27476381e-02 -1.25346695e-02 4.63088226e+01] [-3.27365612e-02 9.99463423e-01 1.08791693e-03 -2.65965223e+00] [ 1.25635704e-02 -6.76905944e-04 9.99920846e-01 -9.27242075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.832414037 meters 0.0797285326979209 Centerline is valid? [True, True] Translation: X:46.34, Y:-2.66, Z:-0.93 [[ 9.99212207e-01 3.73878882e-02 -1.33083221e-02 4.63379152e+01] [-3.73758139e-02 9.99300613e-01 1.15492409e-03 -2.66170479e+00] [ 1.33421947e-02 -6.56604881e-04 9.99910773e-01 -9.28791960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.862414037 meters 0.07885078108215124 Centerline is valid? [True, True] Translation: X:46.37, Y:-2.66, Z:-0.93 [[ 9.99134052e-01 3.98359816e-02 -1.20100239e-02 4.63679276e+01] [-3.98263252e-02 9.99206074e-01 1.04221689e-03 -2.66135201e+00] [ 1.20420066e-02 -5.62999266e-04 9.99927334e-01 -9.28125915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.892414037 meters 0.07749451698679326 Centerline is valid? [True, True] Translation: X:46.40, Y:-2.66, Z:-0.93 [[ 9.99040577e-01 4.21107582e-02 -1.20253782e-02 4.63974535e+01] [-4.21013263e-02 9.99112808e-01 1.03652405e-03 -2.65882184e+00] [ 1.20583582e-02 -5.29245212e-04 9.99927155e-01 -9.25392923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.922414037 meters 0.07717629700696668 Centerline is valid? [True, True] Translation: X:46.43, Y:-2.66, Z:-0.93 [[ 9.98970284e-01 4.38700295e-02 -1.15668965e-02 4.64261900e+01] [-4.38613946e-02 9.99037126e-01 9.99262206e-04 -2.65882252e+00] [ 1.15995967e-02 -4.90893040e-04 9.99932602e-01 -9.25135231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.952414037 meters 0.07662673501933426 Centerline is valid? [True, True] Translation: X:46.46, Y:-2.66, Z:-0.92 [[ 9.98856622e-01 4.64912299e-02 -1.11361414e-02 4.64559363e+01] [-4.64833857e-02 9.98918600e-01 9.62328122e-04 -2.66024524e+00] [ 1.11688386e-02 -4.43582261e-04 9.99937528e-01 -9.24842270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.982414037 meters 0.07691195944702425 Centerline is valid? [True, True] Translation: X:46.48, Y:-2.66, Z:-0.93 [[ 9.98837485e-01 4.68540870e-02 -1.13301757e-02 4.64829536e+01] [-4.68460290e-02 9.98901646e-01 9.75693626e-04 -2.66493893e+00] [ 1.13634464e-02 -4.43785630e-04 9.99935335e-01 -9.26431672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.012414037 meters 0.07695187862251388 Centerline is valid? [True, True] Translation: X:46.51, Y:-2.67, Z:-0.93 [[ 9.98837767e-01 4.65118615e-02 -1.26396783e-02 4.65117114e+01] [-4.65018696e-02 9.98917615e-01 1.08342293e-03 -2.66894853e+00] [ 1.26763893e-02 -4.94395069e-04 9.99919529e-01 -9.27268914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.042414037 meters 0.0773552045451955 Centerline is valid? [True, True] Translation: X:46.54, Y:-2.68, Z:-0.93 [[ 9.98947298e-01 4.43133741e-02 -1.18583690e-02 4.65395207e+01] [-4.43044022e-02 9.99017559e-01 1.01835285e-03 -2.67604551e+00] [ 1.18918455e-02 -4.91902878e-04 9.99929169e-01 -9.28711436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.072414037 meters 0.0773837533756956 Centerline is valid? [True, True] Translation: X:46.57, Y:-2.68, Z:-0.93 [[ 9.99043755e-01 4.19271847e-02 -1.23970377e-02 4.65691696e+01] [-4.19171869e-02 9.99120521e-01 1.06531792e-03 -2.68004489e+00] [ 1.24308006e-02 -5.44650271e-04 9.99922586e-01 -9.27336492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.102414037 meters 0.0787372328624696 Centerline is valid? [True, True] Translation: X:46.60, Y:-2.69, Z:-0.93 [[ 9.99157360e-01 3.91800594e-02 -1.22267648e-02 4.65970160e+01] [-3.91701501e-02 9.99232005e-01 1.04897514e-03 -2.68772968e+00] [ 1.22584736e-02 -5.69167015e-04 9.99924700e-01 -9.29832148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.132414037 meters 0.07841391011221077 Centerline is valid? [True, True] Translation: X:46.63, Y:-2.69, Z:-0.93 [[ 9.99251562e-01 3.61946642e-02 -1.36478190e-02 4.66269658e+01] [-3.61820267e-02 9.99344529e-01 1.17183283e-03 -2.69054513e+00] [ 1.36812874e-02 -6.77150030e-04 9.99906178e-01 -9.28505700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.162414037 meters 0.07942970700594357 Centerline is valid? [True, True] Translation: X:46.66, Y:-2.70, Z:-0.93 [[ 9.99365232e-01 3.26137474e-02 -1.43344646e-02 4.66569434e+01] [-3.25994405e-02 9.99467739e-01 1.23067007e-03 -2.69710513e+00] [ 1.43669717e-02 -7.62593359e-04 9.99896499e-01 -9.30121813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.192414037 meters 0.08165247018002067 Centerline is valid? [True, True] Translation: X:46.69, Y:-2.71, Z:-0.93 [[ 9.99548478e-01 2.51619843e-02 -1.64230187e-02 4.66854747e+01] [-2.51421936e-02 9.99682890e-01 1.41044944e-03 -2.71089219e+00] [ 1.64533005e-02 -9.96901876e-04 9.99864138e-01 -9.33591415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.222414037 meters 0.08211120121086549 Centerline is valid? [True, True] Translation: X:46.71, Y:-2.72, Z:-0.93 [[ 9.99631432e-01 2.19903021e-02 -1.59193881e-02 4.67148598e+01] [-2.19713182e-02 9.99757668e-01 1.36644101e-03 -2.71767562e+00] [ 1.59455788e-02 -1.01616745e-03 9.99872345e-01 -9.33680706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.252414037 meters 0.08355362910396871 Centerline is valid? [True, True] Translation: X:46.74, Y:-2.73, Z:-0.93 [[ 9.99700262e-01 1.91371820e-02 -1.52694198e-02 4.67438554e+01] [-1.91193897e-02 9.99816349e-01 1.31037157e-03 -2.72617845e+00] [ 1.52916923e-02 -1.01803682e-03 9.99882557e-01 -9.34972225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.282414037 meters 0.08262804487028014 Centerline is valid? [True, True] Translation: X:46.77, Y:-2.73, Z:-0.93 [[ 9.99771613e-01 1.62027802e-02 -1.39352700e-02 4.67732901e+01] [-1.61876981e-02 9.99868257e-01 1.19442018e-03 -2.72760142e+00] [ 1.39527870e-02 -9.68567451e-04 9.99902186e-01 -9.33101766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.312414036999996 meters 0.08642691513703378 Centerline is valid? [True, True] Translation: X:46.80, Y:-2.74, Z:-0.94 [[ 9.99844258e-01 1.20831741e-02 -1.28630284e-02 4.68019223e+01] [-1.20699710e-02 9.99926546e-01 1.10358110e-03 -2.74083846e+00] [ 1.28754184e-02 -9.48152850e-04 9.99916659e-01 -9.35751314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.342414037 meters 0.08503617307917201 Centerline is valid? [True, True] Translation: X:46.83, Y:-2.74, Z:-0.93 [[ 9.99867032e-01 1.02765021e-02 -1.26613998e-02 4.68318593e+01] [-1.02635807e-02 9.99946739e-01 1.08509770e-03 -2.74162870e+00] [ 1.26718764e-02 -9.55002116e-04 9.99919252e-01 -9.34355886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.372414037 meters 0.08610356272238101 Centerline is valid? [True, True] Translation: X:46.86, Y:-2.75, Z:-0.94 [[ 9.99883340e-01 8.22451888e-03 -1.28710101e-02 4.68620401e+01] [-8.21098766e-03 9.99965680e-01 1.10378571e-03 -2.74786310e+00] [ 1.28796465e-02 -9.97973239e-04 9.99916556e-01 -9.35357827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.402414037 meters 0.08506574283621951 Centerline is valid? [True, True] Translation: X:46.89, Y:-2.75, Z:-0.93 [[ 9.99919705e-01 4.17927672e-03 -1.19631550e-02 4.68918894e+01] [-4.16730692e-03 9.99990791e-01 1.02530925e-03 -2.75073372e+00] [ 1.19673299e-02 -9.75372780e-04 9.99927913e-01 -9.33466102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.432414037 meters 0.08520686175455634 Centerline is valid? [True, True] Translation: X:46.92, Y:-2.76, Z:-0.93 [[ 9.99926230e-01 1.85664368e-03 -1.20036403e-02 4.69221502e+01] [-1.84442176e-03 9.99997769e-01 1.02917462e-03 -2.75515551e+00] [ 1.20055243e-02 -1.00695892e-03 9.99927424e-01 -9.32946486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.462414037 meters 0.08799012022337172 Centerline is valid? [True, True] Translation: X:46.95, Y:-2.76, Z:-0.94 [[ 9.99933349e-01 3.77201068e-04 -1.15392623e-02 4.69498984e+01] [-3.65828397e-04 9.99999445e-01 9.87657955e-04 -2.76496653e+00] [ 1.15396285e-02 -9.83370737e-04 9.99932933e-01 -9.35699274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.492414036999996 meters 0.08748864575375889 Centerline is valid? [True, True] Translation: X:46.98, Y:-2.77, Z:-0.94 [[ 9.99923765e-01 -2.64546673e-03 -1.20609204e-02 4.69798706e+01] [ 2.65812224e-03 9.99995933e-01 1.03338962e-03 -2.76836899e+00] [ 1.20581376e-02 -1.06537024e-03 9.99926730e-01 -9.36220346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.522414037 meters 0.09037027571483333 Centerline is valid? [True, True] Translation: X:47.01, Y:-2.78, Z:-0.94 [[ 9.99894348e-01 -3.73705178e-03 -1.40473198e-02 4.70075899e+01] [ 3.75428822e-03 9.99992232e-01 1.20085699e-03 -2.77683289e+00] [ 1.40427230e-02 -1.25346780e-03 9.99900610e-01 -9.38960605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.552414037 meters 0.09096072847055608 Centerline is valid? [True, True] Translation: X:47.04, Y:-2.78, Z:-0.94 [[ 9.99894368e-01 -4.83844203e-03 -1.37055233e-02 4.70359022e+01] [ 4.85486241e-03 9.99987536e-01 1.16506771e-03 -2.78039666e+00] [ 1.36997154e-02 -1.23148307e-03 9.99905396e-01 -9.40612714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.582414037 meters 0.08978207646715115 Centerline is valid? [True, True] Translation: X:47.06, Y:-2.78, Z:-0.94 [[ 9.99886782e-01 -5.62607880e-03 -1.39559975e-02 4.70645814e+01] [ 5.64313447e-03 9.99983378e-01 1.18302396e-03 -2.78030331e+00] [ 1.39491097e-02 -1.26164559e-03 9.99901910e-01 -9.39687338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.612414037 meters 0.0922595774449496 Centerline is valid? [True, True] Translation: X:47.09, Y:-2.79, Z:-0.94 [[ 9.99880275e-01 -6.10467121e-03 -1.42185886e-02 4.70914848e+01] [ 6.12244437e-03 9.99980529e-01 1.20680203e-03 -2.78621238e+00] [ 1.42109446e-02 -1.29371007e-03 9.99898182e-01 -9.42020890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.642414037 meters 0.09217605183677932 Centerline is valid? [True, True] Translation: X:47.12, Y:-2.79, Z:-0.94 [[ 9.99874579e-01 -6.38778516e-03 -1.44921275e-02 4.71198998e+01] [ 6.40618957e-03 9.99978731e-01 1.22389222e-03 -2.78836226e+00] [ 1.44840014e-02 -1.31657804e-03 9.99894235e-01 -9.43297341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.672414036999996 meters 0.09217605183677932 Centerline is valid? [True, True] Translation: X:47.15, Y:-2.79, Z:-0.94 [[ 9.99872833e-01 -6.65462630e-03 -1.44925133e-02 4.71473595e+01] [ 6.67299290e-03 9.99976992e-01 1.21932762e-03 -2.79057199e+00] [ 1.44840657e-02 -1.31588100e-03 9.99894235e-01 -9.43873723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.702414037 meters 0.09034216764356168 Centerline is valid? [True, True] Translation: X:47.18, Y:-2.79, Z:-0.94 [[ 9.99875724e-01 -6.80959770e-03 -1.42184753e-02 4.71763035e+01] [ 6.82725028e-03 9.99975982e-01 1.19335400e-03 -2.78997323e+00] [ 1.42100075e-02 -1.29027879e-03 9.99898200e-01 -9.43316322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.732414037 meters 0.0893633690011372 Centerline is valid? [True, True] Translation: X:47.21, Y:-2.79, Z:-0.94 [[ 9.99883657e-01 -7.19602229e-03 -1.34495217e-02 4.72052800e+01] [ 7.21180322e-03 9.99973362e-01 1.12521295e-03 -2.79109055e+00] [ 1.34410663e-02 -1.22207734e-03 9.99908918e-01 -9.43076365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.762414037 meters 0.0876164610732801 Centerline is valid? [True, True] Translation: X:47.23, Y:-2.79, Z:-0.94 [[ 9.99855710e-01 -7.11232887e-03 -1.54264152e-02 4.72343173e+01] [ 7.13303139e-03 9.99973731e-01 1.28741064e-03 -2.78835808e+00] [ 1.54168535e-02 -1.39726198e-03 9.99880177e-01 -9.42160178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.792414037 meters 0.08882537839249968 Centerline is valid? [True, True] Translation: X:47.26, Y:-2.79, Z:-0.94 [[ 9.99872636e-01 -6.10600274e-03 -1.47454822e-02 4.72624910e+01] [ 6.12485430e-03 9.99980482e-01 1.23364180e-03 -2.79161731e+00] [ 1.47376617e-02 -1.32379861e-03 9.99890518e-01 -9.43771693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.822414037 meters 0.08938149021811778 Centerline is valid? [True, True] Translation: X:47.29, Y:-2.79, Z:-0.94 [[ 9.99873630e-01 -5.60439997e-03 -1.48766667e-02 4.72899058e+01] [ 5.62350422e-03 9.99983416e-01 1.24265393e-03 -2.79307425e+00] [ 1.48694557e-02 -1.32615589e-03 9.99888564e-01 -9.44643066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.852414037 meters 0.08663216223459548 Centerline is valid? [True, True] Translation: X:47.32, Y:-2.79, Z:-0.94 [[ 9.99891864e-01 -4.01524667e-03 -1.41470383e-02 4.73206946e+01] [ 4.03238027e-03 9.99991170e-01 1.18279243e-03 -2.78873532e+00] [ 1.41421642e-02 -1.23971077e-03 9.99899226e-01 -9.42311002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.882414037 meters 0.08751229572754289 Centerline is valid? [True, True] Translation: X:47.35, Y:-2.79, Z:-0.94 [[ 9.99898255e-01 -2.76458820e-03 -1.39941795e-02 4.73492582e+01] [ 2.78121147e-03 9.99995450e-01 1.16854847e-03 -2.79272888e+00] [ 1.39908853e-02 -1.20735035e-03 9.99901394e-01 -9.44194417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.912414037 meters 0.08675881981569153 Centerline is valid? [True, True] Translation: X:47.38, Y:-2.79, Z:-0.94 [[ 9.99896799e-01 -2.70291309e-03 -1.41097799e-02 4.73776706e+01] [ 2.71970054e-03 9.99995616e-01 1.17072153e-03 -2.79253866e+00] [ 1.41065537e-02 -1.20897509e-03 9.99899767e-01 -9.44437080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.942414037 meters 0.09053587326049926 Centerline is valid? [True, True] Translation: X:47.41, Y:-2.80, Z:-0.95 [[ 9.99888177e-01 -1.94587143e-03 -1.48272148e-02 4.74050343e+01] [ 1.96436075e-03 9.99997311e-01 1.23252352e-03 -2.80235647e+00] [ 1.48247766e-02 -1.26151170e-03 9.99889311e-01 -9.49620719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.972414037 meters 0.08536168962043057 Centerline is valid? [True, True] Translation: X:47.44, Y:-2.79, Z:-0.95 [[ 9.99872548e-01 -1.99022602e-03 -1.58406905e-02 4.74354469e+01] [ 2.01122078e-03 9.99997120e-01 1.30954892e-03 -2.79027138e+00] [ 1.58380386e-02 -1.34124114e-03 9.99873671e-01 -9.45744390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.002414037 meters 0.08906193699709927 Centerline is valid? [True, True] Translation: X:47.46, Y:-2.80, Z:-0.95 [[ 9.99867907e-01 -2.36967476e-03 -1.60796120e-02 4.74629165e+01] [ 2.39138879e-03 9.99996254e-01 1.33131435e-03 -2.79887105e+00] [ 1.60763970e-02 -1.36959110e-03 9.99869828e-01 -9.49213775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.032414037 meters 0.08967075257815778 Centerline is valid? [True, True] Translation: X:47.49, Y:-2.80, Z:-0.95 [[ 9.99876119e-01 -3.05311203e-03 -1.54410017e-02 4.74919311e+01] [ 3.07311122e-03 9.99994469e-01 1.27163855e-03 -2.80136921e+00] [ 1.54370338e-02 -1.31893294e-03 9.99879972e-01 -9.50179941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.062414036999996 meters 0.09014857488961812 Centerline is valid? [True, True] Translation: X:47.52, Y:-2.80, Z:-0.95 [[ 9.99857947e-01 -4.45797438e-03 -1.62546047e-02 4.75212745e+01] [ 4.48037479e-03 9.99989063e-01 1.34194112e-03 -2.80370465e+00] [ 1.62484446e-02 -1.41457721e-03 9.99866985e-01 -9.50567553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.092414037 meters 0.08769031208315749 Centerline is valid? [True, True] Translation: X:47.55, Y:-2.80, Z:-0.95 [[ 9.99848680e-01 -7.63479858e-03 -1.56309746e-02 4.75520186e+01] [ 7.65591093e-03 9.99969859e-01 1.29128048e-03 -2.80061596e+00] [ 1.56206448e-02 -1.41075443e-03 9.99876995e-01 -9.48283037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.122414037 meters 0.08846189227461704 Centerline is valid? [True, True] Translation: X:47.58, Y:-2.80, Z:-0.95 [[ 9.99852586e-01 -9.43534070e-03 -1.43450811e-02 4.75817416e+01] [ 9.45328936e-03 9.99954616e-01 1.18391305e-03 -2.80440726e+00] [ 1.43332595e-02 -1.31934673e-03 9.99896403e-01 -9.47516811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.152414037 meters 0.08836446253800131 Centerline is valid? [True, True] Translation: X:47.61, Y:-2.81, Z:-0.95 [[ 9.99845761e-01 -1.04957835e-02 -1.40816550e-02 4.76105314e+01] [ 1.05130717e-02 9.99944070e-01 1.15424928e-03 -2.80594869e+00] [ 1.40687527e-02 -1.30211269e-03 9.99900182e-01 -9.47313062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.182414037 meters 0.09125292606405293 Centerline is valid? [True, True] Translation: X:47.64, Y:-2.81, Z:-0.95 [[ 9.99824246e-01 -1.15057209e-02 -1.48018910e-02 4.76390736e+01] [ 1.15249851e-02 9.99932845e-01 1.21682803e-03 -2.80958852e+00] [ 1.47868965e-02 -1.38720574e-03 9.99889706e-01 -9.50169237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.212414037 meters 0.08910732898644835 Centerline is valid? [True, True] Translation: X:47.67, Y:-2.80, Z:-0.95 [[ 9.99784197e-01 -1.20821063e-02 -1.68991742e-02 4.76692968e+01] [ 1.21072975e-02 9.99925739e-01 1.38915764e-03 -2.80447084e+00] [ 1.68811353e-02 -1.59346119e-03 9.99856234e-01 -9.50452965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.242414036999996 meters 0.08967859541928638 Centerline is valid? [True, True] Translation: X:47.70, Y:-2.81, Z:-0.95 [[ 9.99771084e-01 -1.22614247e-02 -1.75339100e-02 4.76980500e+01] [ 1.22884192e-02 9.99923468e-01 1.43264130e-03 -2.80564153e+00] [ 1.75150019e-02 -1.64777738e-03 9.99845243e-01 -9.51893550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.272414037 meters 0.09198663510854889 Centerline is valid? [True, True] Translation: X:47.73, Y:-2.81, Z:-0.95 [[ 9.99785326e-01 -1.33069076e-02 -1.58816888e-02 4.77255722e+01] [ 1.33291810e-02 9.99910321e-01 1.29742661e-03 -2.81038391e+00] [ 1.58629998e-02 -1.50883799e-03 9.99873036e-01 -9.53843612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.302414037 meters 0.0948878556366219 Centerline is valid? [True, True] Translation: X:47.75, Y:-2.82, Z:-0.96 [[ 9.99785493e-01 -1.39761863e-02 -1.52850806e-02 4.77523000e+01] [ 1.39968517e-02 9.99901263e-01 1.24585140e-03 -2.81761389e+00] [ 1.52661592e-02 -1.45952717e-03 9.99882400e-01 -9.56071622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.332414037 meters 0.09177802855942357 Centerline is valid? [True, True] Translation: X:47.78, Y:-2.81, Z:-0.95 [[ 9.99777721e-01 -1.46324981e-02 -1.51788778e-02 4.77812258e+01] [ 1.46528677e-02 9.99891882e-01 1.23162159e-03 -2.81249076e+00] [ 1.51592150e-02 -1.45376191e-03 9.99884036e-01 -9.53778147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.362414037 meters 0.09127559970357359 Centerline is valid? [True, True] Translation: X:47.81, Y:-2.81, Z:-0.95 [[ 9.99780034e-01 -1.50003029e-02 -1.46586138e-02 4.78098021e+01] [ 1.50192746e-02 9.99886502e-01 1.18499623e-03 -2.81169492e+00] [ 1.46391748e-02 -1.40489732e-03 9.99891855e-01 -9.53049453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.392414037 meters 0.09333360851459871 Centerline is valid? [True, True] Translation: X:47.84, Y:-2.82, Z:-0.95 [[ 9.99793189e-01 -1.51479154e-02 -1.35690805e-02 4.78372692e+01] [ 1.51641931e-02 9.99884415e-01 1.09752889e-03 -2.81522535e+00] [ 1.35508868e-02 -1.30306606e-03 9.99907333e-01 -9.53949857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.422414036999996 meters 0.0951950727602486 Centerline is valid? [True, True] Translation: X:47.87, Y:-2.82, Z:-0.95 [[ 9.99768254e-01 -1.64427205e-02 -1.38951415e-02 4.78655741e+01] [ 1.64599155e-02 9.99863895e-01 1.12402046e-03 -2.81671960e+00] [ 1.38747684e-02 -1.35247282e-03 9.99902826e-01 -9.54272351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.452414037 meters 0.0935189463966465 Centerline is valid? [True, True] Translation: X:47.90, Y:-2.81, Z:-0.95 [[ 9.99740279e-01 -1.77024392e-02 -1.43526285e-02 4.78955593e+01] [ 1.77209198e-02 9.99842298e-01 1.16144784e-03 -2.81468544e+00] [ 1.43298046e-02 -1.41548796e-03 9.99896321e-01 -9.53624336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.482414037 meters 0.0922459121505176 Centerline is valid? [True, True] Translation: X:47.93, Y:-2.81, Z:-0.95 [[ 9.99681120e-01 -2.01536868e-02 -1.52147287e-02 4.79264360e+01] [ 2.01747458e-02 9.99795710e-01 1.23188470e-03 -2.81255265e+00] [ 1.51867935e-02 -1.53844516e-03 9.99883490e-01 -9.53947308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.512414037 meters 0.096057354091057 Centerline is valid? [True, True] Translation: X:47.95, Y:-2.82, Z:-0.96 [[ 9.99638608e-01 -2.13977736e-02 -1.62723010e-02 4.79547326e+01] [ 2.14220201e-02 9.99769655e-01 1.31718053e-03 -2.82085829e+00] [ 1.62403680e-02 -1.66529007e-03 9.99866730e-01 -9.57871787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.542414037 meters 0.09507948638498516 Centerline is valid? [True, True] Translation: X:47.98, Y:-2.82, Z:-0.96 [[ 9.99613061e-01 -2.20381181e-02 -1.69720207e-02 4.79847450e+01] [ 2.20645679e-02 9.99755605e-01 1.37274333e-03 -2.81945043e+00] [ 1.69376202e-02 -1.74669247e-03 9.99855023e-01 -9.57784814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.572414037 meters 0.0960953863871143 Centerline is valid? [True, True] Translation: X:48.01, Y:-2.82, Z:-0.96 [[ 9.99599626e-01 -2.25621040e-02 -1.70745282e-02 4.80130189e+01] [ 2.25889071e-02 9.99743888e-01 1.37851626e-03 -2.82128768e+00] [ 1.70390529e-02 -1.76365927e-03 9.99853269e-01 -9.59232375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.602414037 meters 0.09796431185224666 Centerline is valid? [True, True] Translation: X:48.04, Y:-2.82, Z:-0.96 [[ 9.99610537e-01 -2.29626012e-02 -1.58585687e-02 4.80408131e+01] [ 2.29857490e-02 9.99734975e-01 1.27888544e-03 -2.82230932e+00] [ 1.58249993e-02 -1.64290844e-03 9.99873427e-01 -9.60462294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.632414037 meters 0.09716366051976483 Centerline is valid? [True, True] Translation: X:48.07, Y:-2.82, Z:-0.96 [[ 9.99594773e-01 -2.33651461e-02 -1.62591181e-02 4.80701446e+01] [ 2.33895174e-02 9.99725569e-01 1.31036968e-03 -2.82089353e+00] [ 1.62240391e-02 -1.69013161e-03 9.99866953e-01 -9.60676648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.662414037 meters 0.09927939384918874 Centerline is valid? [True, True] Translation: X:48.10, Y:-2.83, Z:-0.96 [[ 9.99630209e-01 -2.30271544e-02 -1.44635915e-02 4.80982426e+01] [ 2.30463980e-02 9.99733717e-01 1.16519680e-03 -2.82551315e+00] [ 1.44329089e-02 -1.49809961e-03 9.99894718e-01 -9.62098863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.692414037 meters 0.09543428989194408 Centerline is valid? [True, True] Translation: X:48.13, Y:-2.82, Z:-0.96 [[ 9.99645433e-01 -2.35494652e-02 -1.24270125e-02 4.81284079e+01] [ 2.35637075e-02 9.99721836e-01 1.00088405e-03 -2.81677722e+00] [ 1.23999854e-02 -1.29335565e-03 9.99922281e-01 -9.59165708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.722414037 meters 0.0930201667343895 Centerline is valid? [True, True] Translation: X:48.16, Y:-2.81, Z:-0.96 [[ 9.99649318e-01 -2.40092274e-02 -1.11712809e-02 4.81605418e+01] [ 2.40207848e-02 9.99711053e-01 9.01523663e-04 -2.81204359e+00] [ 1.11464081e-02 -1.16955045e-03 9.99937193e-01 -9.57206004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.752414037 meters 0.09914069204499656 Centerline is valid? [True, True] Translation: X:48.19, Y:-2.82, Z:-0.96 [[ 9.99646031e-01 -2.42638314e-02 -1.09123127e-02 4.81899779e+01] [ 2.42748724e-02 9.99704934e-01 8.80463208e-04 -2.82388319e+00] [ 1.08877295e-02 -1.14504655e-03 9.99940071e-01 -9.60853260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.782414037 meters 0.09739509294027748 Centerline is valid? [True, True] Translation: X:48.22, Y:-2.82, Z:-0.96 [[ 9.99630573e-01 -2.49768564e-02 -1.07179580e-02 4.82213233e+01] [ 2.49875501e-02 9.99687388e-01 8.64959120e-04 -2.82084195e+00] [ 1.06930035e-02 -1.13245509e-03 9.99942187e-01 -9.60393953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.812414036999996 meters 0.0977359719219877 Centerline is valid? [True, True] Translation: X:48.25, Y:-2.82, Z:-0.96 [[ 9.99611049e-01 -2.54327017e-02 -1.14423897e-02 4.82527110e+01] [ 2.54449275e-02 9.99675798e-01 9.24140894e-04 -2.81953012e+00] [ 1.14151766e-02 -1.21493223e-03 9.99934107e-01 -9.62718467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.842414037 meters 0.09657437172465402 Centerline is valid? [True, True] Translation: X:48.28, Y:-2.82, Z:-0.96 [[ 9.99615441e-01 -2.51707972e-02 -1.16361808e-02 4.82838377e+01] [ 2.51834277e-02 9.99682405e-01 9.40187999e-04 -2.81789816e+00] [ 1.16088199e-02 -1.23286536e-03 9.99931855e-01 -9.62334698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.872414037 meters 0.09545431639932239 Centerline is valid? [True, True] Translation: X:48.32, Y:-2.82, Z:-0.96 [[ 9.99628287e-01 -2.48901578e-02 -1.11251159e-02 4.83158465e+01] [ 2.49016969e-02 9.99689500e-01 8.99873025e-04 -2.81630364e+00] [ 1.10992636e-02 -1.17657280e-03 9.99937709e-01 -9.62814324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.902414037 meters 0.09635171942826788 Centerline is valid? [True, True] Translation: X:48.35, Y:-2.82, Z:-0.96 [[ 9.99653214e-01 -2.38417955e-02 -1.11812327e-02 4.83459846e+01] [ 2.38533805e-02 9.99715059e-01 9.03882592e-04 -2.81830948e+00] [ 1.11564965e-02 -1.17027934e-03 9.99937080e-01 -9.64508756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.932414037 meters 0.09500491688951053 Centerline is valid? [True, True] Translation: X:48.38, Y:-2.81, Z:-0.97 [[ 9.99710996e-01 -2.11029990e-02 -1.15147188e-02 4.83766033e+01] [ 2.11151021e-02 9.99776618e-01 9.30533094e-04 -2.81285607e+00] [ 1.14925095e-02 -1.17339863e-03 9.99933270e-01 -9.65556256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.962414037 meters 0.09602349063931037 Centerline is valid? [True, True] Translation: X:48.41, Y:-2.81, Z:-0.97 [[ 9.99777598e-01 -1.85611504e-02 -1.00119380e-02 4.84057219e+01] [ 1.85701686e-02 9.99827233e-01 8.08527559e-04 -2.81435825e+00] [ 9.99520105e-03 -9.94271117e-04 9.99949552e-01 -9.67555247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.992414036999996 meters 0.0938470076507685 Centerline is valid? [True, True] Translation: X:48.44, Y:-2.81, Z:-0.97 [[ 9.99861824e-01 -1.40122472e-02 -8.94366469e-03 4.84372950e+01] [ 1.40192676e-02 9.99901464e-01 7.22746375e-04 -2.80682008e+00] [ 8.93265612e-03 -8.48030138e-04 9.99959743e-01 -9.67476706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.022414037 meters 0.0938470076507685 Centerline is valid? [True, True] Translation: X:48.47, Y:-2.81, Z:-0.97 [[ 9.99861824e-01 -1.40122447e-02 -8.94367435e-03 4.84673388e+01] [ 1.40192640e-02 9.99901464e-01 7.22626862e-04 -2.80924749e+00] [ 8.93266745e-03 -8.47910744e-04 9.99959743e-01 -9.68106096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.052414037 meters 0.0921221534015704 Centerline is valid? [True, True] Translation: X:48.50, Y:-2.80, Z:-0.97 [[ 9.99920785e-01 -9.69943394e-03 -8.02155209e-03 4.84981788e+01] [ 9.70494495e-03 9.99952696e-01 6.48384422e-04 -2.80287170e+00] [ 8.01488367e-03 -7.26181781e-04 9.99967617e-01 -9.68404081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.082414037 meters 0.09165450427065618 Centerline is valid? [True, True] Translation: X:48.53, Y:-2.80, Z:-0.97 [[ 9.99949833e-01 -7.10779704e-03 -7.05760603e-03 4.85293341e+01] [ 7.11200062e-03 9.99974547e-01 5.70691535e-04 -2.80155305e+00] [ 7.05337003e-03 -6.20856604e-04 9.99974932e-01 -9.68340969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.112414037 meters 0.0913946909076789 Centerline is valid? [True, True] Translation: X:48.56, Y:-2.80, Z:-0.97 [[ 9.99963248e-01 -5.08058475e-03 -6.90579750e-03 4.85597084e+01] [ 5.08455632e-03 9.99986918e-01 5.57671206e-04 -2.80001716e+00] [ 6.90287386e-03 -5.92763627e-04 9.99975999e-01 -9.68654747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.142414037 meters 0.08820200378994733 Centerline is valid? [True, True] Translation: X:48.59, Y:-2.79, Z:-0.97 [[ 9.99977642e-01 -1.67117571e-03 -6.47469650e-03 4.85912635e+01] [ 1.67459746e-03 9.99998461e-01 5.23096349e-04 -2.79061355e+00] [ 6.47381235e-03 -5.33927164e-04 9.99978902e-01 -9.66800372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.172414036999996 meters 0.09107613863459238 Centerline is valid? [True, True] Translation: X:48.62, Y:-2.80, Z:-0.97 [[ 9.99977788e-01 -7.54333521e-04 -6.62228720e-03 4.86184586e+01] [ 7.57878190e-04 9.99999571e-01 5.32770406e-04 -2.79759222e+00] [ 6.62188247e-03 -5.37777459e-04 9.99977930e-01 -9.70300847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.202414037 meters 0.08860534064998314 Centerline is valid? [True, True] Translation: X:48.65, Y:-2.79, Z:-0.97 [[ 9.99970212e-01 -3.25395361e-04 -7.71165408e-03 4.86474061e+01] [ 3.30153457e-04 9.99999756e-01 6.15735628e-04 -2.79345718e+00] [ 7.71145184e-03 -6.18263316e-04 9.99970075e-01 -9.70294779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.232414037 meters 0.08890244533692124 Centerline is valid? [True, True] Translation: X:48.68, Y:-2.79, Z:-0.97 [[ 9.99976626e-01 -1.81641836e-04 -6.83474972e-03 4.86764087e+01] [ 1.85361341e-04 9.99999835e-01 5.43575414e-04 -2.79493377e+00] [ 6.83464985e-03 -5.44829607e-04 9.99976495e-01 -9.71900182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.262414037 meters 0.08795900869127728 Centerline is valid? [True, True] Translation: X:48.71, Y:-2.79, Z:-0.97 [[ 9.99970648e-01 1.59420890e-03 -7.49410459e-03 4.87067946e+01] [-1.58975009e-03 9.99998556e-01 6.00895261e-04 -2.79077020e+00] [ 7.49505172e-03 -5.88963870e-04 9.99971738e-01 -9.72914848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.292414037 meters 0.08722406645397472 Centerline is valid? [True, True] Translation: X:48.74, Y:-2.79, Z:-0.97 [[ 9.99966571e-01 2.26969834e-03 -7.85527025e-03 4.87360447e+01] [-2.26483246e-03 9.99997238e-01 6.28282277e-04 -2.78817435e+00] [ 7.85667456e-03 -6.10470403e-04 9.99968950e-01 -9.72859159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.322414037 meters 0.08670985728094821 Centerline is valid? [True, True] Translation: X:48.76, Y:-2.79, Z:-0.97 [[ 9.99963502e-01 2.63799533e-03 -8.12627828e-03 4.87647436e+01] [-2.63280414e-03 9.99996323e-01 6.49446049e-04 -2.78612896e+00] [ 8.12796164e-03 -6.28027446e-04 9.99966770e-01 -9.73176564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.352414037 meters 0.08885290966704779 Centerline is valid? [True, True] Translation: X:48.79, Y:-2.79, Z:-0.98 [[ 9.99966361e-01 2.90944393e-03 -7.66883894e-03 4.87918084e+01] [-2.90483687e-03 9.99995594e-01 6.11819769e-04 -2.79048305e+00] [ 7.67058520e-03 -5.89522462e-04 9.99970407e-01 -9.76195246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.382414037 meters 0.08603889279074972 Centerline is valid? [True, True] Translation: X:48.82, Y:-2.79, Z:-0.97 [[ 9.99973584e-01 4.81749534e-03 -5.44266559e-03 4.88220065e+01] [-4.81519860e-03 9.99988312e-01 4.35013879e-04 -2.78601058e+00] [ 5.44469766e-03 -4.08794872e-04 9.99985094e-01 -9.74338216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.412414037 meters 0.08603889279074972 Centerline is valid? [True, True] Translation: X:48.85, Y:-2.79, Z:-0.97 [[ 9.99973908e-01 4.74962875e-03 -5.44277983e-03 4.88503096e+01] [-4.74733874e-03 9.99988637e-01 4.33584987e-04 -2.78820598e+00] [ 5.44477735e-03 -4.07734954e-04 9.99985094e-01 -9.74931153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.442414037 meters 0.08607459506971396 Centerline is valid? [True, True] Translation: X:48.88, Y:-2.79, Z:-0.98 [[ 9.99976661e-01 5.17148174e-03 -4.46469510e-03 4.88795515e+01] [-5.16995204e-03 9.99986573e-01 3.54095863e-04 -2.78944729e+00] [ 4.46646636e-03 -3.31005339e-04 9.99989971e-01 -9.75110885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.472414037 meters 0.08579473984824187 Centerline is valid? [True, True] Translation: X:48.91, Y:-2.79, Z:-0.97 [[ 9.99968920e-01 6.47907550e-03 -4.49217747e-03 4.89087020e+01] [-6.47753750e-03 9.99978957e-01 3.56837815e-04 -2.78677210e+00] [ 4.49439492e-03 -3.27728476e-04 9.99989846e-01 -9.73726445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.502414037 meters 0.08542516304115572 Centerline is valid? [True, True] Translation: X:48.94, Y:-2.79, Z:-0.97 [[ 9.99961520e-01 7.17031496e-03 -5.05428562e-03 4.89376590e+01] [-7.16837759e-03 9.99974226e-01 4.01325350e-04 -2.78552306e+00] [ 5.05703298e-03 -3.65078879e-04 9.99987146e-01 -9.74316221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.532414037 meters 0.08519669310018593 Centerline is valid? [True, True] Translation: X:48.97, Y:-2.79, Z:-0.97 [[ 9.99960309e-01 7.48514021e-03 -4.83255164e-03 4.89663035e+01] [-7.48337468e-03 9.99971926e-01 3.83320907e-04 -2.78500533e+00] [ 4.83528518e-03 -3.47141898e-04 9.99988250e-01 -9.74173550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.562414036999996 meters 0.08519669310018593 Centerline is valid? [True, True] Translation: X:48.99, Y:-2.79, Z:-0.97 [[ 9.99960811e-01 7.41769615e-03 -4.83257763e-03 4.89946002e+01] [-7.41593141e-03 9.99972428e-01 3.82993725e-04 -2.78718944e+00] [ 4.83528532e-03 -3.47140652e-04 9.99988250e-01 -9.74766738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.592414037 meters 0.08524396650262972 Centerline is valid? [True, True] Translation: X:49.02, Y:-2.79, Z:-0.98 [[ 9.99957254e-01 7.70010764e-03 -5.11843011e-03 4.90235102e+01] [-7.69813296e-03 9.99970287e-01 4.05387347e-04 -2.78939437e+00] [ 5.12139955e-03 -3.65967663e-04 9.99986819e-01 -9.76810872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.622414037 meters 0.0868589798840286 Centerline is valid? [True, True] Translation: X:49.05, Y:-2.80, Z:-0.98 [[ 9.99962549e-01 7.58259239e-03 -4.17185893e-03 4.90504329e+01] [-7.58128378e-03 9.99971207e-01 3.29401548e-04 -2.79552685e+00] [ 4.17423653e-03 -2.97761165e-04 9.99991244e-01 -9.78677121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.652414037 meters 0.08549204956466525 Centerline is valid? [True, True] Translation: X:49.08, Y:-2.79, Z:-0.98 [[ 9.99971614e-01 6.76237818e-03 -3.32297120e-03 4.90794704e+01] [-6.76154408e-03 9.99977106e-01 2.62180778e-04 -2.79392767e+00] [ 3.32466809e-03 -2.39704919e-04 9.99994445e-01 -9.78087021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.682414037 meters 0.0856198405284945 Centerline is valid? [True, True] Translation: X:49.11, Y:-2.79, Z:-0.98 [[ 9.99978602e-01 5.85147898e-03 -2.92495965e-03 4.91081616e+01] [-5.85082993e-03 9.99982857e-01 2.30406361e-04 -2.79446518e+00] [ 2.92625773e-03 -2.13287989e-04 9.99995696e-01 -9.77956171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.712414037 meters 0.109980449923928 Centerline is valid? [True, False] Translation: X:49.18, Y:-2.80, Z:-0.98 [[ 9.99995171e-01 1.93681512e-03 -2.43026645e-03 4.91751558e+01] [-1.92734406e-03 9.99990563e-01 3.89343574e-03 -2.79696777e+00] [ 2.43778438e-03 -3.88873298e-03 9.99989467e-01 -9.77818823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.742414036999996 meters 0.08704278370083376 Centerline is valid? [False, True] Translation: X:49.11, Y:-2.79, Z:-0.98 [[ 9.99995177e-01 -1.44838806e-03 -2.74746728e-03 4.91099327e+01] [ 1.46620235e-03 9.99977845e-01 6.49300152e-03 -2.78934708e+00] [ 2.73800202e-03 -6.49699855e-03 9.99975146e-01 -9.75007894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.772414037 meters 0.08785490211450965 Centerline is valid? [True, True] Translation: X:49.14, Y:-2.79, Z:-0.97 [[ 9.99992291e-01 -2.67043982e-03 -2.87865066e-03 4.91399662e+01] [ 2.67106911e-03 9.99996410e-01 2.14782563e-04 -2.79036265e+00] [ 2.87806676e-03 -2.22469982e-04 9.99995834e-01 -9.73228185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.802414037 meters 0.08889086027698934 Centerline is valid? [True, True] Translation: X:49.17, Y:-2.80, Z:-0.97 [[ 9.99984896e-01 -5.14570738e-03 -1.93094112e-03 4.91694335e+01] [ 5.14599528e-03 9.99986749e-01 1.44157265e-04 -2.79574934e+00] [ 1.93017374e-03 -1.54091702e-04 9.99998125e-01 -9.74499175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.832414037 meters 0.09278218694317299 Centerline is valid? [True, True] Translation: X:49.20, Y:-2.81, Z:-0.98 [[ 9.99953430e-01 -9.23141861e-03 -2.81408640e-03 4.91987395e+01] [ 9.23204823e-03 9.99957362e-01 2.10829257e-04 -2.80760145e+00] [ 2.81202016e-03 -2.36799220e-04 9.99996018e-01 -9.78313745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.862414037 meters 0.09148968364077086 Centerline is valid? [True, True] Translation: X:49.23, Y:-2.81, Z:-0.98 [[ 9.99939934e-01 -1.05089437e-02 -3.11280944e-03 4.92295639e+01] [ 1.05097208e-02 9.99944744e-01 2.33369886e-04 -2.80681940e+00] [ 3.11018497e-03 -2.66070627e-04 9.99995128e-01 -9.78457325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.892414037 meters 0.08945484164689635 Centerline is valid? [True, True] Translation: X:49.26, Y:-2.80, Z:-0.98 [[ 9.99918961e-01 -1.19021057e-02 -4.51780011e-03 4.92610236e+01] [ 1.19037562e-02 9.99929090e-01 3.38637232e-04 -2.80334050e+00] [ 4.51344926e-03 -3.92388581e-04 9.99989737e-01 -9.77625364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.922414036999996 meters 0.09314683433087756 Centerline is valid? [True, True] Translation: X:49.29, Y:-2.81, Z:-0.98 [[ 9.99905974e-01 -1.28538946e-02 -4.77706123e-03 4.92913122e+01] [ 1.28557532e-02 9.99917297e-01 3.58564021e-04 -2.81189470e+00] [ 4.77205721e-03 -4.19943026e-04 9.99988525e-01 -9.80089711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.952414037 meters 0.09145733760443706 Centerline is valid? [True, True] Translation: X:49.32, Y:-2.81, Z:-0.98 [[ 9.99880689e-01 -1.43068808e-02 -5.82408836e-03 4.93223919e+01] [ 1.43096655e-02 9.99897516e-01 4.36741012e-04 -2.80939670e+00] [ 5.81724308e-03 -5.20029661e-04 9.99982944e-01 -9.80071931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.982414037 meters 0.09243901689743532 Centerline is valid? [True, True] Translation: X:49.35, Y:-2.81, Z:-0.98 [[ 9.99875425e-01 -1.44921311e-02 -6.25401432e-03 4.93531173e+01] [ 1.44953518e-02 9.99894826e-01 4.69960600e-04 -2.81450543e+00] [ 6.24654583e-03 -5.60556193e-04 9.99980333e-01 -9.81916991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.012414037 meters 0.09244738544681785 Centerline is valid? [True, True] Translation: X:49.38, Y:-2.82, Z:-0.98 [[ 9.99875333e-01 -1.48354371e-02 -5.40636100e-03 4.93849396e+01] [ 1.48378535e-02 9.99889830e-01 4.07117325e-04 -2.81812558e+00] [ 5.39972562e-03 -4.87285363e-04 9.99985303e-01 -9.83679965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.042414037 meters 0.096279675874582 Centerline is valid? [True, True] Translation: X:49.41, Y:-2.83, Z:-0.99 [[ 9.99886660e-01 -1.43593435e-02 -4.52516861e-03 4.94148276e+01] [ 1.43610343e-02 9.99896817e-01 3.41364698e-04 -2.82828219e+00] [ 4.51979991e-03 -4.06312109e-04 9.99989703e-01 -9.86156780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.072414037 meters 0.09234578898716532 Centerline is valid? [True, True] Translation: X:49.45, Y:-2.82, Z:-0.98 [[ 9.99896492e-01 -1.38628159e-02 -3.85056549e-03 4.94481260e+01] [ 1.38640397e-02 9.99903847e-01 2.91289068e-04 -2.82217410e+00] [ 3.84615716e-03 -3.44643310e-04 9.99992544e-01 -9.83622631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.102414037 meters 0.09119296226669955 Centerline is valid? [True, True] Translation: X:49.48, Y:-2.82, Z:-0.98 [[ 9.99908795e-01 -1.31782683e-02 -2.95558922e-03 4.94798491e+01] [ 1.31789847e-02 9.99913129e-01 2.23061432e-04 -2.82069865e+00] [ 2.95239290e-03 -2.61992753e-04 9.99995607e-01 -9.82312407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.132414037 meters 0.09018209027452644 Centerline is valid? [True, True] Translation: X:49.51, Y:-2.82, Z:-0.98 [[ 9.99928007e-01 -1.16754229e-02 -2.76869161e-03 4.95112233e+01] [ 1.16760463e-02 9.99931811e-01 2.09098260e-04 -2.81955029e+00] [ 2.76606150e-03 -2.41410577e-04 9.99996145e-01 -9.81844124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.162414037 meters 0.09119585971969192 Centerline is valid? [True, True] Translation: X:49.54, Y:-2.82, Z:-0.98 [[ 9.99955314e-01 -9.34824346e-03 -1.40699849e-03 4.95412138e+01] [ 9.34840147e-03 9.99956297e-01 1.05770550e-04 -2.82276102e+00] [ 1.40594823e-03 -1.18919010e-04 9.99999005e-01 -9.82474745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.192414037 meters 0.09103490550158475 Centerline is valid? [True, True] Translation: X:49.57, Y:-2.83, Z:-0.98 [[ 9.99959211e-01 -8.91847302e-03 -1.42759851e-03 4.95737915e+01] [ 8.91863805e-03 9.99960222e-01 1.09271823e-04 -2.82527363e+00] [ 1.42656719e-03 -1.21999601e-04 9.99998975e-01 -9.82999127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.222414037 meters 0.09050887928937286 Centerline is valid? [True, True] Translation: X:49.61, Y:-2.83, Z:-0.99 [[ 9.99962807e-01 -7.94655651e-03 -3.35203621e-03 4.96059513e+01] [ 7.94745283e-03 9.99968386e-01 2.54159973e-04 -2.82681430e+00] [ 3.34991054e-03 -2.80790670e-04 9.99994350e-01 -9.85615389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.252414037 meters 0.09071141472723628 Centerline is valid? [True, True] Translation: X:49.64, Y:-2.83, Z:-0.99 [[ 9.99963977e-01 -7.12552982e-03 -4.61209212e-03 4.96375372e+01] [ 7.12721313e-03 9.99974540e-01 3.48645666e-04 -2.82940525e+00] [ 4.60949041e-03 -3.81504471e-04 9.99989303e-01 -9.87855994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.282414037 meters 0.08878773513978251 Centerline is valid? [True, True] Translation: X:49.67, Y:-2.83, Z:-0.99 [[ 9.99962572e-01 -6.24400358e-03 -5.98896788e-03 4.96682696e+01] [ 6.24682098e-03 9.99980386e-01 4.51840870e-04 -2.82658569e+00] [ 5.98602912e-03 -4.89235968e-04 9.99981964e-01 -9.88190421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.312414036999996 meters 0.08955981928858571 Centerline is valid? [True, True] Translation: X:49.70, Y:-2.83, Z:-0.99 [[ 9.99967457e-01 -5.14721075e-03 -6.21219047e-03 4.96973200e+01] [ 5.15021546e-03 9.99986628e-01 4.67780269e-04 -2.82940387e+00] [ 6.20969963e-03 -4.99759165e-04 9.99980595e-01 -9.90097772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.342414037 meters 0.08783598323555668 Centerline is valid? [True, True] Translation: X:49.73, Y:-2.83, Z:-0.99 [[ 9.99975263e-01 -1.31423753e-03 -6.90986865e-03 4.97282055e+01] [ 1.31786891e-03 9.99998996e-01 5.21008242e-04 -2.82579254e+00] [ 6.90917698e-03 -5.30101655e-04 9.99975991e-01 -9.89649554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.372414037 meters 0.0881322280483682 Centerline is valid? [True, True] Translation: X:49.76, Y:-2.83, Z:-0.99 [[ 9.99975858e-01 1.08374298e-03 -6.86362018e-03 4.97570219e+01] [-1.08022207e-03 9.99999283e-01 5.16668346e-04 -2.82795626e+00] [ 6.86417520e-03 -5.09241638e-04 9.99976312e-01 -9.91147036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.402414037 meters 0.09055966825778584 Centerline is valid? [True, True] Translation: X:49.79, Y:-2.84, Z:-0.99 [[ 9.99969039e-01 3.16735192e-03 -7.20333216e-03 4.97852776e+01] [-3.16353224e-03 9.99994849e-01 5.41597874e-04 -2.83515237e+00] [ 7.20501049e-03 -5.18793133e-04 9.99973909e-01 -9.94614183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.432414037 meters 0.08661594794317495 Centerline is valid? [True, True] Translation: X:49.82, Y:-2.83, Z:-0.99 [[ 9.99966735e-01 5.26434744e-03 -6.23022236e-03 4.98163537e+01] [-5.26152791e-03 9.99986048e-01 4.68860673e-04 -2.82823557e+00] [ 6.23260368e-03 -4.36064588e-04 9.99980482e-01 -9.92770499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.462414037 meters 0.08606307163132271 Centerline is valid? [True, True] Translation: X:49.85, Y:-2.83, Z:-0.99 [[ 9.99951846e-01 8.60143412e-03 -4.72449818e-03 4.98460331e+01] [-8.59985093e-03 9.99962957e-01 3.55313887e-04 -2.82895383e+00] [ 4.72737938e-03 -3.14666797e-04 9.99988776e-01 -9.92111761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.492414036999996 meters 0.08524954724697693 Centerline is valid? [True, True] Translation: X:49.88, Y:-2.83, Z:-0.99 [[ 9.99941809e-01 1.03433000e-02 -3.06492936e-03 4.98756869e+01] [-1.03426435e-02 9.99946487e-01 2.29991303e-04 -2.82900373e+00] [ 3.06714422e-03 -1.98278448e-04 9.99995277e-01 -9.91618842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.522414037 meters 0.08623813548467159 Centerline is valid? [True, True] Translation: X:49.90, Y:-2.83, Z:-0.99 [[ 9.99934395e-01 1.12217339e-02 -2.29741493e-03 4.99037887e+01] [-1.12213696e-02 9.99937024e-01 1.71420384e-04 -2.83286546e+00] [ 2.29919388e-03 -1.45628996e-04 9.99997346e-01 -9.91435760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.552414037 meters 0.08284767474356453 Centerline is valid? [True, True] Translation: X:49.93, Y:-2.83, Z:-0.99 [[ 9.99916667e-01 1.27288435e-02 -2.15294797e-03 4.99333401e+01] [-1.27285276e-02 9.99918976e-01 1.60356061e-04 -2.82572132e+00] [ 2.15481468e-03 -1.32938841e-04 9.99997670e-01 -9.88251731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.582414037 meters 0.08522461350348352 Centerline is valid? [True, True] Translation: X:49.96, Y:-2.83, Z:-0.99 [[ 9.99910087e-01 1.31021515e-02 -2.85514346e-03 4.99600469e+01] [-1.31015986e-02 9.99914148e-01 2.12247575e-04 -2.83433306e+00] [ 2.85767924e-03 -1.74821548e-04 9.99995902e-01 -9.92436548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.612414037 meters 0.0855555521657666 Centerline is valid? [True, True] Translation: X:49.99, Y:-2.84, Z:-1.00 [[ 9.99908972e-01 1.26051800e-02 -4.81222468e-03 4.99894791e+01] [-1.26035917e-02 9.99920507e-01 3.60251909e-04 -2.83737817e+00] [ 4.81638318e-03 -2.99567801e-04 9.99988356e-01 -9.95294150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.642414037 meters 0.08630225610243593 Centerline is valid? [True, True] Translation: X:50.02, Y:-2.84, Z:-1.00 [[ 9.99908749e-01 1.19776926e-02 -6.24725879e-03 5.00191431e+01] [-1.19750034e-02 9.99928188e-01 4.67683502e-04 -2.84197603e+00] [ 6.25241192e-03 -3.92829881e-04 9.99980376e-01 -9.98174143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.672414036999996 meters 0.08449714317086067 Centerline is valid? [True, True] Translation: X:50.05, Y:-2.84, Z:-1.00 [[ 9.99906054e-01 1.16269566e-02 -7.25931978e-03 5.00482877e+01] [-1.16233242e-02 9.99932300e-01 5.42367628e-04 -2.83960217e+00] [ 7.26513441e-03 -4.57939248e-04 9.99973504e-01 -9.98277575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.702414037 meters 0.08691019988431026 Centerline is valid? [True, True] Translation: X:50.08, Y:-2.85, Z:-1.00 [[ 9.99905091e-01 1.17517539e-02 -7.19063565e-03 5.00757613e+01] [-1.17481998e-02 9.99930844e-01 5.36308430e-04 -2.84789535e+00] [ 7.19644094e-03 -4.51780505e-04 9.99974003e-01 -1.00166600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.732414037 meters 0.08404862080333775 Centerline is valid? [True, True] Translation: X:50.11, Y:-2.84, Z:-1.00 [[ 9.99907483e-01 1.17810147e-02 -6.79952588e-03 5.01055965e+01] [-1.17778358e-02 9.99930510e-01 5.07363810e-04 -2.84269157e+00] [ 6.80503064e-03 -4.27233170e-04 9.99976754e-01 -9.98556747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.762414037 meters 0.08315593133553738 Centerline is valid? [True, True] Translation: X:50.13, Y:-2.84, Z:-1.00 [[ 9.99905890e-01 1.24623701e-02 -5.73585534e-03 5.01347385e+01] [-1.24601244e-02 9.99922278e-01 4.27086605e-04 -2.84332543e+00] [ 5.74073205e-03 -3.55576941e-04 9.99983459e-01 -9.97846089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.792414037 meters 0.08291573777787356 Centerline is valid? [True, True] Translation: X:50.16, Y:-2.85, Z:-1.00 [[ 9.99910517e-01 1.25949031e-02 -4.50843547e-03 5.01640564e+01] [-1.25935178e-02 9.99920642e-01 3.35514425e-04 -2.84527095e+00] [ 4.51230346e-03 -2.78707340e-04 9.99989781e-01 -9.96935457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.822414037 meters 0.08277898351357502 Centerline is valid? [True, True] Translation: X:50.19, Y:-2.85, Z:-1.00 [[ 9.99915923e-01 1.23616263e-02 -3.91625601e-03 5.01926116e+01] [-1.23605823e-02 9.99923563e-01 2.90687994e-04 -2.84778769e+00] [ 3.91955004e-03 -2.42256349e-04 9.99992289e-01 -9.96168144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.852414037 meters 0.08692354942803639 Centerline is valid? [True, True] Translation: X:50.22, Y:-2.86, Z:-1.00 [[ 9.99927093e-01 1.17350420e-02 -2.84570650e-03 5.02193701e+01] [-1.17344910e-02 9.99931126e-01 2.10266445e-04 -2.86098875e+00] [ 2.84797799e-03 -1.76858198e-04 9.99995929e-01 -1.00014595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.882414037 meters 0.08721625744496798 Centerline is valid? [True, True] Translation: X:50.25, Y:-2.87, Z:-1.00 [[ 9.99945372e-01 1.00057629e-02 -3.02296828e-03 5.02484865e+01] [-1.00051299e-02 9.99949922e-01 2.24459498e-04 -2.86618937e+00] [ 3.02506278e-03 -1.94202046e-04 9.99995406e-01 -1.00187420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.912414037 meters 0.08559501014526727 Centerline is valid? [True, True] Translation: X:50.28, Y:-2.87, Z:-1.00 [[ 9.99959935e-01 8.01212678e-03 -3.99183323e-03 5.02787022e+01] [-8.01100530e-03 9.99967867e-01 2.96853629e-04 -2.86504692e+00] [ 3.99408339e-03 -2.64863138e-04 9.99991989e-01 -1.00077329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.942414037 meters 0.08422136653099639 Centerline is valid? [True, True] Translation: X:50.31, Y:-2.86, Z:-1.00 [[ 9.99967868e-01 6.41183750e-03 -4.81149455e-03 5.03078139e+01] [-6.41019616e-03 9.99979391e-01 3.56473322e-04 -2.86458189e+00] [ 4.81368104e-03 -3.25619244e-04 9.99988361e-01 -1.00006348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.972414037 meters 0.0853992584910731 Centerline is valid? [True, True] Translation: X:50.34, Y:-2.87, Z:-1.00 [[ 9.99975153e-01 5.48790149e-03 -4.42441824e-03 5.03356362e+01] [-5.48650826e-03 9.99984896e-01 3.26971937e-04 -2.87050490e+00] [ 4.42614581e-03 -3.02689206e-04 9.99990159e-01 -1.00131500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.002414037 meters 0.08580471535755006 Centerline is valid? [True, True] Translation: X:50.37, Y:-2.87, Z:-1.00 [[ 9.99977614e-01 4.24068992e-03 -5.17571661e-03 5.03651558e+01] [-4.23876060e-03 9.99990943e-01 3.83675850e-04 -2.87476774e+00] [ 5.17729678e-03 -3.61728637e-04 9.99986532e-01 -1.00169792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.032414037 meters 0.08744175960957197 Centerline is valid? [True, True] Translation: X:50.39, Y:-2.88, Z:-1.00 [[ 9.99980675e-01 3.65360894e-03 -5.03000977e-03 5.03921443e+01] [-3.65178817e-03 9.99993263e-01 3.71118359e-04 -2.88079170e+00] [ 5.03133181e-03 -3.52742657e-04 9.99987281e-01 -1.00326082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.062414036999996 meters 0.08617780175760123 Centerline is valid? [True, True] Translation: X:50.42, Y:-2.88, Z:-1.00 [[ 9.99981948e-01 4.07976670e-03 -4.41121678e-03 5.04216480e+01] [-4.07836843e-03 9.99991630e-01 3.25929629e-04 -2.88056342e+00] [ 4.41250958e-03 -3.07933178e-04 9.99990217e-01 -1.00264615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.092414037 meters 0.0861059621040083 Centerline is valid? [True, True] Translation: X:50.45, Y:-2.88, Z:-1.00 [[ 9.99972905e-01 4.32260495e-03 -5.95853039e-03 5.04501896e+01] [-4.32006020e-03 9.99990572e-01 4.39881408e-04 -2.88269312e+00] [ 5.96037565e-03 -4.14128279e-04 9.99982151e-01 -1.00363060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.122414037 meters 0.08595582625264282 Centerline is valid? [True, True] Translation: X:50.48, Y:-2.89, Z:-1.00 [[ 9.99977440e-01 3.98114514e-03 -5.41019576e-03 5.04784362e+01] [-3.97904490e-03 9.99992004e-01 3.98908525e-04 -2.88565466e+00] [ 5.41174061e-03 -3.77372114e-04 9.99985285e-01 -1.00492031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.152414037 meters 0.08564897419565479 Centerline is valid? [True, True] Translation: X:50.51, Y:-2.89, Z:-1.01 [[ 9.99976622e-01 3.44235370e-03 -5.90815590e-03 5.05068007e+01] [-3.43984139e-03 9.99993989e-01 4.35337362e-04 -2.88832269e+00] [ 5.90961897e-03 -4.15004066e-04 9.99982452e-01 -1.00606346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.182414037 meters 0.08814660588450814 Centerline is valid? [True, True] Translation: X:50.53, Y:-2.90, Z:-1.01 [[ 9.99984146e-01 2.13304210e-03 -5.21124748e-03 5.05334689e+01] [-2.13107694e-03 9.99997656e-01 3.82623303e-04 -2.89748833e+00] [ 5.21205142e-03 -3.71511668e-04 9.99986348e-01 -1.00845081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.212414037 meters 0.08697803530444047 Centerline is valid? [True, True] Translation: X:50.56, Y:-2.90, Z:-1.01 [[ 9.99993443e-01 2.61406303e-04 -3.61191564e-03 5.05626845e+01] [-2.60449331e-04 9.99999931e-01 2.65416594e-04 -2.89949145e+00] [ 3.61198477e-03 -2.64474132e-04 9.99993442e-01 -1.00594583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.242414036999996 meters 0.08709651540494386 Centerline is valid? [True, True] Translation: X:50.59, Y:-2.90, Z:-1.01 [[ 9.99993900e-01 -3.86950147e-04 -3.47146721e-03 5.05912118e+01] [ 3.87835894e-04 9.99999892e-01 2.54481130e-04 -2.90263330e+00] [ 3.47136836e-03 -2.55825937e-04 9.99993942e-01 -1.00564702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.272414037 meters 0.08763399365943052 Centerline is valid? [True, True] Translation: X:50.62, Y:-2.91, Z:-1.01 [[ 9.99994593e-01 -1.15915745e-03 -3.07733322e-03 5.06200715e+01] [ 1.15985779e-03 9.99999302e-01 2.25802353e-04 -2.90677307e+00] [ 3.07706933e-03 -2.29370401e-04 9.99995240e-01 -1.00648941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.302414037 meters 0.08958809916902592 Centerline is valid? [True, True] Translation: X:50.65, Y:-2.91, Z:-1.01 [[ 9.99981190e-01 -3.49631156e-03 -5.03929359e-03 5.06486258e+01] [ 3.49822269e-03 9.99993813e-01 3.70480303e-04 -2.91453309e+00] [ 5.03796710e-03 -3.88101906e-04 9.99987234e-01 -1.00856498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.332414037 meters 0.08862356481374041 Centerline is valid? [True, True] Translation: X:50.68, Y:-2.92, Z:-1.01 [[ 9.99970274e-01 -4.51255785e-03 -6.25209041e-03 5.06783013e+01] [ 4.51551819e-03 9.99989699e-01 4.59460231e-04 -2.91598079e+00] [ 6.24995267e-03 -4.87678001e-04 9.99980350e-01 -1.00924723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.362414037 meters 0.0898699451152127 Centerline is valid? [True, True] Translation: X:50.71, Y:-2.92, Z:-1.01 [[ 9.99964110e-01 -6.04584043e-03 -5.93518447e-03 5.07073862e+01] [ 6.04853376e-03 9.99981612e-01 4.35945234e-04 -2.92193070e+00] [ 5.93243968e-03 -4.71828752e-04 9.99982292e-01 -1.01058440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.392414037 meters 0.09170916426081699 Centerline is valid? [True, True] Translation: X:50.74, Y:-2.93, Z:-1.01 [[ 9.99934318e-01 -8.82426212e-03 -7.31383515e-03 5.07360938e+01] [ 8.82843310e-03 9.99960884e-01 5.38197070e-04 -2.92923680e+00] [ 7.30879987e-03 -6.02731425e-04 9.99973109e-01 -1.01408432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.422414036999996 meters 0.09028812879321134 Centerline is valid? [True, True] Translation: X:50.77, Y:-2.93, Z:-1.01 [[ 9.99916153e-01 -1.04433864e-02 -7.65660263e-03 5.07660772e+01] [ 1.04480001e-02 9.99945260e-01 5.62829156e-04 -2.92905897e+00] [ 7.65030567e-03 -6.42778150e-04 9.99970529e-01 -1.01362636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.452414037 meters 0.09028812879321134 Centerline is valid? [True, True] Translation: X:50.80, Y:-2.93, Z:-1.01 [[ 9.99916153e-01 -1.04433935e-02 -7.65657730e-03 5.07961075e+01] [ 1.04480099e-02 9.99945259e-01 5.63173653e-04 -2.93126800e+00] [ 7.65027673e-03 -6.43122428e-04 9.99970529e-01 -1.01424903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.482414037 meters 0.09166050905752086 Centerline is valid? [True, True] Translation: X:50.83, Y:-2.94, Z:-1.02 [[ 9.99901031e-01 -1.18019734e-02 -7.65782769e-03 5.08253322e+01] [ 1.18066266e-02 9.99930141e-01 5.62722727e-04 -2.93666673e+00] [ 7.65065148e-03 -6.53080147e-04 9.99970520e-01 -1.01548634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.512414037 meters 0.09331156930936522 Centerline is valid? [True, True] Translation: X:50.86, Y:-2.94, Z:-1.02 [[ 9.99887898e-01 -1.30256298e-02 -7.38412083e-03 5.08555344e+01] [ 1.30299957e-02 9.99914958e-01 5.43452519e-04 -2.94251756e+00] [ 7.37641406e-03 -6.39606659e-04 9.99972589e-01 -1.01667513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.542414037 meters 0.09120590823107497 Centerline is valid? [True, True] Translation: X:50.89, Y:-2.94, Z:-1.02 [[ 9.99864814e-01 -1.53365228e-02 -5.92828302e-03 5.08873098e+01] [ 1.53393808e-02 9.99882249e-01 4.36934672e-04 -2.94086938e+00] [ 5.92088390e-03 -5.27811796e-04 9.99982332e-01 -1.01509939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.572414037 meters 0.09072029998372934 Centerline is valid? [True, True] Translation: X:50.92, Y:-2.94, Z:-1.01 [[ 9.99859078e-01 -1.55795347e-02 -6.25312829e-03 5.09190565e+01] [ 1.55827325e-02 9.99878475e-01 4.62996905e-04 -2.94234942e+00] [ 6.24515510e-03 -5.60372484e-04 9.99980342e-01 -1.01471689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.602414037 meters 0.09007853002751856 Centerline is valid? [True, True] Translation: X:50.95, Y:-2.94, Z:-1.01 [[ 9.99859850e-01 -1.58329162e-02 -5.44049424e-03 5.09513655e+01] [ 1.58353400e-02 9.99874532e-01 4.02728627e-04 -2.94340193e+00] [ 5.43343526e-03 -4.88824261e-04 9.99985119e-01 -1.01497500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.632414037 meters 0.09305329602165077 Centerline is valid? [True, True] Translation: X:50.98, Y:-2.95, Z:-1.02 [[ 9.99858946e-01 -1.60769694e-02 -4.85988322e-03 5.09820852e+01] [ 1.60789065e-02 9.99870661e-01 3.59791075e-04 -2.95133799e+00] [ 4.85347030e-03 -4.37881933e-04 9.99988126e-01 -1.01658629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.662414037 meters 0.0933389849636777 Centerline is valid? [True, True] Translation: X:51.01, Y:-2.95, Z:-1.02 [[ 9.99836523e-01 -1.72454154e-02 -5.43342583e-03 5.10130039e+01] [ 1.72478498e-02 9.99851164e-01 4.01493981e-04 -2.95336545e+00] [ 5.42569321e-03 -4.95143258e-04 9.99985158e-01 -1.01830225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.692414037 meters 0.09178219413246468 Centerline is valid? [True, True] Translation: X:51.05, Y:-2.95, Z:-1.02 [[ 9.99824217e-01 -1.78996874e-02 -5.57994624e-03 5.10455252e+01] [ 1.79022730e-02 9.99839656e-01 4.13763556e-04 -2.95283685e+00] [ 5.57164529e-03 -5.13584545e-04 9.99984346e-01 -1.01797328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.722414037 meters 0.09088460003852308 Centerline is valid? [True, True] Translation: X:51.08, Y:-2.95, Z:-1.02 [[ 9.99809620e-01 -1.86168852e-02 -5.84261539e-03 5.10780571e+01] [ 1.86197342e-02 9.99826544e-01 4.33601743e-04 -2.95319724e+00] [ 5.83352964e-03 -5.42307140e-04 9.99982838e-01 -1.01803195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.752414037 meters 0.09366980387323959 Centerline is valid? [True, True] Translation: X:51.11, Y:-2.96, Z:-1.02 [[ 9.99792615e-01 -1.94046326e-02 -6.17959858e-03 5.11090564e+01] [ 1.94078338e-02 9.99811545e-01 4.58482097e-04 -2.95981702e+00] [ 6.16953733e-03 -5.78319638e-04 9.99980801e-01 -1.02026442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.782414037 meters 0.09351676159624044 Centerline is valid? [True, True] Translation: X:51.14, Y:-2.96, Z:-1.02 [[ 9.99791062e-01 -1.94892712e-02 -6.16441960e-03 5.11411339e+01] [ 1.94924630e-02 9.99809899e-01 4.58107442e-04 -2.96027446e+00] [ 6.15431956e-03 -5.78171447e-04 9.99980895e-01 -1.02103847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.812414036999996 meters 0.09214791981514318 Centerline is valid? [True, True] Translation: X:51.17, Y:-2.96, Z:-1.02 [[ 9.99798760e-01 -1.91292345e-02 -6.04256821e-03 5.11732249e+01] [ 1.91322976e-02 9.99816860e-01 4.49511959e-04 -2.95928879e+00] [ 6.03286275e-03 -5.65029712e-04 9.99981642e-01 -1.02063168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.842414037 meters 0.0927624786537703 Centerline is valid? [True, True] Translation: X:51.21, Y:-2.96, Z:-1.02 [[ 9.99805481e-01 -1.90736055e-02 -5.01979975e-03 5.12050287e+01] [ 1.90757216e-02 9.99817972e-01 3.73998469e-04 -2.96230018e+00] [ 5.01175251e-03 -4.69682021e-04 9.99987331e-01 -1.02144403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.872414037 meters 0.09400332727026424 Centerline is valid? [True, True] Translation: X:51.24, Y:-2.97, Z:-1.02 [[ 9.99812120e-01 -1.91672923e-02 -2.88795314e-03 5.12363362e+01] [ 1.91679942e-02 9.99816254e-01 2.15551416e-04 -2.96645413e+00] [ 2.88329096e-03 -2.70867187e-04 9.99995807e-01 -1.02145496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.902414037 meters 0.09358887430316364 Centerline is valid? [True, True] Translation: X:51.27, Y:-2.97, Z:-1.02 [[ 9.99800227e-01 -1.96429781e-02 -3.69588088e-03 5.12681336e+01] [ 1.96441304e-02 9.99806997e-01 2.75747495e-04 -2.96770418e+00] [ 3.68975106e-03 -3.48294774e-04 9.99993132e-01 -1.02153360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.932414037 meters 0.09435294268890371 Centerline is valid? [True, True] Translation: X:51.30, Y:-2.97, Z:-1.02 [[ 9.99790236e-01 -2.02004444e-02 -3.38026754e-03 5.13002787e+01] [ 2.02014138e-02 9.99795899e-01 2.52858146e-04 -2.97069989e+00] [ 3.37446978e-03 -3.21091288e-04 9.99994255e-01 -1.02305650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.962414037 meters 0.09449234659721904 Centerline is valid? [True, True] Translation: X:51.33, Y:-2.97, Z:-1.02 [[ 9.99759386e-01 -2.10723519e-02 -6.09313280e-03 5.13317392e+01] [ 2.10755078e-02 9.99777784e-01 4.54188505e-04 -2.97233555e+00] [ 6.08220799e-03 -5.82495089e-04 9.99981334e-01 -1.02447718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.992414036999996 meters 0.09439169701270221 Centerline is valid? [True, True] Translation: X:51.36, Y:-2.97, Z:-1.03 [[ 9.99739988e-01 -2.15622729e-02 -7.41787257e-03 5.13640506e+01] [ 2.15669714e-02 9.99767252e-01 5.53989142e-04 -2.97401416e+00] [ 7.40420081e-03 -7.13826144e-04 9.99972334e-01 -1.02595102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.022414037 meters 0.09520968808533617 Centerline is valid? [True, True] Translation: X:51.40, Y:-2.98, Z:-1.03 [[ 9.99716246e-01 -2.20734886e-02 -8.95476092e-03 5.13956092e+01] [ 2.20803545e-02 9.99755976e-01 6.68579846e-04 -2.97725879e+00] [ 8.93781785e-03 -8.66114430e-04 9.99959682e-01 -1.02769990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.052414037 meters 0.09458766015794587 Centerline is valid? [True, True] Translation: X:51.43, Y:-2.98, Z:-1.03 [[ 9.99703650e-01 -2.21567901e-02 -1.00840951e-02 5.14281534e+01] [ 2.21655104e-02 9.99754031e-01 7.53807291e-04 -2.97766176e+00] [ 1.00649128e-02 -9.77103016e-04 9.99948870e-01 -1.02926241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.082414037 meters 0.09609979560909604 Centerline is valid? [True, True] Translation: X:51.46, Y:-2.98, Z:-1.03 [[ 9.99716273e-01 -2.18139584e-02 -9.56680364e-03 5.14594693e+01] [ 2.18218144e-02 9.99761618e-01 7.17545721e-04 -2.98158430e+00] [ 9.54887058e-03 -9.26107147e-04 9.99953980e-01 -1.03135088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.112414037 meters 0.09619847735490131 Centerline is valid? [True, True] Translation: X:51.49, Y:-2.98, Z:-1.03 [[ 9.99751249e-01 -2.09721013e-02 -7.59018572e-03 5.14909622e+01] [ 2.09770183e-02 9.99779796e-01 5.68765678e-04 -2.98353854e+00] [ 7.57658613e-03 -7.27843662e-04 9.99971032e-01 -1.03211876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.142414037 meters 0.09669828240145609 Centerline is valid? [True, True] Translation: X:51.52, Y:-2.99, Z:-1.03 [[ 9.99760707e-01 -2.07443647e-02 -6.94265329e-03 5.15232865e+01] [ 2.07484787e-02 9.99784591e-01 5.21062414e-04 -2.98551302e+00] [ 6.93034868e-03 -6.64987221e-04 9.99975764e-01 -1.03200676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.172414036999996 meters 0.09739454204641318 Centerline is valid? [True, True] Translation: X:51.55, Y:-2.99, Z:-1.03 [[ 9.99784017e-01 -1.99049746e-02 -5.97590627e-03 5.15541384e+01] [ 1.99080060e-02 9.99801716e-01 4.48209332e-04 -2.98567846e+00] [ 5.96579974e-03 -5.67080904e-04 9.99982044e-01 -1.03090802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.202414037 meters 0.09541335334797744 Centerline is valid? [True, True] Translation: X:51.59, Y:-2.98, Z:-1.03 [[ 9.99783868e-01 -1.99848957e-02 -5.72901245e-03 5.15864803e+01] [ 1.99876893e-02 9.99800133e-01 4.30791935e-04 -2.98306651e+00] [ 5.71925808e-03 -5.45208548e-04 9.99983496e-01 -1.02989435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.232414037 meters 0.0947348916139816 Centerline is valid? [True, True] Translation: X:51.62, Y:-2.98, Z:-1.03 [[ 9.99795204e-01 -1.96128525e-02 -4.98854479e-03 5.16192285e+01] [ 1.96149709e-02 9.99807537e-01 3.76059902e-04 -2.98345795e+00] [ 4.98020907e-03 -4.73833047e-04 9.99987486e-01 -1.02897284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.262414037 meters 0.09598545824481206 Centerline is valid? [True, True] Translation: X:51.65, Y:-2.99, Z:-1.03 [[ 9.99791211e-01 -1.99036843e-02 -4.62360273e-03 5.16500300e+01] [ 1.99055117e-02 9.99801805e-01 3.49544202e-04 -2.98727799e+00] [ 4.61572913e-03 -4.41506399e-04 9.99989250e-01 -1.02975397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.292414037 meters 0.0958119423545188 Centerline is valid? [True, True] Translation: X:51.68, Y:-2.99, Z:-1.03 [[ 9.99760139e-01 -2.05707961e-02 -7.51703725e-03 5.16809322e+01] [ 2.05756227e-02 9.99788140e-01 5.65313463e-04 -2.98850594e+00] [ 7.50381574e-03 -7.19845589e-04 9.99971587e-01 -1.03234388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.322414037 meters 0.09905796609396711 Centerline is valid? [True, True] Translation: X:51.71, Y:-3.00, Z:-1.04 [[ 9.99755164e-01 -2.03630914e-02 -8.65774848e-03 5.17113197e+01] [ 2.03694956e-02 9.99792308e-01 6.52157917e-04 -2.99660684e+00] [ 8.64267038e-03 -8.28352214e-04 9.99962308e-01 -1.03619287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.352414037 meters 0.09968315901621212 Centerline is valid? [True, True] Translation: X:51.74, Y:-3.00, Z:-1.04 [[ 9.99755857e-01 -2.03558703e-02 -8.59452789e-03 5.17429239e+01] [ 2.03621884e-02 9.99792459e-01 6.48257121e-04 -2.99993958e+00] [ 8.57954833e-03 -8.23102249e-04 9.99962856e-01 -1.03782611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.382414037 meters 0.09835056636179754 Centerline is valid? [True, True] Translation: X:51.77, Y:-3.00, Z:-1.04 [[ 9.99788349e-01 -1.90458392e-02 -7.77905279e-03 5.17735341e+01] [ 1.90509666e-02 9.99818342e-01 5.85549771e-04 -2.99795540e+00] [ 7.76648738e-03 -7.33624313e-04 9.99969571e-01 -1.03736638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.412414037 meters 0.09925778103186085 Centerline is valid? [True, True] Translation: X:51.80, Y:-3.00, Z:-1.04 [[ 9.99817459e-01 -1.76916562e-02 -7.21490653e-03 5.18042558e+01] [ 1.76960384e-02 9.99843265e-01 5.43982165e-04 -3.00065347e+00] [ 7.20415176e-03 -6.71558129e-04 9.99973824e-01 -1.03788593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.442414037 meters 0.09988040658234827 Centerline is valid? [True, True] Translation: X:51.83, Y:-3.00, Z:-1.04 [[ 9.99840853e-01 -1.67045967e-02 -6.26301748e-03 5.18349068e+01] [ 1.67078814e-02 9.99860302e-01 4.72486875e-04 -3.00297070e+00] [ 6.25424984e-03 -5.77053432e-04 9.99980275e-01 -1.03889117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.472414037 meters 0.09745679060456018 Centerline is valid? [True, True] Translation: X:51.87, Y:-3.00, Z:-1.04 [[ 9.99885729e-01 -1.38943265e-02 -5.95626484e-03 5.18655008e+01] [ 1.38972442e-02 9.99903328e-01 4.48750420e-04 -3.00018579e+00] [ 5.94945395e-03 -5.31474808e-04 9.99982161e-01 -1.03811871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.502414037 meters 0.09769539126348394 Centerline is valid? [True, True] Translation: X:51.90, Y:-3.00, Z:-1.04 [[ 9.99893916e-01 -1.31692311e-02 -6.22317005e-03 5.18968626e+01] [ 1.31724074e-02 9.99913130e-01 4.69683651e-04 -3.00241451e+00] [ 6.21644407e-03 -5.51607957e-04 9.99980526e-01 -1.03930210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.532414037 meters 0.09714990803315089 Centerline is valid? [True, True] Translation: X:51.93, Y:-3.00, Z:-1.04 [[ 9.99905842e-01 -1.19518218e-02 -6.74248160e-03 5.19277818e+01] [ 1.19555184e-02 9.99928401e-01 5.08206725e-04 -3.00304237e+00] [ 6.73592485e-03 -5.88768736e-04 9.99977140e-01 -1.04019739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.562414036999996 meters 0.09779036020903802 Centerline is valid? [True, True] Translation: X:51.96, Y:-3.01, Z:-1.04 [[ 9.99910562e-01 -1.11116901e-02 -7.44304384e-03 5.19584586e+01] [ 1.11161780e-02 9.99938056e-01 5.61858913e-04 -3.00559489e+00] [ 7.43633959e-03 -6.44546862e-04 9.99972142e-01 -1.04204940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.592414037 meters 0.10021131679544296 Centerline is valid? [True, False] Translation: X:51.96, Y:-3.01, Z:-1.04 [[ 9.99949795e-01 -7.12652802e-03 -7.04418541e-03 5.19575830e+01] [ 7.15948053e-03 9.99963494e-01 4.66387883e-03 -3.00566546e+00] [ 7.01069099e-03 -4.71407738e-03 9.99964313e-01 -1.04209128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.622414037 meters 0.10054901283092478 Centerline is valid? [False, False] Translation: X:51.96, Y:-3.01, Z:-1.04 [[ 9.99949257e-01 -7.06866069e-03 -7.17759130e-03 5.19580200e+01] [ 7.10155952e-03 9.99964348e-01 4.56845280e-03 -3.00512319e+00] [ 7.14504256e-03 -4.61919308e-03 9.99963805e-01 -1.04230531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.652414037 meters 0.0901330863453469 Centerline is valid? [False, True] Translation: X:51.95, Y:-3.01, Z:-1.05 [[ 9.99996292e-01 -2.72139202e-03 -9.80970442e-05 5.19498259e+01] [ 2.72163700e-03 9.99992942e-01 2.59026228e-03 -3.00510348e+00] [ 9.10472327e-05 -2.59051966e-03 9.99996640e-01 -1.04735693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.682414037 meters 0.10015966235042809 Centerline is valid? [True, False] Translation: X:51.95, Y:-3.00, Z:-1.05 [[ 9.99996144e-01 -2.75320090e-03 -3.63071919e-04 5.19504614e+01] [ 2.75402001e-03 9.99993619e-01 2.27520484e-03 -3.00373248e+00] [ 3.56805506e-04 -2.27619597e-03 9.99997346e-01 -1.04749564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.712414037 meters 0.08847251442494071 Centerline is valid? [False, True] Translation: X:51.95, Y:-3.00, Z:-1.05 [[ 9.99996176e-01 -2.64135020e-03 -8.19252179e-04 5.19516816e+01] [ 2.64291202e-03 9.99994681e-01 1.91121153e-03 -3.00151521e+00] [ 8.14199643e-04 -1.91336943e-03 9.99997838e-01 -1.04796162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.742414036999996 meters 0.0887362555017879 Centerline is valid? [True, True] Translation: X:51.98, Y:-3.00, Z:-1.05 [[ 9.99998551e-01 -1.60255887e-03 -5.74257312e-04 5.19815935e+01] [ 1.60258469e-03 9.99998715e-01 4.44895243e-05 -3.00313333e+00] [ 5.74185277e-04 -4.54097559e-05 9.99999834e-01 -1.04757433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.772414037 meters 0.08895172698726808 Centerline is valid? [True, True] Translation: X:52.01, Y:-3.01, Z:-1.05 [[ 9.99999410e-01 -5.63649717e-04 -9.28517527e-04 5.20119278e+01] [ 5.63718572e-04 9.99999838e-01 7.38957396e-05 -3.00531860e+00] [ 9.28475726e-04 -7.44191186e-05 9.99999566e-01 -1.04889253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.802414037 meters 0.08752348663050415 Centerline is valid? [True, True] Translation: X:52.04, Y:-3.00, Z:-1.05 [[ 9.99998229e-01 1.62728856e-03 -9.45380169e-04 5.20424773e+01] [-1.62722110e-03 9.99998673e-01 7.21258694e-05 -3.00341313e+00] [ 9.45496284e-04 -7.05873992e-05 9.99999551e-01 -1.04952591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.832414037 meters 0.08741034407338995 Centerline is valid? [True, True] Translation: X:52.07, Y:-3.01, Z:-1.05 [[ 9.99996271e-01 2.02585581e-03 -1.83160836e-03 5.20716392e+01] [-2.02560098e-03 9.99997939e-01 1.40975445e-04 -3.00503131e+00] [ 1.83189018e-03 -1.37264812e-04 9.99998313e-01 -1.05088073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.862414037 meters 0.08921877733057632 Centerline is valid? [True, True] Translation: X:52.10, Y:-3.01, Z:-1.05 [[ 9.99994485e-01 2.86878632e-03 -1.67305732e-03 5.20995743e+01] [-2.86857589e-03 9.99995877e-01 1.28162353e-04 -3.01065405e+00] [ 1.67341809e-03 -1.23362355e-04 9.99998592e-01 -1.05349773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.892414037 meters 0.08644242367594569 Centerline is valid? [True, True] Translation: X:52.13, Y:-3.01, Z:-1.05 [[ 9.99990469e-01 3.51382685e-03 -2.59120288e-03 5.21293192e+01] [-3.51332400e-03 9.99993809e-01 1.98585344e-04 -3.00561504e+00] [ 2.59188463e-03 -1.89479716e-04 9.99996623e-01 -1.05275199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.922414036999996 meters 0.0863848517641617 Centerline is valid? [True, True] Translation: X:52.16, Y:-3.00, Z:-1.05 [[ 9.99983246e-01 5.44649310e-03 -1.96063557e-03 5.21588423e+01] [-5.44620810e-03 9.99985158e-01 1.50674929e-04 -3.00498204e+00] [ 1.96142712e-03 -1.39994375e-04 9.99998067e-01 -1.05347954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.952414037 meters 0.08634658738520953 Centerline is valid? [True, True] Translation: X:52.19, Y:-3.01, Z:-1.05 [[ 9.99975255e-01 6.81506293e-03 -1.74450873e-03 5.21867958e+01] [-6.81484212e-03 9.99976770e-01 1.32492595e-04 -3.00626125e+00] [ 1.74537115e-03 -1.20600765e-04 9.99998470e-01 -1.05408882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.982414037 meters 0.08609056093516924 Centerline is valid? [True, True] Translation: X:52.22, Y:-3.01, Z:-1.05 [[ 9.99969359e-01 7.81791658e-03 -4.01954181e-04 5.22164168e+01] [-7.81790510e-03 9.99969439e-01 3.01319046e-05 -3.00771117e+00] [ 4.02177466e-04 -2.69885417e-05 9.99999919e-01 -1.05481115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.012414037 meters 0.08584165793327032 Centerline is valid? [True, True] Translation: X:52.24, Y:-3.01, Z:-1.06 [[ 9.99965151e-01 8.33008136e-03 -5.54441233e-04 5.22447959e+01] [-8.33005992e-03 9.99965304e-01 4.09690386e-05 -3.00935624e+00] [ 5.54763271e-04 -3.63490822e-05 9.99999845e-01 -1.05569156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.042414037 meters 0.08649695223601636 Centerline is valid? [True, True] Translation: X:52.27, Y:-3.01, Z:-1.06 [[ 9.99958781e-01 9.07320276e-03 -3.37131759e-04 5.22727520e+01] [-9.07319512e-03 9.99958837e-01 2.41997635e-05 -3.01407566e+00] [ 3.37337451e-04 -2.11399038e-05 9.99999943e-01 -1.05779270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.072414037 meters 0.08486419218365654 Centerline is valid? [True, True] Translation: X:52.30, Y:-3.01, Z:-1.06 [[ 9.99958503e-01 8.85504587e-03 -2.14004549e-03 5.23016528e+01] [-8.85471731e-03 9.99960783e-01 1.62955770e-04 -3.01163358e+00] [ 2.14140455e-03 -1.43999510e-04 9.99997697e-01 -1.05699022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.102414037 meters 0.08501375039490172 Centerline is valid? [True, True] Translation: X:52.33, Y:-3.01, Z:-1.06 [[ 9.99953989e-01 9.51007272e-03 -1.25657451e-03 5.23300318e+01] [-9.50996100e-03 9.99954775e-01 9.48544136e-05 -3.01341684e+00] [ 1.25741976e-03 -8.29000746e-05 9.99999206e-01 -1.05760277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.132414037 meters 0.0863742934556333 Centerline is valid? [True, True] Translation: X:52.36, Y:-3.02, Z:-1.06 [[ 9.99943384e-01 1.04772590e-02 -1.85896941e-03 5.23578498e+01] [-1.04770156e-02 9.99945105e-01 1.40607133e-04 -3.01729692e+00] [ 1.86034054e-03 -1.21122721e-04 9.99998262e-01 -1.05972218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.162414037 meters 0.08518308380709151 Centerline is valid? [True, True] Translation: X:52.39, Y:-3.02, Z:-1.06 [[ 9.99936490e-01 1.12012108e-02 -1.24483956e-03 5.23868462e+01] [-1.12011027e-02 9.99937261e-01 9.38010457e-05 -3.01628567e+00] [ 1.24581215e-03 -7.98515125e-05 9.99999221e-01 -1.05937760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.192414037 meters 0.0848629870307601 Centerline is valid? [True, True] Translation: X:52.42, Y:-3.02, Z:-1.06 [[ 9.99928577e-01 1.18829011e-02 -1.27941914e-03 5.24154715e+01] [-1.18827875e-02 9.99929393e-01 9.63675897e-05 -3.01808574e+00] [ 1.28047393e-03 -8.11576412e-05 9.99999177e-01 -1.05947919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.222414037 meters 0.08478358275255318 Centerline is valid? [True, True] Translation: X:52.44, Y:-3.02, Z:-1.06 [[ 9.99916230e-01 1.29362828e-02 -4.31148600e-04 5.24442954e+01] [-1.29362705e-02 9.99916322e-01 3.12670677e-05 -3.02087612e+00] [ 4.31517002e-04 -2.56869935e-05 9.99999907e-01 -1.06055960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.252414037 meters 0.0834004552600087 Centerline is valid? [True, True] Translation: X:52.47, Y:-3.02, Z:-1.06 [[ 9.99890774e-01 1.47493022e-02 9.47800635e-04 5.24740030e+01] [-1.47492391e-02 9.99891221e-01 -7.35262597e-05 -3.02053405e+00] [-9.48781995e-04 5.95388904e-05 9.99999548e-01 -1.05855481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.282414037 meters 0.08301794379269174 Centerline is valid? [True, True] Translation: X:52.50, Y:-3.02, Z:-1.06 [[ 9.99874576e-01 1.57677633e-02 1.48664579e-03 5.25033008e+01] [-1.57676076e-02 9.99875677e-01 -1.16394207e-04 -3.02121824e+00] [-1.48829624e-03 9.29387610e-05 9.99998888e-01 -1.05889228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.312414036999996 meters 0.08323289537985917 Centerline is valid? [True, True] Translation: X:52.53, Y:-3.02, Z:-1.06 [[ 9.99862510e-01 1.65055680e-02 1.59002584e-03 5.25308864e+01] [-1.65053920e-02 9.99863769e-01 -1.23781848e-04 -3.02365445e+00] [-1.59185232e-03 9.75208290e-05 9.99998728e-01 -1.05953482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.342414037 meters 0.08317758808879631 Centerline is valid? [True, True] Translation: X:52.56, Y:-3.03, Z:-1.06 [[ 9.99837120e-01 1.80358042e-02 6.66395192e-04 5.25584679e+01] [-1.80357728e-02 9.99837341e-01 -5.31110828e-05 -3.02588800e+00] [-6.67244698e-04 4.10834798e-05 9.99999777e-01 -1.06099129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.372414037 meters 0.08317758808879631 Centerline is valid? [True, True] Translation: X:52.59, Y:-3.03, Z:-1.06 [[ 9.99838865e-01 1.79387596e-02 6.66367711e-04 5.25858955e+01] [-1.79387280e-02 9.99839087e-01 -5.34726103e-05 -3.02787599e+00] [-6.67219716e-04 4.15102049e-05 9.99999777e-01 -1.06174242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.402414037 meters 0.08336591884784472 Centerline is valid? [True, True] Translation: X:52.61, Y:-3.03, Z:-1.06 [[ 9.99816887e-01 1.91331717e-02 -3.36616933e-04 5.26134979e+01] [-1.91331649e-02 9.99816944e-01 2.34478294e-05 -3.03064609e+00] [ 3.37003945e-04 -1.70029885e-05 9.99999943e-01 -1.06435006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.432414037 meters 0.08101110034051624 Centerline is valid? [True, True] Translation: X:52.64, Y:-3.03, Z:-1.06 [[ 9.99805885e-01 1.95268360e-02 -2.62568441e-03 5.26424103e+01] [-1.95263832e-02 9.99809322e-01 1.97992166e-04 -3.02623492e+00] [ 2.62904991e-03 -1.46683613e-04 9.99996533e-01 -1.06407654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.462414037 meters 0.08258377767019687 Centerline is valid? [True, True] Translation: X:52.67, Y:-3.03, Z:-1.07 [[ 9.99797110e-01 1.99566127e-02 -2.73368948e-03 5.26692654e+01] [-1.99561251e-02 9.99800836e-01 2.05533642e-04 -3.03306296e+00] [ 2.73724678e-03 -1.50938092e-04 9.99996242e-01 -1.06767114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.492414036999996 meters 0.0811960354622287 Centerline is valid? [True, True] Translation: X:52.70, Y:-3.03, Z:-1.07 [[ 9.99760988e-01 2.17452093e-02 -2.26093385e-03 5.26995414e+01] [-2.17448771e-02 9.99763538e-01 1.71399258e-04 -3.03151372e+00] [ 2.26412634e-03 -1.22194563e-04 9.99997429e-01 -1.06628303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.522414037 meters 0.08112089569337143 Centerline is valid? [True, True] Translation: X:52.73, Y:-3.03, Z:-1.07 [[ 9.99762334e-01 2.17132543e-02 -1.95171275e-03 5.27286951e+01] [-2.17130097e-02 9.99764234e-01 1.46393064e-04 -3.03316095e+00] [ 1.95443127e-03 -1.03980714e-04 9.99998085e-01 -1.06576105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.552414037 meters 0.08237886661278655 Centerline is valid? [True, True] Translation: X:52.76, Y:-3.04, Z:-1.07 [[ 9.99745777e-01 2.25387638e-02 -6.20226027e-04 5.27563353e+01] [-2.25387401e-02 9.99745969e-01 4.52465710e-05 -3.04003192e+00] [ 6.21088273e-04 -3.12559551e-05 9.99999807e-01 -1.06809957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.582414037 meters 0.08126658137857093 Centerline is valid? [True, True] Translation: X:52.79, Y:-3.04, Z:-1.07 [[ 9.99709279e-01 2.41108223e-02 1.58452990e-04 5.27852689e+01] [-2.41108204e-02 9.99709292e-01 -1.37813013e-05 -3.04065077e+00] [-1.58739205e-04 9.95686324e-06 9.99999987e-01 -1.06779398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.612414037 meters 0.08270741725546973 Centerline is valid? [True, True] Translation: X:52.81, Y:-3.05, Z:-1.07 [[ 9.99683731e-01 2.51459767e-02 -3.42675506e-04 5.28123630e+01] [-2.51459700e-02 9.99683790e-01 2.37268227e-05 -3.04753895e+00] [ 3.43163783e-04 -1.51024107e-05 9.99999941e-01 -1.07151506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.642414037 meters 0.08086604075750028 Centerline is valid? [True, True] Translation: X:52.84, Y:-3.04, Z:-1.07 [[ 9.99637841e-01 2.68912582e-02 -1.02325549e-03 5.28418602e+01] [-2.68911948e-02 9.99638364e-01 7.56673814e-05 -3.04464581e+00] [ 1.02492024e-03 -4.81234150e-05 9.99999474e-01 -1.06954063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.672414036999996 meters 0.08085737180128343 Centerline is valid? [True, True] Translation: X:52.87, Y:-3.05, Z:-1.07 [[ 9.99619977e-01 2.75608475e-02 -5.47980762e-04 5.28705510e+01] [-2.75608299e-02 9.99620127e-01 3.96785925e-05 -3.04632575e+00] [ 5.48866175e-04 -2.45607092e-05 9.99999849e-01 -1.07128091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.702414037 meters 0.08102337146706877 Centerline is valid? [True, True] Translation: X:52.90, Y:-3.05, Z:-1.07 [[ 9.99583739e-01 2.88487093e-02 -3.18389339e-04 5.28979345e+01] [-2.88487038e-02 9.99583789e-01 2.18734368e-05 -3.05029341e+00] [ 3.18887842e-04 -1.26792120e-05 9.99999949e-01 -1.07261249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.732414037 meters 0.0812778897459806 Centerline is valid? [True, True] Translation: X:52.93, Y:-3.05, Z:-1.07 [[ 9.99563453e-01 2.95303397e-02 -9.28240613e-04 5.29253929e+01] [-2.95302894e-02 9.99563884e-01 6.78901623e-05 -3.05380828e+00] [ 9.29840611e-04 -4.04493111e-05 9.99999567e-01 -1.07417091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.762414037 meters 0.08115725301507205 Centerline is valid? [True, True] Translation: X:52.95, Y:-3.06, Z:-1.08 [[ 9.99552194e-01 2.99087652e-02 -9.36948364e-04 5.29542049e+01] [-2.99087138e-02 9.99552632e-01 6.89188172e-05 -3.05585999e+00] [ 9.38590480e-04 -4.08650345e-05 9.99999559e-01 -1.07536754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.792414037 meters 0.08122787682282843 Centerline is valid? [True, True] Translation: X:52.98, Y:-3.06, Z:-1.08 [[ 9.99540224e-01 3.03126414e-02 -6.95582086e-04 5.29826066e+01] [-3.03126134e-02 9.99540466e-01 5.06927000e-05 -3.05874553e+00] [ 6.96799072e-04 -2.95844818e-05 9.99999757e-01 -1.07573028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.822414037 meters 0.08154293738697724 Centerline is valid? [True, True] Translation: X:53.01, Y:-3.06, Z:-1.08 [[ 9.99597703e-01 2.83114371e-02 -1.70109810e-03 5.30115166e+01] [-2.83112623e-02 9.99599148e-01 1.26759086e-04 -3.06288347e+00] [ 1.70400494e-03 -7.85478569e-05 9.99998545e-01 -1.07586251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.852414037 meters 0.08310107147245076 Centerline is valid? [True, True] Translation: X:53.04, Y:-3.07, Z:-1.08 [[ 9.99643208e-01 2.66809485e-02 -1.25824369e-03 5.30384291e+01] [-2.66808532e-02 9.99643998e-01 9.24883337e-05 -3.07091194e+00] [ 1.26026343e-03 -5.88843193e-05 9.99999204e-01 -1.07876655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.882414037 meters 0.08574083882670097 Centerline is valid? [True, True] Translation: X:53.07, Y:-3.08, Z:-1.08 [[ 9.99758278e-01 2.19407429e-02 -1.41041453e-03 5.30672272e+01] [-2.19406150e-02 9.99759270e-01 1.06092552e-04 -3.08278147e+00] [ 1.41240275e-03 -7.51215450e-05 9.99999000e-01 -1.08170728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.912414037 meters 0.08331232214275365 Centerline is valid? [True, True] Translation: X:53.10, Y:-3.08, Z:-1.08 [[ 9.99808425e-01 1.95335580e-02 -1.24666417e-03 5.30967412e+01] [-1.95334580e-02 9.99809200e-01 9.23686539e-05 -3.07996265e+00] [ 1.24823059e-03 -6.79992963e-05 9.99999219e-01 -1.07905906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.942414037 meters 0.08738789903599843 Centerline is valid? [True, True] Translation: X:53.13, Y:-3.09, Z:-1.08 [[ 9.99851475e-01 1.71004689e-02 -2.14510045e-03 5.31254058e+01] [-1.71001633e-02 9.99853769e-01 1.60726588e-04 -3.09319361e+00] [ 2.14753527e-03 -1.24021149e-04 9.99997686e-01 -1.08417523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.972414037 meters 0.09072105158789243 Centerline is valid? [True, True] Translation: X:53.15, Y:-3.11, Z:-1.09 [[ 9.99917421e-01 1.25400530e-02 -2.81042770e-03 5.31540342e+01] [-1.25395092e-02 9.99921355e-01 2.11018455e-04 -3.10513453e+00] [ 2.81285286e-03 -1.75759646e-04 9.99996028e-01 -1.08771040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.002414037 meters 0.08355601721566705 Centerline is valid? [True, True] Translation: X:53.18, Y:-3.09, Z:-1.08 [[ 9.99938557e-01 1.08182496e-02 -2.41834763e-03 5.31848015e+01] [-1.08178441e-02 9.99941469e-01 1.80675124e-04 -3.09107934e+00] [ 2.42016067e-03 -1.54502715e-04 9.99997059e-01 -1.07986258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.032414037 meters 0.08969126256597625 Centerline is valid? [True, True] Translation: X:53.21, Y:-3.11, Z:-1.09 [[ 9.99966069e-01 7.86508986e-03 -2.44983326e-03 5.32127413e+01] [-7.86466512e-03 9.99969056e-01 1.82963082e-04 -3.10959486e+00] [ 2.45119648e-03 -1.63689755e-04 9.99996982e-01 -1.08542264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.062414036999996 meters 0.08891350777641706 Centerline is valid? [True, True] Translation: X:53.24, Y:-3.11, Z:-1.08 [[ 9.99976311e-01 6.64228099e-03 -1.80500981e-03 5.32418440e+01] [-6.64205051e-03 9.99977932e-01 1.33651514e-04 -3.11088082e+00] [ 1.80585773e-03 -1.21659381e-04 9.99998362e-01 -1.08483163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.092414037 meters 0.08891350777641706 Centerline is valid? [True, True] Translation: X:53.27, Y:-3.11, Z:-1.09 [[ 9.99976726e-01 6.57949160e-03 -1.80501840e-03 5.32701428e+01] [-6.57926123e-03 9.99978348e-01 1.33536287e-04 -3.11292884e+00] [ 1.80585792e-03 -1.21657491e-04 9.99998362e-01 -1.08560631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.122414037 meters 0.08613413884395617 Centerline is valid? [True, True] Translation: X:53.30, Y:-3.11, Z:-1.08 [[ 9.99991575e-01 4.09249531e-03 3.19505384e-04 5.32996213e+01] [-4.09248744e-03 9.99991625e-01 -2.52892560e-05 -3.11124613e+00] [-3.19606205e-04 2.39814712e-05 9.99999949e-01 -1.08235448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.152414037 meters 0.08555099212679584 Centerline is valid? [True, True] Translation: X:53.33, Y:-3.11, Z:-1.08 [[ 9.99996604e-01 2.60178254e-03 1.53394730e-04 5.33294119e+01] [-2.60178066e-03 9.99996615e-01 -1.24043395e-05 -3.11340857e+00] [-1.53426484e-04 1.20051979e-05 9.99999988e-01 -1.08134675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.182414037 meters 0.09122397307998686 Centerline is valid? [True, True] Translation: X:53.36, Y:-3.13, Z:-1.09 [[ 9.99998086e-01 1.51652583e-03 1.23652511e-03 5.33577152e+01] [-1.51641281e-03 9.99998846e-01 -9.23337865e-05 -3.12984353e+00] [-1.23666371e-03 9.04585272e-05 9.99999231e-01 -1.08584956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.212414037 meters 0.09088271835803965 Centerline is valid? [True, True] Translation: X:53.39, Y:-3.13, Z:-1.09 [[ 9.99999609e-01 -7.59314151e-04 4.54037012e-04 5.33879796e+01] [ 7.59329612e-04 9.99999711e-01 -3.38804206e-05 -3.13221187e+00] [-4.54011155e-04 3.42251711e-05 9.99999896e-01 -1.08712974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.242414036999996 meters 0.08881961847864227 Centerline is valid? [True, True] Translation: X:53.42, Y:-3.13, Z:-1.09 [[ 9.99998685e-01 -1.62080153e-03 -4.52858889e-05 5.34189732e+01] [ 1.62080169e-03 9.99998686e-01 3.39008664e-06 -3.12971135e+00] [ 4.52803347e-05 -3.46348163e-06 9.99999999e-01 -1.08581500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.272414037 meters 0.08758073400596698 Centerline is valid? [True, True] Translation: X:53.45, Y:-3.13, Z:-1.09 [[ 9.99997991e-01 -1.58147599e-03 -1.23188208e-03 5.34501245e+01] [ 1.58159196e-03 9.99998745e-01 9.31747577e-05 -3.12856482e+00] [ 1.23173318e-03 -9.51229053e-05 9.99999237e-01 -1.08607579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.302414037 meters 0.08729527819086413 Centerline is valid? [True, True] Translation: X:53.48, Y:-3.13, Z:-1.09 [[ 9.99997753e-01 -1.32896198e-03 -1.65171581e-03 5.34801198e+01] [ 1.32916810e-03 9.99999109e-01 1.23702498e-04 -3.12975338e+00] [ 1.65154995e-03 -1.25897628e-04 9.99998628e-01 -1.08717337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.332414037 meters 0.08776638356842456 Centerline is valid? [True, True] Translation: X:53.51, Y:-3.13, Z:-1.09 [[ 9.99997637e-01 5.82445506e-04 -2.09430834e-03 5.35099602e+01] [-5.82118283e-04 9.99999818e-01 1.56849726e-04 -3.13244220e+00] [ 2.09439931e-03 -1.55630220e-04 9.99997795e-01 -1.09013594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.362414037 meters 0.08712940336656066 Centerline is valid? [True, True] Translation: X:53.54, Y:-3.13, Z:-1.09 [[ 9.99997048e-01 8.21188617e-04 -2.28676711e-03 5.35398180e+01] [-8.20801367e-04 9.99999649e-01 1.70277238e-04 -3.13300894e+00] [ 2.28690614e-03 -1.68399754e-04 9.99997371e-01 -1.09044485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.392414037 meters 0.08767738557741776 Centerline is valid? [True, True] Translation: X:53.57, Y:-3.14, Z:-1.09 [[ 9.99998046e-01 1.13929341e-03 -1.61552180e-03 5.35678858e+01] [-1.13910183e-03 9.99999344e-01 1.19502135e-04 -3.13616341e+00] [ 1.61565689e-03 -1.17661658e-04 9.99998688e-01 -1.09137252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.422414036999996 meters 0.08686016055143711 Centerline is valid? [True, True] Translation: X:53.60, Y:-3.14, Z:-1.09 [[ 9.99997421e-01 2.25431680e-03 -2.75781706e-04 5.35982852e+01] [-2.25431132e-03 9.99997459e-01 2.01750512e-05 -3.13640729e+00] [ 2.75826487e-04 -1.95533013e-05 9.99999962e-01 -1.09036656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.452414037 meters 0.08653078360442028 Centerline is valid? [True, True] Translation: X:53.63, Y:-3.14, Z:-1.09 [[ 9.99991896e-01 4.01591077e-03 2.83402747e-04 5.36282022e+01] [-4.01590467e-03 9.99991936e-01 -2.20872139e-05 -3.13557577e+00] [-2.83489162e-04 2.09489165e-05 9.99999960e-01 -1.09051929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.482414037 meters 0.08778047767326481 Centerline is valid? [True, True] Translation: X:53.66, Y:-3.14, Z:-1.09 [[ 9.99987867e-01 4.92607803e-03 -1.25559560e-06 5.36563556e+01] [-4.92607804e-03 9.99987867e-01 -1.24493585e-06 -3.13962362e+00] [ 1.24944771e-06 1.25110591e-06 1.00000000e+00 -1.09310370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.512414037 meters 0.0879691770043236 Centerline is valid? [True, True] Translation: X:53.68, Y:-3.14, Z:-1.09 [[ 9.99986000e-01 5.25746591e-03 -5.98422937e-04 5.36847446e+01] [-5.25744115e-03 9.99986179e-01 4.29310070e-05 -3.14116409e+00] [ 5.98640374e-04 -3.97842326e-05 9.99999820e-01 -1.09443144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.542414037 meters 0.08817004332956063 Centerline is valid? [True, True] Translation: X:53.71, Y:-3.14, Z:-1.09 [[ 9.99982139e-01 5.91747318e-03 8.39767579e-04 5.37136856e+01] [-5.91742156e-03 9.99982490e-01 -6.39414419e-05 -3.14243465e+00] [-8.40131246e-04 5.89710410e-05 9.99999645e-01 -1.09360845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.572414037 meters 0.08845735736553755 Centerline is valid? [True, True] Translation: X:53.74, Y:-3.14, Z:-1.09 [[ 9.99982283e-01 5.85382557e-03 1.08041783e-03 5.37425169e+01] [-5.85374010e-03 9.99982863e-01 -8.22502770e-05 -3.14434777e+00] [-1.08088080e-03 7.59243345e-05 9.99999413e-01 -1.09449496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.602414036999996 meters 0.08888087406038958 Centerline is valid? [True, True] Translation: X:53.77, Y:-3.15, Z:-1.10 [[ 9.99984510e-01 5.43550515e-03 1.19821935e-03 5.37707571e+01] [-5.43540006e-03 9.99985224e-01 -9.09449662e-05 -3.14715898e+00] [-1.19869598e-03 8.44307559e-05 9.99999278e-01 -1.09610315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.632414037 meters 0.08893034801965068 Centerline is valid? [True, True] Translation: X:53.80, Y:-3.15, Z:-1.10 [[ 9.99986282e-01 4.95950940e-03 1.68492780e-03 5.37997135e+01] [-4.95930227e-03 9.99987695e-01 -1.27089017e-04 -3.14907153e+00] [-1.68553736e-03 1.18731207e-04 9.99998572e-01 -1.09713263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.662414037 meters 0.09089693519872816 Centerline is valid? [True, True] Translation: X:53.83, Y:-3.16, Z:-1.10 [[ 9.99988950e-01 2.82033510e-03 3.76107814e-03 5.38288531e+01] [-2.81930098e-03 9.99995986e-01 -2.80228679e-04 -3.15578080e+00] [-3.76185339e-03 2.69621971e-04 9.99992888e-01 -1.09839103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.692414037 meters 0.09183311353768553 Centerline is valid? [True, True] Translation: X:53.86, Y:-3.16, Z:-1.10 [[ 9.99990518e-01 1.68539943e-03 4.01540813e-03 5.38593716e+01] [-1.68421821e-03 9.99998537e-01 -2.97534115e-04 -3.15996902e+00] [-4.01590372e-03 2.90768470e-04 9.99991894e-01 -1.09896808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.722414037 meters 0.08753605784164611 Centerline is valid? [True, True] Translation: X:53.89, Y:-3.15, Z:-1.10 [[ 9.99994109e-01 9.05148947e-04 3.31102421e-03 5.38911797e+01] [-9.04340347e-04 9.99999561e-01 -2.45703235e-04 -3.15240357e+00] [-3.31124515e-03 2.42707495e-04 9.99994488e-01 -1.09743671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.752414037 meters 0.09305379103035487 Centerline is valid? [True, True] Translation: X:53.92, Y:-3.17, Z:-1.10 [[ 9.99999170e-01 -2.17916060e-05 1.28810923e-03 5.39203219e+01] [ 2.19146554e-05 9.99999995e-01 -9.55131071e-05 -3.16546562e+00] [-1.28810715e-03 9.55412563e-05 9.99999166e-01 -1.10367174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.782414037 meters 0.09373052068239614 Centerline is valid? [True, True] Translation: X:53.95, Y:-3.17, Z:-1.11 [[ 9.99999923e-01 1.41318410e-04 -3.65214575e-04 5.39506072e+01] [-1.41308330e-04 9.99999990e-01 2.76265657e-05 -3.16703164e+00] [ 3.65218475e-04 -2.75749557e-05 9.99999933e-01 -1.10591061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.812414036999996 meters 0.08638259697105125 Centerline is valid? [True, True] Translation: X:53.98, Y:-3.15, Z:-1.10 [[ 9.99999861e-01 5.27416745e-04 -2.80487700e-05 5.39821455e+01] [-5.27416699e-04 9.99999861e-01 1.63074279e-06 -3.15167214e+00] [ 2.80496262e-05 -1.61594917e-06 1.00000000e+00 -1.10030655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.842414037 meters 0.08704253936147138 Centerline is valid? [True, True] Translation: X:54.01, Y:-3.15, Z:-1.10 [[ 9.99999930e-01 3.59952201e-04 1.01785523e-04 5.40110117e+01] [-3.59951385e-04 9.99999935e-01 -8.03565175e-06 -3.15478340e+00] [-1.01788409e-04 7.99901335e-06 9.99999995e-01 -1.10102097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.872414037 meters 0.08555763200519491 Centerline is valid? [True, True] Translation: X:54.04, Y:-3.15, Z:-1.10 [[ 9.99997349e-01 7.11787825e-04 2.18997493e-03 5.40414793e+01] [-7.11432330e-04 9.99999734e-01 -1.63102838e-04 -3.15369367e+00] [-2.19009044e-03 1.61544386e-04 9.99997589e-01 -1.09947261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.902414037 meters 0.08659411448988355 Centerline is valid? [True, True] Translation: X:54.07, Y:-3.16, Z:-1.10 [[ 9.99996967e-01 5.17988596e-04 2.40804418e-03 5.40714267e+01] [-5.17559230e-04 9.99999850e-01 -1.78924772e-04 -3.15790427e+00] [-2.40813650e-03 1.77677924e-04 9.99997085e-01 -1.10018201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.932414037 meters 0.0865770997143323 Centerline is valid? [True, True] Translation: X:54.10, Y:-3.16, Z:-1.10 [[ 9.99996074e-01 8.74306151e-04 2.66234606e-03 5.41022643e+01] [-8.73783395e-04 9.99999599e-01 -1.97508460e-04 -3.16004269e+00] [-2.66251768e-03 1.95181371e-04 9.99996436e-01 -1.10104794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.962414037 meters 0.08780716268514943 Centerline is valid? [True, True] Translation: X:54.13, Y:-3.16, Z:-1.10 [[ 9.99993557e-01 4.73475737e-04 3.55821396e-03 5.41322039e+01] [-4.72536524e-04 9.99999853e-01 -2.64792370e-04 -3.16394069e+00] [-3.55833881e-03 2.63109278e-04 9.99993634e-01 -1.10225102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.992414036999996 meters 0.08668120257016722 Centerline is valid? [True, True] Translation: X:54.16, Y:-3.16, Z:-1.10 [[ 9.99995821e-01 9.75447363e-04 2.72135723e-03 5.41647188e+01] [-9.74903363e-04 9.99999505e-01 -2.01219836e-04 -3.16327801e+00] [-2.72155216e-03 1.98565934e-04 9.99996277e-01 -1.10274501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.022414037 meters 0.08841434749230978 Centerline is valid? [True, True] Translation: X:54.19, Y:-3.17, Z:-1.10 [[ 9.99997130e-01 1.26384618e-03 2.03521772e-03 5.41946873e+01] [-1.26354058e-03 9.99999190e-01 -1.51432772e-04 -3.16879878e+00] [-2.03540746e-03 1.48860758e-04 9.99997917e-01 -1.10456098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.052414037 meters 0.08867183524093138 Centerline is valid? [True, True] Translation: X:54.22, Y:-3.17, Z:-1.11 [[ 9.99995513e-01 2.34928626e-03 1.85867515e-03 5.42243950e+01] [-2.34903248e-03 9.99997231e-01 -1.38708550e-04 -3.17115615e+00] [-1.85899587e-03 1.34341839e-04 9.99998263e-01 -1.10587911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.082414037 meters 0.0887079654615513 Centerline is valid? [True, True] Translation: X:54.25, Y:-3.17, Z:-1.11 [[ 9.99989856e-01 3.90047029e-03 2.25280742e-03 5.42538063e+01] [-3.90010049e-03 9.99992380e-01 -1.68519928e-04 -3.17292673e+00] [-2.25344756e-03 1.59732043e-04 9.99997448e-01 -1.10704721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.112414037 meters 0.08485930822413339 Centerline is valid? [True, True] Translation: X:54.28, Y:-3.17, Z:-1.11 [[ 9.99985578e-01 4.72493894e-03 2.55329289e-03 5.42846469e+01] [-4.72446678e-03 9.99988821e-01 -1.90922892e-04 -3.16545758e+00] [-2.55416645e-03 1.78857191e-04 9.99996722e-01 -1.10585885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.142414037 meters 0.08511170614612724 Centerline is valid? [True, True] Translation: X:54.31, Y:-3.17, Z:-1.11 [[ 9.99982915e-01 4.92054944e-03 3.15561329e-03 5.43141945e+01] [-4.91982844e-03 9.99987870e-01 -2.36201897e-04 -3.16746327e+00] [-3.15673726e-03 2.20672786e-04 9.99994993e-01 -1.10607829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.172414036999996 meters 0.08517242316757964 Centerline is valid? [True, True] Translation: X:54.34, Y:-3.17, Z:-1.11 [[ 9.99980558e-01 5.46647322e-03 3.00024778e-03 5.43448723e+01] [-5.46582653e-03 9.99985037e-01 -2.23701566e-04 -3.16928453e+00] [-3.00142575e-03 2.07298383e-04 9.99995474e-01 -1.10769374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.202414037 meters 0.08574652947758961 Centerline is valid? [True, True] Translation: X:54.37, Y:-3.17, Z:-1.11 [[ 9.99975265e-01 6.72220978e-03 2.06908245e-03 5.43741773e+01] [-6.72190654e-03 9.99977396e-01 -1.53477702e-04 -3.17147452e+00] [-2.07006739e-03 1.39565727e-04 9.99997848e-01 -1.10966892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.232414037 meters 0.08532272497774963 Centerline is valid? [True, True] Translation: X:54.40, Y:-3.17, Z:-1.11 [[ 9.99975638e-01 6.72449756e-03 1.87193562e-03 5.44032872e+01] [-6.72424475e-03 9.99977382e-01 -1.41316586e-04 -3.17217514e+00] [-1.87284357e-03 1.28725790e-04 9.99998238e-01 -1.10971242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.262414037 meters 0.08532272497774963 Centerline is valid? [True, True] Translation: X:54.43, Y:-3.17, Z:-1.11 [[ 9.99976081e-01 6.65832121e-03 1.87194486e-03 5.44315797e+01] [-6.65806851e-03 9.99977825e-01 -1.41193402e-04 -3.17421425e+00] [-1.87284346e-03 1.28726488e-04 9.99998238e-01 -1.11048699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.292414037 meters 0.08621851703002051 Centerline is valid? [True, True] Translation: X:54.46, Y:-3.18, Z:-1.11 [[ 9.99974942e-01 6.67730900e-03 2.35117116e-03 5.44602935e+01] [-6.67691286e-03 9.99977694e-01 -1.76298009e-04 -3.17840411e+00] [-2.35229591e-03 1.60595026e-04 9.99997220e-01 -1.11165526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.322414037 meters 0.08447072653325939 Centerline is valid? [True, True] Translation: X:54.49, Y:-3.18, Z:-1.11 [[ 9.99975043e-01 6.89359920e-03 1.54626273e-03 5.44894571e+01] [-6.89342680e-03 9.99976233e-01 -1.16790802e-04 -3.17602022e+00] [-1.54703109e-03 1.06128838e-04 9.99998798e-01 -1.11166494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.352414036999996 meters 0.0843305262902185 Centerline is valid? [True, True] Translation: X:54.52, Y:-3.18, Z:-1.11 [[ 9.99973273e-01 7.15829242e-03 1.48719276e-03 5.45179630e+01] [-7.15813328e-03 9.99974374e-01 -1.12298682e-04 -3.17773559e+00] [-1.48795851e-03 1.01650156e-04 9.99998888e-01 -1.11264069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.382414037 meters 0.08468140770493257 Centerline is valid? [True, True] Translation: X:54.55, Y:-3.18, Z:-1.11 [[ 9.99975946e-01 6.76665432e-03 1.52280056e-03 5.45469835e+01] [-6.76648726e-03 9.99977100e-01 -1.14828091e-04 -3.18023168e+00] [-1.52354269e-03 1.04521318e-04 9.99998834e-01 -1.11385782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.412414037 meters 0.08409423281866259 Centerline is valid? [True, True] Translation: X:54.58, Y:-3.18, Z:-1.11 [[ 9.99979809e-01 6.22714748e-03 1.26659494e-03 5.45762238e+01] [-6.22703116e-03 9.99980607e-01 -9.57539439e-05 -3.18005576e+00] [-1.26716665e-03 8.78648844e-05 9.99999193e-01 -1.11409605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.442414037 meters 0.0872335941232711 Centerline is valid? [True, True] Translation: X:54.60, Y:-3.19, Z:-1.12 [[ 9.99983490e-01 5.45325429e-03 1.81147529e-03 5.46039842e+01] [-5.45301757e-03 9.99985123e-01 -1.35586612e-04 -3.18916030e+00] [-1.81218773e-03 1.25706366e-04 9.99998350e-01 -1.11805593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.472414037 meters 0.08519029084039442 Centerline is valid? [True, True] Translation: X:54.63, Y:-3.19, Z:-1.12 [[ 9.99985236e-01 5.04985646e-03 2.00665971e-03 5.46340444e+01] [-5.04956654e-03 9.99987240e-01 -1.49518314e-04 -3.18576610e+00] [-2.00738915e-03 1.39383345e-04 9.99997975e-01 -1.11719243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.502414037 meters 0.0850508171016006 Centerline is valid? [True, True] Translation: X:54.66, Y:-3.19, Z:-1.12 [[ 9.99988630e-01 4.29638022e-03 2.06891778e-03 5.46637934e+01] [-4.29607061e-03 9.99990760e-01 -1.54065908e-04 -3.18710262e+00] [-2.06956059e-03 1.45175939e-04 9.99997848e-01 -1.11745387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.532414037 meters 0.08594300404986663 Centerline is valid? [True, True] Translation: X:54.69, Y:-3.19, Z:-1.12 [[ 9.99990566e-01 3.58559184e-03 2.45190080e-03 5.46930362e+01] [-3.58515796e-03 9.99993557e-01 -1.81329701e-04 -3.19111292e+00] [-2.45253518e-03 1.72537539e-04 9.99996978e-01 -1.11800415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.562414036999996 meters 0.08850684761791773 Centerline is valid? [True, True] Translation: X:54.72, Y:-3.20, Z:-1.12 [[ 9.99992182e-01 2.75215856e-03 2.83927462e-03 5.47220451e+01] [-2.75157167e-03 9.99996192e-01 -2.10589759e-04 -3.19869749e+00] [-2.83984339e-03 2.02775645e-04 9.99995947e-01 -1.12098478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.592414037 meters 0.08795207429530641 Centerline is valid? [True, True] Translation: X:54.75, Y:-3.20, Z:-1.12 [[ 9.99994514e-01 1.74266558e-03 2.81705948e-03 5.47529913e+01] [-1.74208623e-03 9.99998461e-01 -2.08096890e-04 -3.19904071e+00] [-2.81741779e-03 2.03188188e-04 9.99996010e-01 -1.12124087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.622414037 meters 0.09018434310800423 Centerline is valid? [True, True] Translation: X:54.78, Y:-3.21, Z:-1.12 [[ 9.99996009e-01 -1.43351009e-03 2.43449902e-03 5.47818372e+01] [ 1.43395210e-03 9.99998956e-01 -1.79823240e-04 -3.20546350e+00] [-2.43423870e-03 1.83313477e-04 9.99997020e-01 -1.12293382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.652414037 meters 0.08771527109217576 Centerline is valid? [True, True] Translation: X:54.81, Y:-3.20, Z:-1.12 [[ 9.99988814e-01 -4.09664320e-03 2.36417647e-03 5.48127902e+01] [ 4.09706633e-03 9.99991592e-01 -1.74160010e-04 -3.20192183e+00] [-2.36344312e-03 1.83844250e-04 9.99997190e-01 -1.12134771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.682414037 meters 0.08739814248662366 Centerline is valid? [True, True] Translation: X:54.84, Y:-3.20, Z:-1.12 [[ 9.99978489e-01 -5.51485236e-03 3.55074686e-03 5.48443785e+01] [ 5.51581659e-03 9.99984753e-01 -2.61820239e-04 -3.20404252e+00] [-3.54924882e-03 2.81399875e-04 9.99993662e-01 -1.12141100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.712414037 meters 0.09409296361828255 Centerline is valid? [True, True] Translation: X:54.87, Y:-3.22, Z:-1.13 [[ 9.99967827e-01 -7.67558860e-03 2.33008928e-03 5.48728979e+01] [ 7.67600839e-03 9.99970524e-01 -1.71272299e-04 -3.22117512e+00] [-2.32870599e-03 1.89152573e-04 9.99997271e-01 -1.12671858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.742414036999996 meters 0.090694712298192 Centerline is valid? [True, True] Translation: X:54.90, Y:-3.22, Z:-1.13 [[ 9.99941753e-01 -1.05335588e-02 2.35246088e-03 5.49037293e+01] [ 1.05339981e-02 9.99944501e-01 -1.74435187e-04 -3.21604391e+00] [-2.35049290e-03 1.99205845e-04 9.99997218e-01 -1.12633584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.772414037 meters 0.09141125225892921 Centerline is valid? [True, True] Translation: X:54.93, Y:-3.22, Z:-1.13 [[ 9.99930622e-01 -1.17133416e-02 1.24449302e-03 5.49345656e+01] [ 1.17134649e-02 9.99931391e-01 -9.18980509e-05 -3.21880612e+00] [-1.24333121e-03 1.06469001e-04 9.99999221e-01 -1.12807694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.802414037 meters 0.09360861821830999 Centerline is valid? [True, True] Translation: X:54.97, Y:-3.22, Z:-1.13 [[ 9.99913817e-01 -1.29996330e-02 1.83515744e-03 5.49651884e+01] [ 1.29998999e-02 9.99915489e-01 -1.33560218e-04 -3.22294765e+00] [-1.83326611e-03 1.57405571e-04 9.99998307e-01 -1.12916746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.832414037 meters 0.09160633812765315 Centerline is valid? [True, True] Translation: X:55.00, Y:-3.22, Z:-1.13 [[ 9.99908401e-01 -1.32844812e-02 2.59074274e-03 5.49973215e+01] [ 1.32850199e-02 9.99911732e-01 -1.90838700e-04 -3.22025108e+00] [-2.58797886e-03 2.25239288e-04 9.99996626e-01 -1.12801553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.862414037 meters 0.09172219433459858 Centerline is valid? [True, True] Translation: X:55.03, Y:-3.22, Z:-1.13 [[ 9.99900327e-01 -1.38050358e-02 2.95921414e-03 5.50293983e+01] [ 1.38057423e-02 9.99904672e-01 -2.18467073e-04 -3.22235038e+00] [-2.95591610e-03 2.59299445e-04 9.99995598e-01 -1.12904493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.892414037 meters 0.0933961886044481 Centerline is valid? [True, True] Translation: X:55.06, Y:-3.23, Z:-1.13 [[ 9.99895497e-01 -1.39686101e-02 3.72454013e-03 5.50610862e+01] [ 1.39697318e-02 9.99902381e-01 -2.75314782e-04 -3.22753977e+00] [-3.72033078e-03 3.27316837e-04 9.99993026e-01 -1.13054024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.922414036999996 meters 0.09197118639476323 Centerline is valid? [True, True] Translation: X:55.09, Y:-3.23, Z:-1.13 [[ 9.99881774e-01 -1.48018337e-02 4.16446752e-03 5.50935282e+01] [ 1.48032473e-02 9.99890378e-01 -3.08822289e-04 -3.22593067e+00] [-4.15943987e-03 3.70433421e-04 9.99991281e-01 -1.13120797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.952414037 meters 0.09509083530924348 Centerline is valid? [True, True] Translation: X:55.12, Y:-3.23, Z:-1.13 [[ 9.99879146e-01 -1.50183414e-02 4.01773426e-03 5.51244276e+01] [ 1.50196613e-02 9.99887154e-01 -2.98560435e-04 -3.23435846e+00] [-4.01279699e-03 3.58869361e-04 9.99991884e-01 -1.13458377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.982414037 meters 0.09331914682163224 Centerline is valid? [True, True] Translation: X:55.16, Y:-3.23, Z:-1.14 [[ 9.99868730e-01 -1.57959527e-02 3.60698818e-03 5.51567045e+01] [ 1.57970202e-02 9.99875183e-01 -2.67664128e-04 -3.23257250e+00] [-3.60230996e-03 3.24608657e-04 9.99993459e-01 -1.13573378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.012414037 meters 0.09406266930920429 Centerline is valid? [True, True] Translation: X:55.19, Y:-3.24, Z:-1.14 [[ 9.99862562e-01 -1.61743524e-02 3.63961392e-03 5.51874044e+01] [ 1.61754442e-02 9.99869132e-01 -2.70760480e-04 -3.23578371e+00] [-3.63475823e-03 3.29595640e-04 9.99993340e-01 -1.13639986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.042414037 meters 0.09444329202084605 Centerline is valid? [True, True] Translation: X:55.22, Y:-3.24, Z:-1.14 [[ 9.99859169e-01 -1.62001837e-02 4.38131592e-03 5.52198118e+01] [ 1.62017668e-02 9.99868690e-01 -3.26066872e-04 -3.23743645e+00] [-4.37545826e-03 3.97006010e-04 9.99990349e-01 -1.13674709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.072414037 meters 0.09693950352586457 Centerline is valid? [True, True] Translation: X:55.25, Y:-3.24, Z:-1.14 [[ 9.99867344e-01 -1.57049268e-02 4.31849526e-03 5.52502548e+01] [ 1.57064547e-02 9.99876595e-01 -3.20112729e-04 -3.24384730e+00] [-4.31293499e-03 3.87898514e-04 9.99990624e-01 -1.13883417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.102414036999996 meters 0.09755300105371359 Centerline is valid? [True, True] Translation: X:55.28, Y:-3.25, Z:-1.14 [[ 9.99871985e-01 -1.53507145e-02 4.51332556e-03 5.52821339e+01] [ 1.53523904e-02 9.99882088e-01 -3.36915964e-04 -3.24722029e+00] [-4.50762148e-03 4.06163170e-04 9.99989758e-01 -1.13966357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.132414037 meters 0.09571733985530964 Centerline is valid? [True, True] Translation: X:55.31, Y:-3.24, Z:-1.14 [[ 9.99864144e-01 -1.59913349e-02 3.99641551e-03 5.53149488e+01] [ 1.59926541e-02 9.99872065e-01 -2.98351292e-04 -3.24479938e+00] [-3.99113319e-03 3.62224050e-04 9.99991970e-01 -1.13983923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.162414037 meters 0.0942590820324732 Centerline is valid? [True, True] Translation: X:55.35, Y:-3.24, Z:-1.14 [[ 9.99863663e-01 -1.62361095e-02 3.00719939e-03 5.53474318e+01] [ 1.62368566e-02 9.99868148e-01 -2.24219375e-04 -3.24392698e+00] [-3.00316243e-03 2.73016271e-04 9.99995453e-01 -1.13995733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.192414037 meters 0.09344685344388073 Centerline is valid? [True, True] Translation: X:55.38, Y:-3.24, Z:-1.14 [[ 9.99857702e-01 -1.65715538e-02 3.15584727e-03 5.53800354e+01] [ 1.65723793e-02 9.99862641e-01 -2.35593335e-04 -3.24392527e+00] [-3.15150964e-03 2.87859709e-04 9.99994993e-01 -1.14102827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.222414037 meters 0.09426840833335819 Centerline is valid? [True, True] Translation: X:55.41, Y:-3.25, Z:-1.14 [[ 9.99856267e-01 -1.67601694e-02 2.55756831e-03 5.54118094e+01] [ 1.67607118e-02 9.99859511e-01 -1.90766343e-04 -3.24765992e+00] [-2.55401172e-03 2.33605589e-04 9.99996711e-01 -1.14334446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.252414037 meters 0.09824104190690998 Centerline is valid? [True, True] Translation: X:55.44, Y:-3.26, Z:-1.15 [[ 9.99856010e-01 -1.66847585e-02 3.09496567e-03 5.54431495e+01] [ 1.66855466e-02 9.99860760e-01 -2.28984732e-04 -3.25794749e+00] [-3.09071417e-03 2.80592955e-04 9.99995184e-01 -1.14650185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.282414037 meters 0.09739245793333713 Centerline is valid? [True, True] Translation: X:55.48, Y:-3.26, Z:-1.15 [[ 9.99858249e-01 -1.64468095e-02 3.60327346e-03 5.54754076e+01] [ 1.64478900e-02 9.99864688e-01 -2.70446340e-04 -3.25835558e+00] [-3.59833791e-03 3.29674250e-04 9.99993472e-01 -1.14649143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.312414036999996 meters 0.10047587925248831 Centerline is valid? [True, False] Translation: X:55.47, Y:-3.26, Z:-1.15 [[ 9.99911057e-01 -1.26844097e-02 4.12104956e-03 5.54738815e+01] [ 1.26690302e-02 9.99912762e-01 3.73683436e-03 -3.25874849e+00] [-4.16808959e-03 -3.68429229e-03 9.99984526e-01 -1.14597898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.342414037 meters 0.09795589375820668 Centerline is valid? [False, True] Translation: X:55.47, Y:-3.26, Z:-1.15 [[ 9.99914295e-01 -1.25385627e-02 3.76664576e-03 5.54748232e+01] [ 1.25248911e-02 9.99914966e-01 3.63156630e-03 -3.25767564e+00] [-3.81186009e-03 -3.58407823e-03 9.99986312e-01 -1.14628795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.372414037 meters 0.09238597027793961 Centerline is valid? [True, True] Translation: X:55.51, Y:-3.25, Z:-1.14 [[ 9.99937090e-01 -1.09968758e-02 2.21004805e-03 5.55074972e+01] [ 1.09972761e-02 9.99939514e-01 -1.69052672e-04 -3.24554432e+00] [-2.20805533e-03 1.93346546e-04 9.99997544e-01 -1.14308409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.402414037 meters 0.09453015476032907 Centerline is valid? [True, True] Translation: X:55.54, Y:-3.25, Z:-1.14 [[ 9.99967432e-01 -7.64901078e-03 2.57445100e-03 5.55366740e+01] [ 7.64954657e-03 9.99970722e-01 -1.98335552e-04 -3.24931102e+00] [-2.57285856e-03 2.18022476e-04 9.99996666e-01 -1.14399483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.432414037 meters 0.0908208760260229 Centerline is valid? [True, True] Translation: X:55.57, Y:-3.24, Z:-1.14 [[ 9.99979839e-01 -5.85613807e-03 2.45495241e-03 5.55686292e+01] [ 5.85661698e-03 9.99982832e-01 -1.87935046e-04 -3.24326788e+00] [-2.45380969e-03 2.02308973e-04 9.99996969e-01 -1.14294685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.462414037 meters 0.08995184903179146 Centerline is valid? [True, True] Translation: X:55.60, Y:-3.24, Z:-1.14 [[ 9.99986832e-01 -4.06795031e-03 3.12855023e-03 5.55992314e+01] [ 4.06872286e-03 9.99991694e-01 -2.40611303e-04 -3.24381849e+00] [-3.12754545e-03 2.53337339e-04 9.99995077e-01 -1.14365225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.492414036999996 meters 0.0901288220600379 Centerline is valid? [True, True] Translation: X:55.63, Y:-3.25, Z:-1.15 [[ 9.99998363e-01 -9.39011738e-04 1.54654618e-03 5.56285291e+01] [ 9.39197426e-04 9.99999552e-01 -1.19343952e-04 -3.24528907e+00] [-1.54643342e-03 1.20796269e-04 9.99998797e-01 -1.14657755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.522414037 meters 0.08971230923418629 Centerline is valid? [True, True] Translation: X:55.66, Y:-3.25, Z:-1.15 [[ 9.99997958e-01 6.78709334e-04 1.90348760e-03 5.56586790e+01] [-6.78432710e-04 9.99999759e-01 -1.45967057e-04 -3.24546316e+00] [-1.90358622e-03 1.44675371e-04 9.99998178e-01 -1.14747452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.552414037 meters 0.09006613476174513 Centerline is valid? [True, True] Translation: X:55.69, Y:-3.25, Z:-1.15 [[ 9.99994600e-01 2.00349971e-03 2.60513240e-03 5.56889981e+01] [-2.00298550e-03 9.99997974e-01 -1.99977425e-04 -3.24734175e+00] [-2.60552778e-03 1.94758302e-04 9.99996587e-01 -1.14893925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.582414037 meters 0.08760549798505825 Centerline is valid? [True, True] Translation: X:55.72, Y:-3.24, Z:-1.15 [[ 9.99988822e-01 2.72134197e-03 3.86655640e-03 5.57197633e+01] [-2.72021214e-03 9.99996256e-01 -2.97433939e-04 -3.24346252e+00] [-3.86735134e-03 2.86912761e-04 9.99992481e-01 -1.14773696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.612414037 meters 0.0894017712395675 Centerline is valid? [True, True] Translation: X:55.75, Y:-3.25, Z:-1.15 [[ 9.99986997e-01 2.81098402e-03 4.25497880e-03 5.57498127e+01] [-2.80961812e-03 9.99996000e-01 -3.26954041e-04 -3.25064988e+00] [-4.25588084e-03 3.14994924e-04 9.99990894e-01 -1.15017744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.642414037 meters 0.0881121952163273 Centerline is valid? [True, True] Translation: X:55.78, Y:-3.25, Z:-1.15 [[ 9.99984636e-01 2.60164645e-03 4.89479684e-03 5.57811804e+01] [-2.59983734e-03 9.99996550e-01 -3.75923279e-04 -3.24943032e+00] [-4.89575797e-03 3.63191828e-04 9.99987950e-01 -1.14915360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.672414036999996 meters 0.0874543441944851 Centerline is valid? [True, True] Translation: X:55.81, Y:-3.25, Z:-1.15 [[ 9.99987810e-01 2.90075993e-03 3.99568543e-03 5.58123849e+01] [-2.89955690e-03 9.99995749e-01 -3.06842606e-04 -3.25014241e+00] [-3.99655852e-03 2.95253148e-04 9.99991970e-01 -1.14923977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.702414037 meters 0.0878788363161758 Centerline is valid? [True, True] Translation: X:55.84, Y:-3.25, Z:-1.15 [[ 9.99987473e-01 2.75952944e-03 4.17590341e-03 5.58423660e+01] [-2.75821195e-03 9.99996145e-01 -3.21223987e-04 -3.25277106e+00] [-4.17677374e-03 3.09701936e-04 9.99991229e-01 -1.14948513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.732414037 meters 0.08864632710837653 Centerline is valid? [True, True] Translation: X:55.87, Y:-3.26, Z:-1.15 [[ 9.99984782e-01 3.12787946e-03 4.54436841e-03 5.58727451e+01] [-3.12632142e-03 9.99995052e-01 -3.49913963e-04 -3.25648779e+00] [-4.54544041e-03 3.35701482e-04 9.99989613e-01 -1.15058180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.762414037 meters 0.09122573571735426 Centerline is valid? [True, True] Translation: X:55.90, Y:-3.26, Z:-1.15 [[ 9.99990545e-01 2.97689025e-03 3.16984421e-03 5.59028680e+01] [-2.97613931e-03 9.99995542e-01 -2.41592074e-04 -3.26447742e+00] [-3.17054927e-03 2.32155892e-04 9.99994947e-01 -1.15386831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.792414037 meters 0.09122573571735426 Centerline is valid? [True, True] Translation: X:55.93, Y:-3.27, Z:-1.15 [[ 9.99990546e-01 2.97696546e-03 3.16961766e-03 5.59328591e+01] [-2.97620527e-03 9.99995541e-01 -2.44528623e-04 -3.26678971e+00] [-3.17033148e-03 2.35092878e-04 9.99994947e-01 -1.15463582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.822414037 meters 0.09010098011389991 Centerline is valid? [True, True] Translation: X:55.96, Y:-3.27, Z:-1.16 [[ 9.99988670e-01 3.62159966e-03 3.08916397e-03 5.59636662e+01] [-3.62088063e-03 9.99993416e-01 -2.38321808e-04 -3.26779409e+00] [-3.09000674e-03 2.27133614e-04 9.99995200e-01 -1.15530555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.852414036999996 meters 0.08992400117971186 Centerline is valid? [True, True] Translation: X:55.99, Y:-3.27, Z:-1.16 [[ 9.99983072e-01 5.11065070e-03 2.78151975e-03 5.59941084e+01] [-5.11007348e-03 9.99986920e-01 -2.14587772e-04 -3.27044797e+00] [-2.78258005e-03 2.00370370e-04 9.99996109e-01 -1.15669224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.882414037 meters 0.08805316967829861 Centerline is valid? [True, True] Translation: X:56.02, Y:-3.27, Z:-1.16 [[ 9.99978401e-01 6.32351239e-03 1.79203421e-03 5.60242035e+01] [-6.32327336e-03 9.99979998e-01 -1.39024575e-04 -3.26765958e+00] [-1.79287749e-03 1.27690050e-04 9.99998385e-01 -1.15649125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.912414037 meters 0.08725232043512644 Centerline is valid? [True, True] Translation: X:56.05, Y:-3.27, Z:-1.16 [[ 9.99972277e-01 7.09613150e-03 2.25616123e-03 5.60530414e+01] [-7.09575347e-03 9.99974809e-01 -1.75512944e-04 -3.26672276e+00] [-2.25734986e-03 1.59498915e-04 9.99997439e-01 -1.15608026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.942414037 meters 0.08725343348064737 Centerline is valid? [True, True] Translation: X:56.08, Y:-3.27, Z:-1.16 [[ 9.99946857e-01 1.00620574e-02 2.24446423e-03 5.60816381e+01] [-1.00616920e-02 9.99949365e-01 -1.74065759e-04 -3.26809655e+00] [-2.24610204e-03 1.51473401e-04 9.99997466e-01 -1.15725997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.972414037 meters 0.08704571443846212 Centerline is valid? [True, True] Translation: X:56.11, Y:-3.27, Z:-1.16 [[ 9.99933131e-01 1.12909276e-02 2.49979789e-03 5.61103377e+01] [-1.12904778e-02 9.99936242e-01 -1.93973666e-04 -3.27054727e+00] [-2.50182865e-03 1.65736782e-04 9.99996857e-01 -1.15856728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.002414037 meters 0.08646024854544324 Centerline is valid? [True, True] Translation: X:56.14, Y:-3.27, Z:-1.16 [[ 9.99922943e-01 1.22752504e-02 1.85085198e-03 5.61392640e+01] [-1.22750049e-02 9.99924649e-01 -1.43924202e-04 -3.27200896e+00] [-1.85247922e-03 1.21193894e-04 9.99998277e-01 -1.16011690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.032414037 meters 0.08655294193110885 Centerline is valid? [True, True] Translation: X:56.17, Y:-3.28, Z:-1.16 [[ 9.99913266e-01 1.29706657e-02 2.28541414e-03 5.61665402e+01] [-1.29702936e-02 9.99915866e-01 -1.77536636e-04 -3.27502988e+00] [-2.28752463e-03 1.47878745e-04 9.99997373e-01 -1.16201580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.062414036999996 meters 0.08555171989531045 Centerline is valid? [True, True] Translation: X:56.20, Y:-3.27, Z:-1.16 [[ 9.99883972e-01 1.48047879e-02 3.58610804e-03 5.61969026e+01] [-1.48038939e-02 9.99890378e-01 -2.75730789e-04 -3.27457380e+00] [-3.58979706e-03 2.22610433e-04 9.99993532e-01 -1.16041502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.092414037 meters 0.08243570491397789 Centerline is valid? [True, True] Translation: X:56.23, Y:-3.27, Z:-1.16 [[ 9.99850167e-01 1.66991700e-02 4.55863107e-03 5.62275654e+01] [-1.66977456e-02 9.99860522e-01 -3.50341940e-04 -3.26796233e+00] [-4.56384566e-03 2.74170585e-04 9.99989548e-01 -1.15740975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.122414037 meters 0.08396326917473236 Centerline is valid? [True, True] Translation: X:56.26, Y:-3.27, Z:-1.16 [[ 9.99818762e-01 1.82199620e-02 5.52043280e-03 5.62559711e+01] [-1.82178949e-02 9.99833950e-01 -4.24502614e-04 -3.27412191e+00] [-5.52725056e-03 3.23855014e-04 9.99984672e-01 -1.15949557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.152414037 meters 0.08334778594221376 Centerline is valid? [True, True] Translation: X:56.29, Y:-3.28, Z:-1.16 [[ 9.99756753e-01 2.16788613e-02 4.05725906e-03 5.62852393e+01] [-2.16777733e-02 9.99764961e-01 -3.11957360e-04 -3.27637315e+00] [-4.06306832e-03 2.23929136e-04 9.99991721e-01 -1.16300100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.182414037 meters 0.08325688333255205 Centerline is valid? [True, True] Translation: X:56.31, Y:-3.28, Z:-1.16 [[ 9.99727316e-01 2.31100603e-02 3.34950854e-03 5.63139416e+01] [-2.31093243e-02 9.99732911e-01 -2.58258305e-04 -3.28020514e+00] [-3.35458229e-03 1.80783003e-04 9.99994357e-01 -1.16476475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.212414037 meters 0.08325688333255205 Centerline is valid? [True, True] Translation: X:56.34, Y:-3.28, Z:-1.17 [[ 9.99729487e-01 2.30159552e-02 3.34947122e-03 5.63413591e+01] [-2.30152171e-02 9.99735081e-01 -2.58746710e-04 -3.28219493e+00] [-3.35453918e-03 1.81587909e-04 9.99994357e-01 -1.16546804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.242414036999996 meters 0.08336733758603879 Centerline is valid? [True, True] Translation: X:56.37, Y:-3.28, Z:-1.17 [[ 9.99707557e-01 2.39757359e-02 3.15657409e-03 5.63685978e+01] [-2.39750868e-02 9.99712527e-01 -2.43321309e-04 -3.28499938e+00] [-3.16150046e-03 1.67571013e-04 9.99994988e-01 -1.16739540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.272414037 meters 0.08181509281323811 Centerline is valid? [True, True] Translation: X:56.40, Y:-3.28, Z:-1.17 [[ 9.99686956e-01 2.48085296e-02 3.24438509e-03 5.63977883e+01] [-2.48078503e-02 9.99692207e-01 -2.49465884e-04 -3.28357451e+00] [-3.24957537e-03 1.68901571e-04 9.99994706e-01 -1.16637491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.302414037 meters 0.07969077574369593 Centerline is valid? [True, True] Translation: X:56.43, Y:-3.28, Z:-1.16 [[ 9.99650123e-01 2.62847497e-02 2.95702996e-03 5.64273452e+01] [-2.62841917e-02 9.99654485e-01 -2.27398440e-04 -3.27880241e+00] [-2.96198537e-03 1.49595736e-04 9.99995602e-01 -1.16319086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.332414037 meters 0.07964688231806752 Centerline is valid? [True, True] Translation: X:56.46, Y:-3.28, Z:-1.16 [[ 9.99627207e-01 2.71405959e-02 2.97246116e-03 5.64561952e+01] [-2.71400366e-02 9.99631615e-01 -2.28365189e-04 -3.28182686e+00] [-2.97756412e-03 1.47607351e-04 9.99995556e-01 -1.16447471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.362414037 meters 0.07974274471098038 Centerline is valid? [True, True] Translation: X:56.48, Y:-3.29, Z:-1.17 [[ 9.99622729e-01 2.73628401e-02 2.38196383e-03 5.64843118e+01] [-2.73624793e-02 9.99625560e-01 -1.83952060e-04 -3.28603512e+00] [-2.38610538e-03 1.18706225e-04 9.99997146e-01 -1.16606150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.392414037 meters 0.07943794847657765 Centerline is valid? [True, True] Translation: X:56.51, Y:-3.29, Z:-1.17 [[ 9.99606975e-01 2.80187559e-02 9.18648896e-04 5.65123717e+01] [-2.80187012e-02 9.99607397e-01 -7.24354864e-05 -3.28894009e+00] [-9.20317783e-04 4.66676686e-05 9.99999575e-01 -1.16823727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.422414036999996 meters 0.07926089610625621 Centerline is valid? [True, True] Translation: X:56.54, Y:-3.29, Z:-1.17 [[ 9.99588801e-01 2.86737512e-02 2.13860967e-04 5.65413768e+01] [-2.86737481e-02 9.99588823e-01 -1.79660899e-05 -3.29207137e+00] [-2.14288187e-04 1.18265068e-05 9.99999977e-01 -1.16962530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.452414037 meters 0.07899018335647214 Centerline is valid? [True, True] Translation: X:56.57, Y:-3.29, Z:-1.17 [[ 9.99543266e-01 3.02177657e-02 3.81467473e-04 5.65698857e+01] [-3.02177562e-02 9.99543339e-01 -3.06772872e-05 -3.29437711e+00] [-3.82220271e-04 1.91361847e-05 9.99999927e-01 -1.17019785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.482414037 meters 0.07869704721599183 Centerline is valid? [True, True] Translation: X:56.60, Y:-3.30, Z:-1.17 [[ 9.99496777e-01 3.17076741e-02 -9.03368614e-04 5.65984279e+01] [-3.17076267e-02 9.99497185e-01 6.68136206e-05 -3.29591200e+00] [ 9.05032891e-04 -3.81363237e-05 9.99999590e-01 -1.17036538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.512414037 meters 0.07934235452803091 Centerline is valid? [True, True] Translation: X:56.63, Y:-3.30, Z:-1.17 [[ 9.99463451e-01 3.27514049e-02 -3.94092952e-04 5.66264608e+01] [-3.27513963e-02 9.99463529e-01 2.81726830e-05 -3.30006387e+00] [ 3.94804227e-04 -1.52504726e-05 9.99999922e-01 -1.17266402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.542414037 meters 0.07876851015610338 Centerline is valid? [True, True] Translation: X:56.66, Y:-3.30, Z:-1.17 [[ 9.99430383e-01 3.37471177e-02 -2.06042730e-04 5.66551592e+01] [-3.37471155e-02 9.99430404e-01 1.39165400e-05 -3.30032991e+00] [ 2.06395012e-04 -6.95526513e-06 9.99999979e-01 -1.17207354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.572414037 meters 0.07784312242863196 Centerline is valid? [True, True] Translation: X:56.68, Y:-3.30, Z:-1.17 [[ 9.99368206e-01 3.55356494e-02 6.38223799e-04 5.66839308e+01] [-3.55356247e-02 9.99368409e-01 -5.00081609e-05 -3.30099614e+00] [-6.39597775e-04 2.72968846e-05 9.99999795e-01 -1.17018794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.602414036999996 meters 0.07792291502328884 Centerline is valid? [True, True] Translation: X:56.71, Y:-3.30, Z:-1.17 [[ 9.99322552e-01 3.67756186e-02 1.41127840e-03 5.67114293e+01] [-3.67755016e-02 9.99323547e-01 -1.08783151e-04 -3.30444572e+00] [-1.41432431e-03 5.68089853e-05 9.99998998e-01 -1.17131584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.632414037 meters 0.07802294952827314 Centerline is valid? [True, True] Translation: X:56.74, Y:-3.31, Z:-1.17 [[ 9.99316663e-01 3.69276071e-02 1.59995991e-03 5.67394144e+01] [-3.69274576e-02 9.99317941e-01 -1.22892972e-04 -3.30847660e+00] [-1.60340679e-03 6.37265424e-05 9.99998713e-01 -1.17195475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.662414037 meters 0.07770313263237671 Centerline is valid? [True, True] Translation: X:56.77, Y:-3.31, Z:-1.17 [[ 9.99300451e-01 3.73598765e-02 1.68789368e-03 5.67685180e+01] [-3.73597118e-02 9.99301874e-01 -1.29001977e-04 -3.31061792e+00] [-1.69153482e-03 6.58525122e-05 9.99998567e-01 -1.17238176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.692414037 meters 0.07791825630512188 Centerline is valid? [True, True] Translation: X:56.80, Y:-3.32, Z:-1.17 [[ 9.99351701e-01 3.60018175e-02 2.14507127e-04 5.67979601e+01] [-3.60018147e-02 9.99351724e-01 -1.70261858e-05 -3.31548763e+00] [-2.14981041e-04 9.29250194e-06 9.99999977e-01 -1.17376268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.722414037 meters 0.07826920182672059 Centerline is valid? [True, True] Translation: X:56.83, Y:-3.32, Z:-1.18 [[ 9.99352458e-01 3.59811188e-02 -1.51658521e-04 5.68256904e+01] [-3.59811178e-02 9.99352470e-01 9.29443427e-06 -3.32000862e+00] [ 1.51894742e-04 -3.83157260e-06 9.99999988e-01 -1.17546630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.752414037 meters 0.07809290629217377 Centerline is valid? [True, True] Translation: X:56.85, Y:-3.32, Z:-1.18 [[ 9.99340842e-01 3.62951439e-02 -7.37595038e-04 5.68535368e+01] [-3.62951147e-02 9.99341114e-01 5.29160000e-05 -3.32268015e+00] [ 7.39029640e-04 -2.61100235e-05 9.99999727e-01 -1.17647540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.782414037 meters 0.07788672812489957 Centerline is valid? [True, True] Translation: X:56.88, Y:-3.32, Z:-1.18 [[ 9.99308694e-01 3.71179214e-02 -2.09605251e-03 5.68825281e+01] [-3.71176762e-02 9.99310889e-01 1.55767557e-04 -3.32483046e+00] [ 2.10038987e-03 -7.78592759e-05 9.99997791e-01 -1.17699501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.812414036999996 meters 0.07762483953968598 Centerline is valid? [True, True] Translation: X:56.91, Y:-3.33, Z:-1.18 [[ 9.99230900e-01 3.90304293e-02 -3.77278275e-03 5.69114124e+01] [-3.90296445e-02 9.99238014e-01 2.81465745e-04 -3.32646817e+00] [ 3.78089367e-03 -1.33998900e-04 9.99992843e-01 -1.17800976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.842414037 meters 0.07809396436491599 Centerline is valid? [True, True] Translation: X:56.94, Y:-3.33, Z:-1.18 [[ 9.99166204e-01 4.05451923e-02 -4.79421670e-03 5.69389879e+01] [-4.05439440e-02 9.99177692e-01 3.57319856e-04 -3.33114593e+00] [ 4.80476198e-03 -1.62645471e-04 9.99988444e-01 -1.18122718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.872414037 meters 0.07749781842139507 Centerline is valid? [True, True] Translation: X:56.97, Y:-3.33, Z:-1.18 [[ 9.99127153e-01 4.15535168e-02 -4.27041746e-03 5.69679369e+01] [-4.15525571e-02 9.99136270e-01 3.13254409e-04 -3.33291262e+00] [ 4.27974580e-03 -1.35534221e-04 9.99990833e-01 -1.18035301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.902414037 meters 0.07714688275211175 Centerline is valid? [True, True] Translation: X:57.00, Y:-3.34, Z:-1.18 [[ 9.99017464e-01 4.42349380e-02 -2.71608195e-03 5.69979660e+01] [-4.42345507e-02 9.99021153e-01 2.02545742e-04 -3.33740087e+00] [ 2.72238291e-03 -8.22020692e-05 9.99996291e-01 -1.17966362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.932414037 meters 0.07704256149755019 Centerline is valid? [True, True] Translation: X:57.03, Y:-3.34, Z:-1.18 [[ 9.98953875e-01 4.56805815e-02 -2.10737260e-03 5.70255073e+01] [-4.56803556e-02 9.98956096e-01 1.55208834e-04 -3.34063102e+00] [ 2.11226273e-03 -5.87809365e-05 9.99997767e-01 -1.18129159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.962414037 meters 0.07630976270886826 Centerline is valid? [True, True] Translation: X:57.05, Y:-3.34, Z:-1.18 [[ 9.98865088e-01 4.76071720e-02 -1.44655419e-03 5.70542689e+01] [-4.76070682e-02 9.98866135e-01 1.06160764e-04 -3.34020510e+00] [ 1.44996801e-03 -3.71740772e-05 9.99998948e-01 -1.17856723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.992414036999996 meters 0.07602768972499359 Centerline is valid? [True, True] Translation: X:57.08, Y:-3.34, Z:-1.18 [[ 9.98786962e-01 4.92214675e-02 -1.36078709e-03 5.70834014e+01] [-4.92213794e-02 9.98787888e-01 9.81813095e-05 -3.34192807e+00] [ 1.36397029e-03 -3.10823941e-05 9.99999069e-01 -1.17865337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.022414037 meters 0.07583472944272018 Centerline is valid? [True, True] Translation: X:57.11, Y:-3.35, Z:-1.18 [[ 9.98734425e-01 5.02777130e-02 -1.30372403e-03 5.71119979e+01] [-5.02776373e-02 9.98735276e-01 9.07736704e-05 -3.34542604e+00] [ 1.30663907e-03 -2.51106256e-05 9.99999146e-01 -1.17896592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.052414037 meters 0.0757994381026525 Centerline is valid? [True, True] Translation: X:57.14, Y:-3.35, Z:-1.18 [[ 9.98727891e-01 5.04123121e-02 -1.09512055e-03 5.71400181e+01] [-5.04122600e-02 9.98728491e-01 7.50784956e-05 -3.34934519e+00] [ 1.09751297e-03 -1.97754856e-05 9.99999398e-01 -1.18001490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.082414037 meters 0.07581062108258094 Centerline is valid? [True, True] Translation: X:57.17, Y:-3.35, Z:-1.18 [[ 9.98771024e-01 4.95098562e-02 -2.28387172e-03 5.71681958e+01] [-4.95096142e-02 9.98773634e-01 1.62413004e-04 -3.35320993e+00] [ 2.28911190e-03 -4.91397943e-05 9.99997379e-01 -1.18093878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.112414037 meters 0.07607827701702988 Centerline is valid? [True, True] Translation: X:57.20, Y:-3.36, Z:-1.18 [[ 9.98831477e-01 4.82920532e-02 -1.88633013e-03 5.71967275e+01] [-4.82918887e-02 9.98833257e-01 1.32686643e-04 -3.35886110e+00] [ 1.89053698e-03 -4.14371511e-05 9.99998212e-01 -1.18206211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.142414037 meters 0.07655345789431442 Centerline is valid? [True, True] Translation: X:57.22, Y:-3.37, Z:-1.19 [[ 9.98978539e-01 4.50985673e-02 -2.82807415e-03 5.72247730e+01] [-4.50981633e-02 9.98982539e-01 2.06493670e-04 -3.36970047e+00] [ 2.83450926e-03 -7.87417945e-05 9.99995980e-01 -1.18604495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.172414036999996 meters 0.07701729004529743 Centerline is valid? [True, True] Translation: X:57.25, Y:-3.38, Z:-1.19 [[ 9.99087770e-01 4.25600343e-02 -3.50307501e-03 5.72525667e+01] [-4.25594000e-02 9.99093906e-01 2.55448321e-04 -3.37651328e+00] [ 3.51077279e-03 -1.06126523e-04 9.99993832e-01 -1.18712199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.202414037 meters 0.07772609210802732 Centerline is valid? [True, True] Translation: X:57.28, Y:-3.39, Z:-1.19 [[ 9.99299469e-01 3.72477824e-02 -3.62951988e-03 5.72818686e+01] [-3.72470619e-02 9.99306052e-01 2.65926742e-04 -3.38676084e+00] [ 3.63690637e-03 -1.30551500e-04 9.99993378e-01 -1.18758114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.232414037 meters 0.0778769010604687 Centerline is valid? [True, True] Translation: X:57.31, Y:-3.39, Z:-1.19 [[ 9.99388346e-01 3.46518482e-02 -4.70997256e-03 5.73108639e+01] [-3.46506106e-02 9.99399428e-01 3.44125563e-04 -3.39240494e+00] [ 4.71906847e-03 -1.80711652e-04 9.99988849e-01 -1.18747438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.262414037 meters 0.07894684666505897 Centerline is valid? [True, True] Translation: X:57.34, Y:-3.40, Z:-1.19 [[ 9.99464487e-01 3.22973602e-02 -5.25547922e-03 5.73388644e+01] [-3.22957874e-02 9.99478281e-01 3.83877891e-04 -3.40075274e+00] [ 5.26513558e-03 -2.13942480e-04 9.99986116e-01 -1.19015883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.292414037 meters 0.07856493545086707 Centerline is valid? [True, True] Translation: X:57.37, Y:-3.40, Z:-1.19 [[ 9.99522600e-01 3.03309775e-02 -5.88243290e-03 5.73685907e+01] [-3.03289710e-02 9.99539878e-01 4.30030788e-04 -3.40401697e+00] [ 5.89276952e-03 -2.51417354e-04 9.99982606e-01 -1.18970176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.322414037 meters 0.07969007028456085 Centerline is valid? [True, True] Translation: X:57.40, Y:-3.42, Z:-1.19 [[ 9.99629271e-01 2.66351549e-02 -5.64697882e-03 5.73967671e+01] [-2.66332482e-02 9.99645187e-01 4.12600436e-04 -3.41535649e+00] [ 5.65596487e-03 -2.62050085e-04 9.99983971e-01 -1.19185934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.352414036999996 meters 0.07960883079427054 Centerline is valid? [True, True] Translation: X:57.42, Y:-3.42, Z:-1.19 [[ 9.99665135e-01 2.53092735e-02 -5.39057920e-03 5.74249438e+01] [-2.53075235e-02 9.99679636e-01 3.92605269e-04 -3.41989759e+00] [ 5.39878881e-03 -2.56051590e-04 9.99985394e-01 -1.19235729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.382414037 meters 0.07996220813458894 Centerline is valid? [True, True] Translation: X:57.45, Y:-3.43, Z:-1.19 [[ 9.99705796e-01 2.38066060e-02 -4.64410235e-03 5.74523458e+01] [-2.38052958e-02 9.99716557e-01 3.37203908e-04 -3.42626525e+00] [ 4.65081369e-03 -2.26550470e-04 9.99989159e-01 -1.19343023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.412414037 meters 0.07932652786844194 Centerline is valid? [True, True] Translation: X:57.48, Y:-3.43, Z:-1.19 [[ 9.99729144e-01 2.28213041e-02 -4.56358865e-03 5.74812580e+01] [-2.28200285e-02 9.99739534e-01 3.31381458e-04 -3.42771160e+00] [ 4.56996254e-03 -2.27150478e-04 9.99989532e-01 -1.19250897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.442414037 meters 0.07877744689754128 Centerline is valid? [True, True] Translation: X:57.51, Y:-3.43, Z:-1.19 [[ 9.99759143e-01 2.15357425e-02 -4.22708909e-03 5.75097398e+01] [-2.15346386e-02 9.99768056e-01 3.06493429e-04 -3.43054176e+00] [ 4.23270921e-03 -2.15390772e-04 9.99991019e-01 -1.19144242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.472414037 meters 0.07920139040837491 Centerline is valid? [True, True] Translation: X:57.54, Y:-3.44, Z:-1.19 [[ 9.99753617e-01 2.17757952e-02 -4.30356677e-03 5.75370680e+01] [-2.17746565e-02 9.99762856e-01 3.11268037e-04 -3.43541792e+00] [ 4.30932432e-03 -2.17482658e-04 9.99990691e-01 -1.19226565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.502414037 meters 0.08034849349131966 Centerline is valid? [True, True] Translation: X:57.56, Y:-3.44, Z:-1.19 [[ 9.99759880e-01 2.16201498e-02 -3.57080374e-03 5.75645808e+01] [-2.16193711e-02 9.99766241e-01 2.56532406e-04 -3.44254352e+00] [ 3.57551530e-03 -1.79272276e-04 9.99993592e-01 -1.19429243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.532414037 meters 0.07942616005140732 Centerline is valid? [True, True] Translation: X:57.59, Y:-3.45, Z:-1.19 [[ 9.99767048e-01 2.10473197e-02 -4.78125027e-03 5.75934559e+01] [-2.10459070e-02 9.99778451e-01 3.45607576e-04 -3.44513546e+00] [ 4.78746510e-03 -2.44901317e-04 9.99988510e-01 -1.19387389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.562414036999996 meters 0.0791428822931974 Centerline is valid? [True, True] Translation: X:57.62, Y:-3.45, Z:-1.20 [[ 9.99768483e-01 2.11281171e-02 -4.07213523e-03 5.76225024e+01] [-2.11270931e-02 9.99776755e-01 2.94306311e-04 -3.44865116e+00] [ 4.07744428e-03 -2.08205794e-04 9.99991666e-01 -1.19538045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.592414037 meters 0.07993306356046725 Centerline is valid? [True, True] Translation: X:57.65, Y:-3.45, Z:-1.20 [[ 9.99764282e-01 2.11493710e-02 -4.90763889e-03 5.76494857e+01] [-2.11478890e-02 9.99776296e-01 3.53679392e-04 -3.45462331e+00] [ 4.91402112e-03 -2.49809820e-04 9.99987895e-01 -1.19868822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.622414037 meters 0.080045479195197 Centerline is valid? [True, True] Translation: X:57.68, Y:-3.46, Z:-1.20 [[ 9.99756092e-01 2.15136666e-02 -4.99192430e-03 5.76781924e+01] [-2.15121368e-02 9.99768522e-01 3.59943714e-04 -3.45769111e+00] [ 4.99851249e-03 -2.52468962e-04 9.99987475e-01 -1.19903010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.652414037 meters 0.07974971875875274 Centerline is valid? [True, True] Translation: X:57.71, Y:-3.46, Z:-1.20 [[ 9.99726805e-01 2.25047650e-02 -6.31276377e-03 5.77070472e+01] [-2.25023382e-02 9.99746687e-01 4.55210800e-04 -3.45989946e+00] [ 6.32140907e-03 -3.13034494e-04 9.99979971e-01 -1.19969167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.682414037 meters 0.07964581533459288 Centerline is valid? [True, True] Translation: X:57.74, Y:-3.46, Z:-1.20 [[ 9.99702744e-01 2.31635056e-02 -7.60762949e-03 5.77354149e+01] [-2.31600012e-02 9.99731621e-01 5.48426169e-04 -3.46215498e+00] [ 7.61829124e-03 -3.72070438e-04 9.99970911e-01 -1.20092881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.712414037 meters 0.07903480207481378 Centerline is valid? [True, True] Translation: X:57.76, Y:-3.46, Z:-1.20 [[ 9.99673371e-01 2.40579670e-02 -8.62355504e-03 5.77641480e+01] [-2.40535007e-02 9.99710480e-01 6.21273343e-04 -3.46300401e+00] [ 8.63600492e-03 -4.13643730e-04 9.99962623e-01 -1.20174830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.742414036999996 meters 0.0789619905431298 Centerline is valid? [True, True] Translation: X:57.79, Y:-3.47, Z:-1.20 [[ 9.99655644e-01 2.47106019e-02 -8.83060307e-03 5.77930363e+01] [-2.47059951e-02 9.99694562e-01 6.30402860e-04 -3.46763499e+00] [ 8.84348350e-03 -4.12016940e-04 9.99960811e-01 -1.20408429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.772414037 meters 0.07860605000750606 Centerline is valid? [True, True] Translation: X:57.82, Y:-3.47, Z:-1.20 [[ 9.99639058e-01 2.54574645e-02 -8.58316385e-03 5.78213048e+01] [-2.54531128e-02 9.99675827e-01 6.15880117e-04 -3.47084532e+00] [ 8.59606017e-03 -3.97189583e-04 9.99962974e-01 -1.20390110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.802414037 meters 0.07817390026806834 Centerline is valid? [True, True] Translation: X:57.85, Y:-3.47, Z:-1.20 [[ 9.99630856e-01 2.62353194e-02 -7.06119529e-03 5.78499936e+01] [-2.62323992e-02 9.99655743e-01 5.05882454e-04 -3.47396340e+00] [ 7.07203641e-03 -3.20463617e-04 9.99974941e-01 -1.20287644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.832414037 meters 0.07729977507792461 Centerline is valid? [True, True] Translation: X:57.88, Y:-3.47, Z:-1.20 [[ 9.99627352e-01 2.67523542e-02 -5.42854741e-03 5.78792055e+01] [-2.67506668e-02 9.99642063e-01 3.83232011e-04 -3.47404732e+00] [ 5.43685670e-03 -2.37871937e-04 9.99985192e-01 -1.20075717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.862414037 meters 0.07700982097526259 Centerline is valid? [True, True] Translation: X:57.91, Y:-3.48, Z:-1.20 [[ 9.99582459e-01 2.86061848e-02 -4.07351073e-03 5.79084253e+01] [-2.86052364e-02 9.99590744e-01 2.90887292e-04 -3.47674995e+00] [ 4.08016480e-03 -1.74242097e-04 9.99991661e-01 -1.19933941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.892414037 meters 0.07695379717058665 Centerline is valid? [True, True] Translation: X:57.94, Y:-3.48, Z:-1.20 [[ 9.99559050e-01 2.93410346e-02 -4.56163137e-03 5.79375536e+01] [-2.93398579e-02 9.99569441e-01 3.24673916e-04 -3.47942280e+00] [ 4.56919359e-03 -1.90693135e-04 9.99989543e-01 -1.20027785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.922414036999996 meters 0.07702967082770862 Centerline is valid? [True, True] Translation: X:57.97, Y:-3.48, Z:-1.20 [[ 9.99532558e-01 2.99688144e-02 -6.04448028e-03 5.79658075e+01] [-2.99667588e-02 9.99550803e-01 4.30377576e-04 -3.48250181e+00] [ 6.05466302e-03 -2.49042917e-04 9.99981639e-01 -1.20195456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.952414037 meters 0.07728183397540521 Centerline is valid? [True, True] Translation: X:57.99, Y:-3.49, Z:-1.21 [[ 9.99445987e-01 3.23322437e-02 -7.89595219e-03 5.79935386e+01] [-3.23288246e-02 9.99477130e-01 5.60301973e-04 -3.48742487e+00] [ 7.90993945e-03 -3.04724704e-04 9.99968670e-01 -1.20604104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.982414037 meters 0.07698997615607558 Centerline is valid? [True, True] Translation: X:58.02, Y:-3.49, Z:-1.21 [[ 9.99413013e-01 3.34455590e-02 -7.41785428e-03 5.80225416e+01] [-3.34425662e-02 9.99440502e-01 5.27176699e-04 -3.48871431e+00] [ 7.43133572e-03 -2.78795170e-04 9.99972348e-01 -1.20641329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.012414037 meters 0.07685782081247945 Centerline is valid? [True, True] Translation: X:58.05, Y:-3.49, Z:-1.21 [[ 9.99388776e-01 3.41399503e-02 -7.51916868e-03 5.80514301e+01] [-3.41368983e-02 9.99417024e-01 5.33900897e-04 -3.49036112e+00] [ 7.53301253e-03 -2.76893467e-04 9.99971588e-01 -1.20651992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.042414037 meters 0.07730816267067422 Centerline is valid? [True, True] Translation: X:58.08, Y:-3.49, Z:-1.21 [[ 9.99350451e-01 3.47314506e-02 -9.61259566e-03 5.80791640e+01] [-3.47264969e-02 9.99396621e-01 6.81813628e-04 -3.49407317e+00] [ 9.63047600e-03 -3.47558984e-04 9.99953565e-01 -1.20900827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.072414037 meters 0.07704768452680492 Centerline is valid? [True, True] Translation: X:58.11, Y:-3.50, Z:-1.21 [[ 9.99343214e-01 3.48583105e-02 -9.90147542e-03 5.81068303e+01] [-3.48530746e-02 9.99392201e-01 7.00915524e-04 -3.49634693e+00] [ 9.91989004e-03 -3.55358311e-04 9.99950734e-01 -1.20942008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.102414036999996 meters 0.07704768452680492 Centerline is valid? [True, True] Translation: X:58.13, Y:-3.50, Z:-1.21 [[ 9.99346694e-01 3.47583859e-02 -9.90154542e-03 5.81342530e+01] [-3.47531548e-02 9.99395682e-01 6.99927771e-04 -3.49819399e+00] [ 9.91989009e-03 -3.55360562e-04 9.99950734e-01 -1.21012345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.132414037 meters 0.07729987477611328 Centerline is valid? [True, True] Translation: X:58.16, Y:-3.50, Z:-1.21 [[ 9.99363602e-01 3.40318084e-02 -1.06876689e-02 5.81625045e+01] [-3.40256684e-02 9.99420673e-01 7.55851780e-04 -3.50269321e+00] [ 1.07072003e-02 -3.91715680e-04 9.99942600e-01 -1.21200907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.162414037 meters 0.0778961755015336 Centerline is valid? [True, True] Translation: X:58.19, Y:-3.51, Z:-1.21 [[ 9.99384285e-01 3.36369759e-02 -9.98020937e-03 5.81894146e+01] [-3.36316157e-02 9.99434049e-01 7.04473384e-04 -3.50864888e+00] [ 9.99825741e-03 -3.68389063e-04 9.99949948e-01 -1.21492071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.192414037 meters 0.07755796645373297 Centerline is valid? [True, True] Translation: X:58.22, Y:-3.51, Z:-1.21 [[ 9.99408090e-01 3.30585978e-02 -9.51831171e-03 5.82173099e+01] [-3.30537099e-02 9.99453352e-01 6.70424386e-04 -3.51018142e+00] [ 9.53527183e-03 -3.55412041e-04 9.99954475e-01 -1.21391699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.222414037 meters 0.07787486851207225 Centerline is valid? [True, True] Translation: X:58.25, Y:-3.52, Z:-1.21 [[ 9.99478427e-01 3.11213622e-02 -8.62180994e-03 5.82454687e+01] [-3.11172793e-02 9.99515556e-01 6.07326932e-04 -3.51572927e+00] [ 8.63653400e-03 -3.38722899e-04 9.99962647e-01 -1.21429172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.252414037 meters 0.07831965580391909 Centerline is valid? [True, True] Translation: X:58.27, Y:-3.52, Z:-1.22 [[ 9.99520110e-01 2.96752630e-02 -8.88411389e-03 5.82739367e+01] [-2.96708755e-02 9.99559527e-01 6.25284617e-04 -3.52008190e+00] [ 8.89875616e-03 -3.61385112e-04 9.99960340e-01 -1.21551526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.282414037 meters 0.07873778051812573 Centerline is valid? [True, True] Translation: X:58.30, Y:-3.53, Z:-1.22 [[ 9.99557202e-01 2.85082852e-02 -8.52510833e-03 5.83011465e+01] [-2.85042126e-02 9.99593493e-01 5.98860552e-04 -3.52536129e+00] [ 8.53871530e-03 -3.55593878e-04 9.99963481e-01 -1.21669990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.312414036999996 meters 0.07911010200335684 Centerline is valid? [True, True] Translation: X:58.33, Y:-3.53, Z:-1.22 [[ 9.99594017e-01 2.72903319e-02 -8.18778603e-03 5.83300815e+01] [-2.72865361e-02 9.99627488e-01 5.74970191e-04 -3.53024070e+00] [ 8.20042711e-03 -3.51320444e-04 9.99966314e-01 -1.21739091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.342414037 meters 0.07839323321389247 Centerline is valid? [True, True] Translation: X:58.36, Y:-3.53, Z:-1.22 [[ 9.99627002e-01 2.63973637e-02 -7.00261366e-03 5.83588953e+01] [-2.63945707e-02 9.99651482e-01 4.90992844e-04 -3.53479461e+00] [ 7.01313404e-03 -3.05978724e-04 9.99975361e-01 -1.21529538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.372414037 meters 0.07854546655225135 Centerline is valid? [True, True] Translation: X:58.39, Y:-3.54, Z:-1.22 [[ 9.99645707e-01 2.59675724e-02 -5.84348472e-03 5.83872092e+01] [-2.59656240e-02 9.99662753e-01 4.09063037e-04 -3.53805908e+00] [ 5.85213640e-03 -2.57188381e-04 9.99982843e-01 -1.21516941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.402414037 meters 0.07854134791272807 Centerline is valid? [True, True] Translation: X:58.42, Y:-3.54, Z:-1.21 [[ 9.99659159e-01 2.52614605e-02 -6.58968082e-03 5.84160989e+01] [-2.52589688e-02 9.99680835e-01 4.61079740e-04 -3.54020169e+00] [ 6.59922518e-03 -2.94474043e-04 9.99978182e-01 -1.21494706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.432414037 meters 0.07836089028757488 Centerline is valid? [True, True] Translation: X:58.45, Y:-3.54, Z:-1.21 [[ 9.99702320e-01 2.32832859e-02 -7.29112792e-03 5.84455179e+01] [-2.32801775e-02 9.99728849e-01 5.10916963e-04 -3.54226976e+00] [ 7.30104675e-03 -3.41026120e-04 9.99973289e-01 -1.21398680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.462414037 meters 0.07800331959428533 Centerline is valid? [True, True] Translation: X:58.47, Y:-3.54, Z:-1.21 [[ 9.99732448e-01 2.14659472e-02 -8.61656447e-03 5.84748057e+01] [-2.14615451e-02 9.99769493e-01 6.03030230e-04 -3.54379166e+00] [ 8.62752290e-03 -4.17944101e-04 9.99962695e-01 -1.21340720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.492414036999996 meters 0.07963950542070879 Centerline is valid? [True, True] Translation: X:58.50, Y:-3.55, Z:-1.22 [[ 9.99774935e-01 2.00330909e-02 -6.98238309e-03 5.85023259e+01] [-2.00301775e-02 9.99799257e-01 4.86935955e-04 -3.55381629e+00] [ 6.99073626e-03 -3.46967990e-04 9.99975504e-01 -1.21776272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.522414037 meters 0.08019562754664769 Centerline is valid? [True, True] Translation: X:58.53, Y:-3.56, Z:-1.22 [[ 9.99812872e-01 1.79057656e-02 -7.32147128e-03 5.85316191e+01] [-1.79024965e-02 9.99839606e-01 5.11805353e-04 -3.55904949e+00] [ 7.32946123e-03 -3.80636966e-04 9.99973067e-01 -1.21851878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.552414037 meters 0.08056525892126068 Centerline is valid? [True, True] Translation: X:58.56, Y:-3.56, Z:-1.22 [[ 9.99858441e-01 1.46023894e-02 -8.35874622e-03 5.85618386e+01] [-1.45980052e-02 9.99893272e-01 5.85277840e-04 -3.56395038e+00] [ 8.36640056e-03 -4.63173968e-04 9.99964894e-01 -1.21927986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.582414037 meters 0.0811538544364221 Centerline is valid? [True, True] Translation: X:58.59, Y:-3.57, Z:-1.22 [[ 9.99875531e-01 1.28797491e-02 -9.11233789e-03 5.85915427e+01] [-1.28744779e-02 9.99916918e-01 6.36896774e-04 -3.56702157e+00] [ 9.11978389e-03 -5.19500908e-04 9.99958279e-01 -1.22032607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.612414037 meters 0.0805116948387851 Centerline is valid? [True, True] Translation: X:58.62, Y:-3.57, Z:-1.22 [[ 9.99884864e-01 1.19039168e-02 -9.41034899e-03 5.86205573e+01] [-1.18982661e-02 9.99928998e-01 6.56230245e-04 -3.56733483e+00] [ 9.41749255e-03 -5.44187853e-04 9.99955506e-01 -1.21915759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.642414037 meters 0.08065642832702366 Centerline is valid? [True, True] Translation: X:58.65, Y:-3.57, Z:-1.22 [[ 9.99894037e-01 1.08623147e-02 -9.69149608e-03 5.86493880e+01] [-1.08562785e-02 9.99940841e-01 6.75223290e-04 -3.57041360e+00] [ 9.69825723e-03 -5.69938161e-04 9.99952808e-01 -1.22031248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.672414036999996 meters 0.08109145095547474 Centerline is valid? [True, True] Translation: X:58.68, Y:-3.58, Z:-1.22 [[ 9.99911776e-01 9.90176422e-03 -8.85412540e-03 5.86780374e+01] [-9.89669517e-03 9.99950837e-01 6.16139537e-04 -3.57571840e+00] [ 8.85979097e-03 -5.28458599e-04 9.99960612e-01 -1.22178707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.702414037 meters 0.08143060192152168 Centerline is valid? [True, True] Translation: X:58.71, Y:-3.58, Z:-1.22 [[ 9.99915121e-01 9.66828088e-03 -8.73352273e-03 5.87055181e+01] [-9.66335036e-03 9.99953125e-01 6.06574116e-04 -3.57865520e+00] [ 8.73897787e-03 -5.22127541e-04 9.99961678e-01 -1.22353494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.732414037 meters 0.08169333784252081 Centerline is valid? [True, True] Translation: X:58.73, Y:-3.58, Z:-1.22 [[ 9.99912686e-01 9.92092550e-03 -8.72898619e-03 5.87334883e+01] [-9.91602465e-03 9.99950652e-01 6.04546113e-04 -3.58071671e+00] [ 8.73455309e-03 -5.17936486e-04 9.99961719e-01 -1.22356750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.762414037 meters 0.08147469070456853 Centerline is valid? [True, True] Translation: X:58.76, Y:-3.58, Z:-1.22 [[ 9.99911550e-01 1.07648115e-02 -7.81091804e-03 5.87623817e+01] [-1.07609102e-02 9.99941953e-01 5.41317295e-04 -3.58223015e+00] [ 7.81629182e-03 -4.57216828e-04 9.99969348e-01 -1.22373650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.792414037 meters 0.08129091202830327 Centerline is valid? [True, True] Translation: X:58.79, Y:-3.58, Z:-1.22 [[ 9.99894604e-01 1.14644874e-02 -8.90763680e-03 5.87906690e+01] [-1.14594445e-02 9.99934148e-01 6.16970051e-04 -3.58356503e+00] [ 8.91412346e-03 -5.14828456e-04 9.99960136e-01 -1.22433330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.822414037 meters 0.08164630127221557 Centerline is valid? [True, True] Translation: X:58.82, Y:-3.59, Z:-1.23 [[ 9.99876467e-01 1.23080056e-02 -9.77563057e-03 5.88188269e+01] [-1.23019767e-02 9.99924099e-01 6.76623960e-04 -3.58655407e+00] [ 9.78321649e-03 -5.56280795e-04 9.99951988e-01 -1.22627064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.852414036999996 meters 0.07946365913644346 Centerline is valid? [True, True] Translation: X:58.85, Y:-3.58, Z:-1.22 [[ 9.99874060e-01 1.18872346e-02 -1.05146627e-02 5.88475720e+01] [-1.18802505e-02 9.99929163e-01 7.26439127e-04 -3.58201957e+00] [ 1.05225533e-02 -6.01430811e-04 9.99944456e-01 -1.22341390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.882414037 meters 0.07956497687740934 Centerline is valid? [True, True] Translation: X:58.88, Y:-3.58, Z:-1.22 [[ 9.99883373e-01 1.13144236e-02 -1.02578943e-02 5.88761641e+01] [-1.13077498e-02 9.99935814e-01 7.08369099e-04 -3.58472894e+00] [ 1.02652507e-02 -5.92292782e-04 9.99947136e-01 -1.22423080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.912414037 meters 0.08083657752456437 Centerline is valid? [True, True] Translation: X:58.90, Y:-3.59, Z:-1.23 [[ 9.99890556e-01 1.04932907e-02 -1.04291421e-02 5.89036999e+01] [-1.04863613e-02 9.99944758e-01 7.18893708e-04 -3.59080434e+00] [ 1.04361096e-02 -6.09451276e-04 9.99945357e-01 -1.22654702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.942414037 meters 0.08140641442891422 Centerline is valid? [True, True] Translation: X:58.93, Y:-3.59, Z:-1.23 [[ 9.99910781e-01 9.78285083e-03 -9.09533202e-03 5.89310125e+01] [-9.77757130e-03 9.99952003e-01 6.24752546e-04 -3.59472931e+00] [ 9.10100733e-03 -5.35766549e-04 9.99958441e-01 -1.22787145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.972414037 meters 0.08349498166506768 Centerline is valid? [True, True] Translation: X:58.96, Y:-3.60, Z:-1.23 [[ 9.99918696e-01 9.68134032e-03 -8.29896176e-03 5.89580804e+01] [-9.67694173e-03 9.99953015e-01 5.70008364e-04 -3.60228134e+00] [ 8.30409028e-03 -4.89653451e-04 9.99965401e-01 -1.23125558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.002414037 meters 0.08060896667341512 Centerline is valid? [True, True] Translation: X:58.99, Y:-3.60, Z:-1.23 [[ 9.99909606e-01 8.99601701e-03 -9.99258962e-03 5.89881262e+01] [-8.98959231e-03 9.99959356e-01 6.87676820e-04 -3.59652978e+00] [ 9.99836984e-03 -5.97785351e-04 9.99949836e-01 -1.22731318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.032414037 meters 0.08092433270538303 Centerline is valid? [True, True] Translation: X:59.02, Y:-3.60, Z:-1.23 [[ 9.99915707e-01 8.44007525e-03 -9.86628933e-03 5.90165270e+01] [-8.43380041e-03 9.99964205e-01 6.77422538e-04 -3.59798952e+00] [ 9.87165367e-03 -5.94155121e-04 9.99951098e-01 -1.22794673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.062414036999996 meters 0.07970092889762927 Centerline is valid? [True, True] Translation: X:59.05, Y:-3.60, Z:-1.23 [[ 9.99919022e-01 8.10956465e-03 -9.80738153e-03 5.90451752e+01] [-8.10335607e-03 9.99966941e-01 6.72623459e-04 -3.59688880e+00] [ 9.81251199e-03 -5.93096286e-04 9.99951680e-01 -1.22649732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.092414037 meters 0.08143220378123 Centerline is valid? [True, True] Translation: X:59.07, Y:-3.60, Z:-1.23 [[ 9.99927616e-01 7.20416733e-03 -9.63652155e-03 5.90719426e+01] [-7.19814764e-03 9.99973876e-01 6.59213098e-04 -3.60470628e+00] [ 9.64101889e-03 -5.89800277e-04 9.99953350e-01 -1.23103433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.122414037 meters 0.08190501357335332 Centerline is valid? [True, True] Translation: X:59.10, Y:-3.61, Z:-1.23 [[ 9.99934742e-01 6.38744905e-03 -9.47166099e-03 5.90992162e+01] [-6.38160165e-03 9.99979428e-01 6.47452253e-04 -3.60787880e+00] [ 9.47560170e-03 -5.86965634e-04 9.99954933e-01 -1.23197775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.152414037 meters 0.08236487017686603 Centerline is valid? [True, True] Translation: X:59.13, Y:-3.61, Z:-1.23 [[ 9.99940830e-01 5.59588320e-03 -9.32861076e-03 5.91280364e+01] [-5.59017876e-03 9.99984172e-01 6.37462490e-04 -3.61057507e+00] [ 9.33203027e-03 -5.85276170e-04 9.99956284e-01 -1.23232962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.182414037 meters 0.08202197139930054 Centerline is valid? [True, True] Translation: X:59.16, Y:-3.61, Z:-1.23 [[ 9.99943142e-01 4.05348432e-03 -9.86318696e-03 5.91576929e+01] [-4.04702668e-03 9.99991583e-01 6.74592530e-04 -3.61023443e+00] [ 9.86583840e-03 -6.34637593e-04 9.99951130e-01 -1.23135250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.212414037 meters 0.08199427936924407 Centerline is valid? [True, True] Translation: X:59.19, Y:-3.61, Z:-1.23 [[ 9.99946709e-01 1.55750181e-03 -1.02055281e-02 5.91880340e+01] [-1.55045578e-03 9.99998554e-01 6.98288836e-04 -3.61185514e+00] [ 1.02066009e-02 -6.82428404e-04 9.99947678e-01 -1.23148276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.242414036999996 meters 0.0832053918633432 Centerline is valid? [True, True] Translation: X:59.22, Y:-3.62, Z:-1.23 [[ 9.99938153e-01 2.82134297e-04 -1.11180528e-02 5.92157358e+01] [-2.73715384e-04 9.99999675e-01 7.58743433e-04 -3.61701126e+00] [ 1.11182633e-02 -7.55653324e-04 9.99937905e-01 -1.23434676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.272414037 meters 0.08317783270480289 Centerline is valid? [True, True] Translation: X:59.24, Y:-3.62, Z:-1.24 [[ 9.99941157e-01 -6.54004454e-04 -1.08283865e-02 5.92440057e+01] [ 6.62029303e-04 9.99999509e-01 7.37525784e-04 -3.61876530e+00] [ 1.08278988e-02 -7.44651095e-04 9.99941099e-01 -1.23501989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.302414037 meters 0.08730355645402896 Centerline is valid? [True, True] Translation: X:59.27, Y:-3.63, Z:-1.24 [[ 9.99938559e-01 -3.12864571e-03 -1.06343647e-02 5.92726186e+01] [ 3.13654110e-03 9.99994818e-01 7.25843773e-04 -3.62976534e+00] [ 1.06320387e-02 -7.59154298e-04 9.99943190e-01 -1.23994111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.332414037 meters 0.08564953675409907 Centerline is valid? [True, True] Translation: X:59.30, Y:-3.63, Z:-1.24 [[ 9.99950285e-01 -4.02273154e-03 -9.12386436e-03 5.93012199e+01] [ 4.02849934e-03 9.99991697e-01 6.13876456e-04 -3.62667279e+00] [ 9.12131915e-03 -6.50601419e-04 9.99958188e-01 -1.23731226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.362414037 meters 0.08367200658756759 Centerline is valid? [True, True] Translation: X:59.33, Y:-3.62, Z:-1.24 [[ 9.99942885e-01 -5.36728785e-03 -9.24221112e-03 5.93302204e+01] [ 5.37324952e-03 9.99985372e-01 6.20337809e-04 -3.62277919e+00] [ 9.23874639e-03 -6.69963085e-04 9.99957097e-01 -1.23515397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.392414037 meters 0.08281533123296957 Centerline is valid? [True, True] Translation: X:59.36, Y:-3.62, Z:-1.23 [[ 9.99953914e-01 -6.24866282e-03 -7.28863386e-03 5.93592002e+01] [ 6.25237029e-03 9.99980336e-01 4.85988890e-04 -3.62082901e+00] [ 7.28545375e-03 -5.31537731e-04 9.99973319e-01 -1.23460728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.422414036999996 meters 0.08363667689824683 Centerline is valid? [True, True] Translation: X:59.39, Y:-3.62, Z:-1.24 [[ 9.99941990e-01 -7.40385273e-03 -7.82307434e-03 5.93875709e+01] [ 7.40819813e-03 9.99972420e-01 5.26626665e-04 -3.62450180e+00] [ 7.81895951e-03 -5.84551000e-04 9.99969261e-01 -1.23625456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.452414037 meters 0.08511812737240275 Centerline is valid? [True, True] Translation: X:59.42, Y:-3.63, Z:-1.24 [[ 9.99921591e-01 -9.36974567e-03 -8.30782869e-03 5.94162268e+01] [ 9.37472291e-03 9.99955899e-01 5.60362225e-04 -3.62937966e+00] [ 8.30221186e-03 -6.38201879e-04 9.99965332e-01 -1.23869743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.482414037 meters 0.08621082044450501 Centerline is valid? [True, True] Translation: X:59.44, Y:-3.63, Z:-1.24 [[ 9.99911108e-01 -1.01964104e-02 -8.59122791e-03 5.94444662e+01] [ 1.02017505e-02 9.99947794e-01 5.77977894e-04 -3.63227459e+00] [ 8.58488610e-03 -6.65572080e-04 9.99962928e-01 -1.24080093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.512414037 meters 0.08606055898674571 Centerline is valid? [True, True] Translation: X:59.47, Y:-3.63, Z:-1.24 [[ 9.99902118e-01 -1.07703104e-02 -8.93055435e-03 5.94744998e+01] [ 1.07761051e-02 9.99941755e-01 6.00989112e-04 -3.63165710e+00] [ 8.92356135e-03 -6.97166878e-04 9.99959941e-01 -1.24022138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.542414037 meters 0.0855747887052606 Centerline is valid? [True, True] Translation: X:59.50, Y:-3.63, Z:-1.24 [[ 9.99891910e-01 -1.13360357e-02 -9.36288361e-03 5.95041593e+01] [ 1.13424269e-02 9.99935474e-01 6.29796810e-04 -3.63005772e+00] [ 9.35514007e-03 -7.35926558e-04 9.99955969e-01 -1.24039952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.572414037 meters 0.08791930317971479 Centerline is valid? [True, True] Translation: X:59.53, Y:-3.64, Z:-1.24 [[ 9.99883316e-01 -1.14622667e-02 -1.00980986e-02 5.95321166e+01] [ 1.14696987e-02 9.99933991e-01 6.78374366e-04 -3.63544399e+00] [ 1.00896563e-02 -7.94117358e-04 9.99948783e-01 -1.24302857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.602414036999996 meters 0.08694875287241263 Centerline is valid? [True, True] Translation: X:59.56, Y:-3.63, Z:-1.24 [[ 9.99881485e-01 -1.25197185e-02 -8.95944947e-03 5.95619469e+01] [ 1.25256110e-02 9.99921370e-01 6.01870670e-04 -3.63300091e+00] [ 8.95120974e-03 -7.14021918e-04 9.99959682e-01 -1.24246137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.632414037 meters 0.08501961530228629 Centerline is valid? [True, True] Translation: X:59.59, Y:-3.63, Z:-1.24 [[ 9.99890201e-01 -1.24527722e-02 -8.03209658e-03 5.95924070e+01] [ 1.24575120e-02 9.99922256e-01 5.40348160e-04 -3.62977440e+00] [ 8.02474330e-03 -6.40348769e-04 9.99967596e-01 -1.24089583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.662414037 meters 0.08922413800981316 Centerline is valid? [True, True] Translation: X:59.62, Y:-3.64, Z:-1.25 [[ 9.99887846e-01 -1.26613091e-02 -7.99916665e-03 5.96207409e+01] [ 1.26660122e-02 9.99919638e-01 5.37554329e-04 -3.63951072e+00] [ 7.99171769e-03 -6.38811582e-04 9.99967862e-01 -1.24596548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.692414037 meters 0.0872667678951596 Centerline is valid? [True, True] Translation: X:59.65, Y:-3.64, Z:-1.24 [[ 9.99888049e-01 -1.29438295e-02 -7.50639982e-03 5.96518633e+01] [ 1.29479820e-02 9.99916044e-01 5.04852920e-04 -3.63520511e+00] [ 7.49923488e-03 -6.01989131e-04 9.99971699e-01 -1.24434790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.722414037 meters 0.08804847014125983 Centerline is valid? [True, True] Translation: X:59.68, Y:-3.63, Z:-1.25 [[ 9.99870784e-01 -1.38546826e-02 -8.15248113e-03 5.96821527e+01] [ 1.38596153e-02 9.99903800e-01 5.48870277e-04 -3.63474126e+00] [ 8.14409244e-03 -6.61789606e-04 9.99966617e-01 -1.24523100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.752414037 meters 0.0884274284230059 Centerline is valid? [True, True] Translation: X:59.71, Y:-3.64, Z:-1.25 [[ 9.99857128e-01 -1.48011245e-02 -8.16391796e-03 5.97129757e+01] [ 1.48060989e-02 9.99890233e-01 5.49212166e-04 -3.63564152e+00] [ 8.15489287e-03 -6.70009476e-04 9.99966524e-01 -1.24609127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.782414037 meters 0.08919145106267955 Centerline is valid? [True, True] Translation: X:59.74, Y:-3.64, Z:-1.25 [[ 9.99848747e-01 -1.56836053e-02 -7.51711204e-03 5.97445561e+01] [ 1.56878558e-02 9.99876810e-01 5.06800916e-04 -3.63874775e+00] [ 7.50823754e-03 -6.24651631e-04 9.99971618e-01 -1.24732800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.812414036999996 meters 0.08938765555964011 Centerline is valid? [True, True] Translation: X:59.77, Y:-3.64, Z:-1.25 [[ 9.99793863e-01 -1.89503340e-02 -7.28811872e-03 5.97748795e+01] [ 1.89544103e-02 9.99820229e-01 4.90637661e-04 -3.63940475e+00] [ 7.27751078e-03 -6.28678514e-04 9.99973321e-01 -1.24800346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.842414037 meters 0.09133530438837854 Centerline is valid? [True, True] Translation: X:59.81, Y:-3.64, Z:-1.25 [[ 9.99775796e-01 -2.02419122e-02 -6.21472040e-03 5.98059277e+01] [ 2.02449105e-02 9.99794963e-01 4.19913464e-04 -3.64429274e+00] [ 6.20494630e-03 -5.45635776e-04 9.99980600e-01 -1.24911009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.872414037 meters 0.08942746934985965 Centerline is valid? [True, True] Translation: X:59.84, Y:-3.64, Z:-1.25 [[ 9.99751900e-01 -2.16482390e-02 -5.24329264e-03 5.98380183e+01] [ 2.16503949e-02 9.99765540e-01 3.54772488e-04 -3.64072585e+00] [ 5.23438310e-03 -4.68203825e-04 9.99986191e-01 -1.24684902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.902414037 meters 0.09426384288824083 Centerline is valid? [True, True] Translation: X:59.87, Y:-3.65, Z:-1.25 [[ 9.99732436e-01 -2.26606096e-02 -4.64262100e-03 5.98681301e+01] [ 2.26623220e-02 9.99743126e-01 3.16559205e-04 -3.65032377e+00] [ 4.63425501e-03 -4.21687077e-04 9.99989173e-01 -1.24994427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.932414037 meters 0.0906324911526997 Centerline is valid? [True, True] Translation: X:59.90, Y:-3.64, Z:-1.25 [[ 9.99704254e-01 -2.40123551e-02 -3.84858554e-03 5.99012351e+01] [ 2.40135398e-02 9.99711599e-01 2.61903663e-04 -3.64260258e+00] [ 3.84118668e-03 -3.54244368e-04 9.99992560e-01 -1.24788516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.962414037 meters 0.09206517861202658 Centerline is valid? [True, True] Translation: X:59.93, Y:-3.64, Z:-1.25 [[ 9.99641126e-01 -2.64111333e-02 -4.48008129e-03 5.99314753e+01] [ 2.64127546e-02 9.99651076e-01 3.03105581e-04 -3.64355301e+00] [ 4.47051272e-03 -4.21328092e-04 9.99989918e-01 -1.24909283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.992414036999996 meters 0.09206517861202658 Centerline is valid? [True, True] Translation: X:59.96, Y:-3.65, Z:-1.25 [[ 9.99642915e-01 -2.63433449e-02 -4.47995840e-03 5.99632361e+01] [ 2.63449736e-02 9.99652864e-01 3.04922319e-04 -3.64577078e+00] [ 4.47037057e-03 -4.22837822e-04 9.99989918e-01 -1.24990647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02241403699999 meters 0.09353604037982288 Centerline is valid? [True, True] Translation: X:59.99, Y:-3.65, Z:-1.25 [[ 9.99627356e-01 -2.69314494e-02 -4.45496185e-03 5.99938064e+01] [ 2.69330626e-02 9.99637193e-01 3.02510914e-04 -3.64981463e+00] [ 4.44519850e-03 -4.22383951e-04 9.99990031e-01 -1.25178574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05241403699999 meters 0.09446526967635094 Centerline is valid? [True, True] Translation: X:60.03, Y:-3.65, Z:-1.25 [[ 9.99603745e-01 -2.78423498e-02 -4.14214288e-03 6.00261046e+01] [ 2.78437570e-02 9.99612248e-01 2.82441443e-04 -3.65287443e+00] [ 4.13267292e-03 -3.97662344e-04 9.99991381e-01 -1.25365532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08241403699999 meters 0.09478105080866583 Centerline is valid? [True, True] Translation: X:60.06, Y:-3.65, Z:-1.26 [[ 9.99609511e-01 -2.76735265e-02 -3.87304609e-03 6.00577800e+01] [ 2.76747569e-02 9.99616946e-01 2.64451591e-04 -3.65479583e+00] [ 3.86424420e-03 -3.71533935e-04 9.99992465e-01 -1.25514301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.112414037 meters 0.09352584446134521 Centerline is valid? [True, True] Translation: X:60.09, Y:-3.65, Z:-1.25 [[ 9.99652558e-01 -2.61129271e-02 -3.58871877e-03 6.00901164e+01] [ 2.61139731e-02 9.99658942e-01 2.44904030e-04 -3.64913105e+00] [ 3.58109965e-03 -3.38534646e-04 9.99993531e-01 -1.25425859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.142414037 meters 0.09567417784152543 Centerline is valid? [True, True] Translation: X:60.12, Y:-3.65, Z:-1.26 [[ 9.99679429e-01 -2.50878567e-02 -3.41146717e-03 6.01200107e+01] [ 2.50887935e-02 9.99685200e-01 2.32096790e-04 -3.65230753e+00] [ 3.40457043e-03 -3.17611983e-04 9.99994154e-01 -1.25573692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.172414037 meters 0.08948960350619548 Centerline is valid? [True, True] Translation: X:60.15, Y:-3.64, Z:-1.25 [[ 9.99744794e-01 -2.23331640e-02 -3.40257952e-03 6.01516120e+01] [ 2.23340791e-02 9.99750537e-01 2.31201354e-04 -3.63724661e+00] [ 3.39656724e-03 -3.07135830e-04 9.99994184e-01 -1.25297443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.202414037 meters 0.08918928020252027 Centerline is valid? [True, True] Translation: X:60.18, Y:-3.64, Z:-1.25 [[ 9.99785615e-01 -2.05365271e-02 -2.64121056e-03 6.01820583e+01] [ 2.05370720e-02 9.99789076e-01 1.79374824e-04 -3.63711214e+00] [ 2.63696973e-03 -2.33579100e-04 9.99996496e-01 -1.25383795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.232414037 meters 0.09288422934223502 Centerline is valid? [True, True] Translation: X:60.21, Y:-3.65, Z:-1.26 [[ 9.99811931e-01 -1.93132487e-02 -1.76089599e-03 6.02123891e+01] [ 1.93134907e-02 9.99813470e-01 1.20513415e-04 -3.64538616e+00] [ 1.75824003e-03 -1.54499798e-04 9.99998442e-01 -1.25681801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26241403699999 meters 0.09219950803991528 Centerline is valid? [True, True] Translation: X:60.24, Y:-3.64, Z:-1.26 [[ 9.99834573e-01 -1.80589937e-02 -2.16771624e-03 6.02443235e+01] [ 1.80593581e-02 9.99836905e-01 1.48643369e-04 -3.64476407e+00] [ 2.16467834e-03 -1.87766343e-04 9.99997639e-01 -1.25707480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29241403699999 meters 0.08757885331945507 Centerline is valid? [True, True] Translation: X:60.28, Y:-3.63, Z:-1.26 [[ 9.99870215e-01 -1.58730063e-02 -2.75698045e-03 6.02760269e+01] [ 1.58735844e-02 9.99873989e-01 1.87945781e-04 -3.63297910e+00] [ 2.75364977e-03 -2.31684550e-04 9.99996182e-01 -1.25592487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32241403699999 meters 0.08801774426537344 Centerline is valid? [True, True] Translation: X:60.31, Y:-3.63, Z:-1.26 [[ 9.99890999e-01 -1.46522940e-02 -1.81682861e-03 6.03064088e+01] [ 1.46525476e-02 9.99892638e-01 1.26338879e-04 -3.63359932e+00] [ 1.81478239e-03 -1.52946275e-04 9.99998342e-01 -1.25719286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35241403699999 meters 0.08775081291520764 Centerline is valid? [True, True] Translation: X:60.34, Y:-3.63, Z:-1.26 [[ 9.99887996e-01 -1.44015262e-02 -4.07316519e-03 6.03385653e+01] [ 1.44027832e-02 9.99896235e-01 2.79450736e-04 -3.63300984e+00] [ 4.06871802e-03 -3.38084352e-04 9.99991666e-01 -1.25862861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38241403699999 meters 0.08808816122025655 Centerline is valid? [True, True] Translation: X:60.37, Y:-3.63, Z:-1.26 [[ 9.99902587e-01 -1.34004811e-02 -3.90428501e-03 6.03690754e+01] [ 1.34016239e-02 9.99910159e-01 2.66700222e-04 -3.63447293e+00] [ 3.90036033e-03 -3.18998001e-04 9.99992343e-01 -1.26067335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41241403699999 meters 0.08532969771317368 Centerline is valid? [True, True] Translation: X:60.40, Y:-3.63, Z:-1.26 [[ 9.99903760e-01 -1.31699409e-02 -4.36153147e-03 6.04023309e+01] [ 1.31713719e-02 9.99913209e-01 2.99546020e-04 -3.62709480e+00] [ 4.35720793e-03 -3.56964545e-04 9.99990444e-01 -1.26112573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44241403699999 meters 0.08677438378249701 Centerline is valid? [True, True] Translation: X:60.43, Y:-3.63, Z:-1.26 [[ 9.99904651e-01 -1.32577870e-02 -3.86266044e-03 6.04337555e+01] [ 1.32589099e-02 9.99912062e-01 2.65234674e-04 -3.63120710e+00] [ 3.85880434e-03 -3.16424051e-04 9.99992505e-01 -1.26229708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.472414037 meters 0.08898392726966602 Centerline is valid? [True, True] Translation: X:60.46, Y:-3.64, Z:-1.26 [[ 9.99898902e-01 -1.40336171e-02 -2.28975258e-03 6.04649513e+01] [ 1.40340151e-02 9.99901506e-01 1.57858010e-04 -3.63669878e+00] [ 2.28731174e-03 -1.89976473e-04 9.99997366e-01 -1.26367334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.502414037 meters 0.08710316713939392 Centerline is valid? [True, True] Translation: X:60.50, Y:-3.63, Z:-1.26 [[ 9.99885379e-01 -1.51297849e-02 5.65093220e-04 6.04977512e+01] [ 1.51298082e-02 9.99885537e-01 -3.69268816e-05 -3.63165176e+00] [-5.64469842e-04 4.54724010e-05 9.99999840e-01 -1.26008727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.532414037 meters 0.08904986828037402 Centerline is valid? [True, True] Translation: X:60.53, Y:-3.64, Z:-1.26 [[ 9.99864672e-01 -1.64478831e-02 3.24838830e-04 6.05273690e+01] [ 1.64478905e-02 9.99864724e-01 -2.01069877e-05 -3.63615668e+00] [-3.24464170e-04 2.54471802e-05 9.99999947e-01 -1.26091663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.562414037 meters 0.08926179344303341 Centerline is valid? [True, True] Translation: X:60.56, Y:-3.64, Z:-1.26 [[ 9.99848869e-01 -1.73692417e-02 7.40031470e-04 6.05591123e+01] [ 1.73692831e-02 9.99849141e-01 -4.94596226e-05 -3.63737893e+00] [-7.39060754e-04 6.23059639e-05 9.99999725e-01 -1.26207938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.592414037 meters 0.08893477026838931 Centerline is valid? [True, True] Translation: X:60.59, Y:-3.64, Z:-1.26 [[ 9.99832312e-01 -1.83012336e-02 6.42184937e-04 6.05912196e+01] [ 1.83012645e-02 9.99832517e-01 -4.23500819e-05 -3.63795165e+00] [-6.41302323e-04 5.40957767e-05 9.99999793e-01 -1.26203079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.622414037 meters 0.0906313769040597 Centerline is valid? [True, True] Translation: X:60.62, Y:-3.64, Z:-1.26 [[ 9.99780082e-01 -2.09710172e-02 -6.24925641e-05 6.06203424e+01] [ 2.09710175e-02 9.99780084e-01 4.73601839e-06 -3.64122314e+00] [ 6.23795019e-05 -6.04550951e-06 9.99999998e-01 -1.26368029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65241403699999 meters 0.09146265501882142 Centerline is valid? [True, True] Translation: X:60.65, Y:-3.64, Z:-1.26 [[ 9.99756283e-01 -2.20651801e-02 7.09078745e-04 6.06519912e+01] [ 2.20652192e-02 9.99756532e-01 -4.74333221e-05 -3.64388481e+00] [-7.07859482e-04 6.30677397e-05 9.99999747e-01 -1.26470554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68241403699999 meters 0.09285149298760026 Centerline is valid? [True, True] Translation: X:60.68, Y:-3.65, Z:-1.27 [[ 9.99722553e-01 -2.35480298e-02 5.54066421e-04 6.06824807e+01] [ 2.35480543e-02 9.99722705e-01 -3.76555009e-05 -3.64821125e+00] [-5.53026069e-04 5.06922396e-05 9.99999846e-01 -1.26531406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71241403699999 meters 0.09418278838385986 Centerline is valid? [True, True] Translation: X:60.71, Y:-3.65, Z:-1.27 [[ 9.99695103e-01 -2.46921081e-02 8.59670230e-06 6.07122707e+01] [ 2.46921082e-02 9.99695103e-01 -5.90848116e-07 -3.65192175e+00] [-8.57949193e-06 8.02938672e-07 1.00000000e+00 -1.26679961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74241403699999 meters 0.09633251610272567 Centerline is valid? [True, True] Translation: X:60.74, Y:-3.66, Z:-1.27 [[ 9.99653655e-01 -2.62527751e-02 -1.83363500e-03 6.07422095e+01] [ 2.62530529e-02 9.99655321e-01 1.27598340e-04 -3.65609074e+00] [ 1.82965318e-03 -1.75692664e-04 9.99998311e-01 -1.27055478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77241403699999 meters 0.0973583149694363 Centerline is valid? [True, True] Translation: X:60.77, Y:-3.66, Z:-1.27 [[ 9.99648546e-01 -2.64055456e-02 -2.35191983e-03 6.07727380e+01] [ 2.64060008e-02 9.99651288e-01 1.62693240e-04 -3.65912655e+00] [ 2.34680368e-03 -2.24740858e-04 9.99997221e-01 -1.27376579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80241403699999 meters 0.09825902549373952 Centerline is valid? [True, True] Translation: X:60.80, Y:-3.66, Z:-1.28 [[ 9.99651122e-01 -2.61666480e-02 -3.59734972e-03 6.08043091e+01] [ 2.61677136e-02 9.99657536e-01 2.49455425e-04 -3.66236477e+00] [ 3.58959034e-03 -3.43502813e-04 9.99993498e-01 -1.27623815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83241403699999 meters 0.10073711367852509 Centerline is valid? [True, False] Translation: X:60.80, Y:-3.66, Z:-1.28 [[ 9.99647695e-01 -2.62941345e-02 -3.61988298e-03 6.08044783e+01] [ 2.62941324e-02 9.99654248e-01 -4.81828033e-05 -3.66125178e+00] [ 3.61989832e-03 -4.70158539e-05 9.99993447e-01 -1.27643121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.862414037 meters 0.095534018629549 Centerline is valid? [False, True] Translation: X:60.80, Y:-3.66, Z:-1.28 [[ 9.99670204e-01 -2.05106377e-02 1.54530677e-02 6.07968084e+01] [ 2.05323992e-02 9.99788406e-01 -1.25087819e-03 -3.66049517e+00] [-1.54241417e-02 1.56775421e-03 9.99879812e-01 -1.28423845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.892414037 meters 0.0912693537626568 Centerline is valid? [True, True] Translation: X:60.83, Y:-3.65, Z:-1.28 [[ 9.99681994e-01 -1.92095618e-02 1.63371787e-02 6.08293511e+01] [ 1.92313084e-02 9.99814371e-01 -1.17503374e-03 -3.65329361e+00] [-1.63115742e-02 1.48884540e-03 9.99865849e-01 -1.28312368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.922414037 meters 0.09148054678124454 Centerline is valid? [True, True] Translation: X:60.86, Y:-3.65, Z:-1.28 [[ 9.99678743e-01 -1.81813496e-02 1.76592804e-02 6.08613218e+01] [ 1.82066192e-02 9.99833438e-01 -1.27122299e-03 -3.65497923e+00] [-1.76332265e-02 1.59233040e-03 9.99843255e-01 -1.28420886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.952414037 meters 0.09139016032300404 Centerline is valid? [True, True] Translation: X:60.89, Y:-3.66, Z:-1.29 [[ 9.99701816e-01 -1.74354159e-02 1.70963616e-02 6.08938216e+01] [ 1.74589305e-02 9.99846828e-01 -1.22711750e-03 -3.65657359e+00] [-1.70723476e-02 1.52523578e-03 9.99853094e-01 -1.28533046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.982414037 meters 0.09265082392882933 Centerline is valid? [True, True] Translation: X:60.93, Y:-3.66, Z:-1.29 [[ 9.99723664e-01 -1.64928814e-02 1.67505500e-02 6.09252176e+01] [ 1.65153933e-02 9.99862884e-01 -1.20650175e-03 -3.66019672e+00] [-1.67283546e-02 1.48281027e-03 9.99858972e-01 -1.28741812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01241403699999 meters 0.08945792520202514 Centerline is valid? [True, True] Translation: X:60.96, Y:-3.66, Z:-1.29 [[ 9.99738201e-01 -1.62558326e-02 1.61021187e-02 6.09588071e+01] [ 1.62767010e-02 9.99866846e-01 -1.16578877e-03 -3.65560925e+00] [-1.60810237e-02 1.42757294e-03 9.99869673e-01 -1.28723814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04241403699999 meters 0.09247907403538096 Centerline is valid? [True, True] Translation: X:60.99, Y:-3.66, Z:-1.29 [[ 9.99744856e-01 -1.52197269e-02 1.66908177e-02 6.09888474e+01] [ 1.52420723e-02 9.99883098e-01 -1.21238479e-03 -3.66296762e+00] [-1.66704144e-02 1.46647810e-03 9.99859964e-01 -1.28928902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07241403699999 meters 0.09057897921142503 Centerline is valid? [True, True] Translation: X:61.02, Y:-3.66, Z:-1.29 [[ 9.99742400e-01 -1.50697061e-02 1.69716903e-02 6.10215411e+01] [ 1.50927733e-02 9.99885339e-01 -1.23188706e-03 -3.66072001e+00] [-1.69511802e-02 1.48771960e-03 9.99855212e-01 -1.28937795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10241403699999 meters 0.0909073832971364 Centerline is valid? [True, True] Translation: X:61.05, Y:-3.66, Z:-1.29 [[ 9.99753849e-01 -1.49455627e-02 1.63973217e-02 6.10538811e+01] [ 1.49670951e-02 9.99887277e-01 -1.19122425e-03 -3.66353013e+00] [-1.63776699e-02 1.43635131e-03 9.99864845e-01 -1.29062964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13241403699999 meters 0.09203238838444021 Centerline is valid? [True, True] Translation: X:61.08, Y:-3.67, Z:-1.29 [[ 9.99773055e-01 -1.47555314e-02 1.53659756e-02 6.10845988e+01] [ 1.47744073e-02 9.99890230e-01 -1.11562111e-03 -3.66776573e+00] [-1.53478273e-02 1.34239111e-03 9.99881314e-01 -1.29260188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16241403699999 meters 0.0917738526261925 Centerline is valid? [True, True] Translation: X:61.12, Y:-3.67, Z:-1.29 [[ 9.99774811e-01 -1.43752721e-02 1.56102308e-02 6.11169102e+01] [ 1.43947635e-02 9.99895744e-01 -1.13698375e-03 -3.66933068e+00] [-1.55922589e-02 1.36143329e-03 9.99877506e-01 -1.29493451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19241403699999 meters 0.09047610832627788 Centerline is valid? [True, True] Translation: X:61.15, Y:-3.67, Z:-1.30 [[ 9.99805026e-01 -1.43706767e-02 1.35422627e-02 6.11493213e+01] [ 1.43853521e-02 9.99896038e-01 -9.86885926e-04 -3.66900257e+00] [-1.35266727e-02 1.18150373e-03 9.99907812e-01 -1.29749907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.222414037 meters 0.09179564907224638 Centerline is valid? [True, True] Translation: X:61.18, Y:-3.67, Z:-1.30 [[ 9.99800937e-01 -1.47754051e-02 1.34080095e-02 6.11805127e+01] [ 1.47897835e-02 9.99890151e-01 -9.73847832e-04 -3.67413279e+00] [-1.33921476e-02 1.17195553e-03 9.99909634e-01 -1.29981139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.252414037 meters 0.09137801351286302 Centerline is valid? [True, True] Translation: X:61.21, Y:-3.68, Z:-1.30 [[ 9.99792890e-01 -1.49218393e-02 1.38389039e-02 6.12128193e+01] [ 1.49372739e-02 9.99887920e-01 -1.01260479e-03 -3.67645758e+00] [-1.38222429e-02 1.21911056e-03 9.99903725e-01 -1.30098434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.282414037 meters 0.09626172442475586 Centerline is valid? [True, True] Translation: X:61.24, Y:-3.69, Z:-1.30 [[ 9.99764917e-01 -1.45274433e-02 1.60954856e-02 6.12432527e+01] [ 1.45482368e-02 9.99893478e-01 -1.17554265e-03 -3.68858910e+00] [-1.60766935e-02 1.40942724e-03 9.99869768e-01 -1.30295955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.312414037 meters 0.09253142302413471 Centerline is valid? [True, True] Translation: X:61.28, Y:-3.68, Z:-1.30 [[ 9.99761160e-01 -1.40892699e-02 1.67067687e-02 6.12765551e+01] [ 1.41117331e-02 9.99899671e-01 -1.22742879e-03 -3.68332285e+00] [-1.66877989e-02 1.46289709e-03 9.99859679e-01 -1.30132061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.342414037 meters 0.08973057137327761 Centerline is valid? [True, True] Translation: X:61.31, Y:-3.68, Z:-1.30 [[ 9.99748029e-01 -1.38356455e-02 1.76763783e-02 6.13097145e+01] [ 1.38607811e-02 9.99903089e-01 -1.30026326e-03 -3.67969671e+00] [-1.76566753e-02 1.54494404e-03 9.99842915e-01 -1.30022690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.372414037 meters 0.08998051080235904 Centerline is valid? [True, True] Translation: X:61.34, Y:-3.68, Z:-1.30 [[ 9.99740882e-01 -1.32086463e-02 1.85391359e-02 6.13421103e+01] [ 1.32362217e-02 9.99911465e-01 -1.36549463e-03 -3.68302417e+00] [-1.85194582e-02 1.61052892e-03 9.99827203e-01 -1.30130094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40241403699999 meters 0.09012582721705788 Centerline is valid? [True, True] Translation: X:61.37, Y:-3.69, Z:-1.30 [[ 9.99742571e-01 -1.26711642e-02 1.88210952e-02 6.13746535e+01] [ 1.26995038e-02 9.99918396e-01 -1.38697803e-03 -3.68611943e+00] [-1.88019847e-02 1.62563955e-03 9.99821905e-01 -1.30230865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43241403699999 meters 0.09041178853804759 Centerline is valid? [True, True] Translation: X:61.41, Y:-3.69, Z:-1.31 [[ 9.99785226e-01 -1.11829955e-02 1.74483049e-02 6.14054582e+01] [ 1.12071966e-02 9.99936365e-01 -1.28985070e-03 -3.68949234e+00] [-1.74327702e-02 1.48512025e-03 9.99846935e-01 -1.30594310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46241403699999 meters 0.09491653343421148 Centerline is valid? [True, True] Translation: X:61.44, Y:-3.70, Z:-1.31 [[ 9.99799319e-01 -1.04439653e-02 1.70951721e-02 6.14354393e+01] [ 1.04670247e-02 9.99944425e-01 -1.25996615e-03 -3.70086999e+00] [-1.70810630e-02 1.43864889e-03 9.99853073e-01 -1.31033124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49241403699999 meters 0.08952415845001307 Centerline is valid? [True, True] Translation: X:61.47, Y:-3.69, Z:-1.31 [[ 9.99815759e-01 -9.36362220e-03 1.67562135e-02 6.14686042e+01] [ 9.38574362e-03 9.99955182e-01 -1.24203692e-03 -3.69239976e+00] [-1.67438326e-02 1.39907761e-03 9.99858833e-01 -1.30894657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52241403699999 meters 0.09080806744571845 Centerline is valid? [True, True] Translation: X:61.50, Y:-3.70, Z:-1.31 [[ 9.99844181e-01 -8.47236471e-03 1.54865072e-02 6.14993715e+01] [ 8.49110867e-03 9.99963294e-01 -1.14498865e-03 -3.69701941e+00] [-1.54762380e-02 1.27630786e-03 9.99879421e-01 -1.31268225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55241403699999 meters 0.08956175337572589 Centerline is valid? [True, True] Translation: X:61.53, Y:-3.70, Z:-1.31 [[ 9.99852518e-01 -6.18738898e-03 1.60205619e-02 6.15299580e+01] [ 6.20730284e-03 9.99980022e-01 -1.19359140e-03 -3.69645777e+00] [-1.60128566e-02 1.29285985e-03 9.99870950e-01 -1.31364511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58241403699999 meters 0.09102479797757212 Centerline is valid? [True, True] Translation: X:61.56, Y:-3.70, Z:-1.32 [[ 9.99839748e-01 -5.42562285e-03 1.70599107e-02 6.15595895e+01] [ 5.44808802e-03 9.99984352e-01 -1.27063971e-03 -3.70178387e+00] [-1.70527498e-02 1.36337998e-03 9.99853662e-01 -1.31659577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.612414037 meters 0.09063345771961154 Centerline is valid? [True, True] Translation: X:61.59, Y:-3.70, Z:-1.32 [[ 9.99837388e-01 -4.75518558e-03 1.73950155e-02 6.15917129e+01] [ 4.77842672e-03 9.99987745e-01 -1.29476078e-03 -3.70421229e+00] [-1.73886455e-02 1.37767104e-03 9.99847857e-01 -1.31610085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.642414037 meters 0.09067043561498554 Centerline is valid? [True, True] Translation: X:61.62, Y:-3.71, Z:-1.32 [[ 9.99837451e-01 -4.36606928e-03 1.74931213e-02 6.16233416e+01] [ 4.38953447e-03 9.99989517e-01 -1.30322366e-03 -3.70737751e+00] [-1.74872479e-02 1.37979848e-03 9.99846134e-01 -1.31807512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.672414037 meters 0.0877231878506109 Centerline is valid? [True, True] Translation: X:61.66, Y:-3.70, Z:-1.32 [[ 9.99830807e-01 -3.93348695e-03 1.79690115e-02 6.16557771e+01] [ 3.95819829e-03 9.99991269e-01 -1.33986157e-03 -3.70438273e+00] [-1.79635843e-02 1.41075978e-03 9.99837647e-01 -1.31622631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.702414037 meters 0.08730612116056687 Centerline is valid? [True, True] Translation: X:61.69, Y:-3.71, Z:-1.32 [[ 9.99790796e-01 -2.88186272e-03 2.02499022e-02 6.16872232e+01] [ 2.91308111e-03 9.99994613e-01 -1.51232756e-03 -3.70575715e+00] [-2.02454348e-02 1.57100078e-03 9.99793806e-01 -1.31697801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.732414037 meters 0.08602194368370975 Centerline is valid? [True, True] Translation: X:61.72, Y:-3.71, Z:-1.32 [[ 9.99802687e-01 -2.02704632e-03 1.97605118e-02 6.17192224e+01] [ 2.05660602e-03 9.99996796e-01 -1.47569045e-03 -3.70542036e+00] [-1.97574573e-02 1.51603887e-03 9.99803653e-01 -1.31757232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76241403699999 meters 0.08673436868958713 Centerline is valid? [True, True] Translation: X:61.75, Y:-3.71, Z:-1.32 [[ 9.99812712e-01 -1.15669738e-03 1.93184735e-02 6.17504419e+01] [ 1.18474928e-03 9.99998260e-01 -1.44069427e-03 -3.70971866e+00] [-1.93167734e-02 1.46331199e-03 9.99812343e-01 -1.31973643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79241403699999 meters 0.08645908688944941 Centerline is valid? [True, True] Translation: X:61.78, Y:-3.71, Z:-1.32 [[ 9.99838014e-01 -3.21185540e-04 1.79956162e-02 6.17829114e+01] [ 3.45514725e-04 9.99999031e-01 -1.34885781e-03 -3.71168257e+00] [-1.79951655e-02 1.35485707e-03 9.99837156e-01 -1.32168259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82241403699999 meters 0.08691681189390779 Centerline is valid? [True, True] Translation: X:61.81, Y:-3.72, Z:-1.32 [[ 9.99848915e-01 1.87990451e-04 1.73813712e-02 6.18148451e+01] [-1.65351611e-04 9.99999136e-01 -1.30390519e-03 -3.71604444e+00] [-1.73816013e-02 1.30083416e-03 9.99848082e-01 -1.32412442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85241403699999 meters 0.08600000025353284 Centerline is valid? [True, True] Translation: X:61.85, Y:-3.72, Z:-1.32 [[ 9.99849032e-01 1.10616682e-04 1.73752768e-02 6.18469271e+01] [-8.79624660e-05 9.99999145e-01 -1.30457781e-03 -3.71731918e+00] [-1.73754062e-02 1.30285249e-03 9.99848187e-01 -1.32494605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88241403699999 meters 0.08600000025353284 Centerline is valid? [True, True] Translation: X:61.88, Y:-3.72, Z:-1.33 [[ 9.99849017e-01 2.11750211e-04 1.73752483e-02 6.18794494e+01] [-1.89104624e-04 9.99999131e-01 -1.30495716e-03 -3.71986891e+00] [-1.73755096e-02 1.30147439e-03 9.99848187e-01 -1.32627747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91241403699999 meters 0.08864032467208989 Centerline is valid? [True, True] Translation: X:61.91, Y:-3.73, Z:-1.33 [[ 9.99859596e-01 5.23215056e-04 1.67485731e-02 6.19108394e+01] [-5.02251235e-04 9.99999085e-01 -1.25585983e-03 -3.72987164e+00] [-1.67492149e-02 1.24727151e-03 9.99858944e-01 -1.32907067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94241403699999 meters 0.08851840624730502 Centerline is valid? [True, True] Translation: X:61.94, Y:-3.73, Z:-1.33 [[ 9.99860096e-01 1.21064151e-03 1.66830120e-02 6.19433383e+01] [-1.18979894e-03 9.99998499e-01 -1.25919812e-03 -3.73272505e+00] [-1.66845114e-02 1.23917252e-03 9.99860036e-01 -1.33106178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.972414037 meters 0.085236929090579 Centerline is valid? [True, True] Translation: X:61.98, Y:-3.73, Z:-1.33 [[ 9.99872059e-01 1.89240659e-03 1.58834472e-02 6.19760631e+01] [-1.87357694e-03 9.99997525e-01 -1.20028548e-03 -3.72810058e+00] [-1.58856793e-02 1.17037305e-03 9.99873130e-01 -1.33028902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.002414037 meters 0.0853772575411201 Centerline is valid? [True, True] Translation: X:62.01, Y:-3.73, Z:-1.33 [[ 9.99880450e-01 3.07796757e-03 1.51529569e-02 6.20067705e+01] [-3.06094520e-03 9.99994658e-01 -1.14643452e-03 -3.73101007e+00] [-1.51564047e-02 1.09991509e-03 9.99884530e-01 -1.33321652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.032414037 meters 0.0862716978389159 Centerline is valid? [True, True] Translation: X:62.04, Y:-3.74, Z:-1.34 [[ 9.99877589e-01 4.40101068e-03 1.50145766e-02 6.20369456e+01] [-4.38445331e-03 9.99989744e-01 -1.13549185e-03 -3.73582775e+00] [-1.50194199e-02 1.06952215e-03 9.99886630e-01 -1.33582960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.062414037 meters 0.08495172047882003 Centerline is valid? [True, True] Translation: X:62.07, Y:-3.74, Z:-1.34 [[ 9.99853616e-01 5.73619568e-03 1.61196320e-02 6.20685183e+01] [-5.71722760e-03 9.99982909e-01 -1.22254361e-03 -3.73545297e+00] [-1.61263692e-02 1.13020504e-03 9.99869323e-01 -1.33538015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.092414037 meters 0.0847528237669541 Centerline is valid? [True, True] Translation: X:62.10, Y:-3.74, Z:-1.34 [[ 9.99838158e-01 6.96982111e-03 1.65854880e-02 6.21009550e+01] [-6.94997947e-03 9.99975063e-01 -1.25366343e-03 -3.73815819e+00] [-1.65938122e-02 1.13819173e-03 9.99861665e-01 -1.33601013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.122414037 meters 0.08311291831775787 Centerline is valid? [True, True] Translation: X:62.13, Y:-3.74, Z:-1.34 [[ 9.99800861e-01 8.97047438e-03 1.78260536e-02 6.21323935e+01] [-8.94769441e-03 9.99959047e-01 -1.35725148e-03 -3.73740477e+00] [-1.78374988e-02 1.19747912e-03 9.99840182e-01 -1.33542278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15241403699999 meters 0.08287611280382945 Centerline is valid? [True, True] Translation: X:62.16, Y:-3.74, Z:-1.34 [[ 9.99773277e-01 1.00737499e-02 1.87593498e-02 6.21635854e+01] [-1.00487154e-02 9.99948490e-01 -1.42828957e-03 -3.73969732e+00] [-1.87727717e-02 1.23945837e-03 9.99823008e-01 -1.33693037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18241403699999 meters 0.0827160062603391 Centerline is valid? [True, True] Translation: X:62.20, Y:-3.74, Z:-1.34 [[ 9.99762948e-01 1.12672526e-02 1.86305214e-02 6.21960596e+01] [-1.12428388e-02 9.99935797e-01 -1.41464202e-03 -3.74255101e+00] [-1.86452644e-02 1.20484673e-03 9.99825436e-01 -1.33829251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21241403699999 meters 0.08203719164709666 Centerline is valid? [True, True] Translation: X:62.23, Y:-3.74, Z:-1.34 [[ 9.99727138e-01 1.23621160e-02 1.98198627e-02 6.22283587e+01] [-1.23345944e-02 9.99922786e-01 -1.51023500e-03 -3.74381038e+00] [-1.98370020e-02 1.26535294e-03 9.99802427e-01 -1.33853846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24241403699999 meters 0.0820948352787657 Centerline is valid? [True, True] Translation: X:62.26, Y:-3.75, Z:-1.34 [[ 9.99710310e-01 1.31455063e-02 2.01616531e-02 6.22605059e+01] [-1.31170851e-02 9.99912779e-01 -1.54126847e-03 -3.74649073e+00] [-2.01801554e-02 1.27635986e-03 9.99795545e-01 -1.33926000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27241403699999 meters 0.08450221820094693 Centerline is valid? [True, True] Translation: X:62.29, Y:-3.76, Z:-1.34 [[ 9.99702052e-01 1.39842283e-02 2.00062027e-02 6.22907694e+01] [-1.39563100e-02 9.99901429e-01 -1.53442983e-03 -3.75530237e+00] [-2.00256885e-02 1.25475989e-03 9.99798678e-01 -1.34216290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30241403699999 meters 0.08358385834214528 Centerline is valid? [True, True] Translation: X:62.32, Y:-3.76, Z:-1.34 [[ 9.99733242e-01 1.51276039e-02 1.74528013e-02 6.23242701e+01] [-1.51065023e-02 9.99884992e-01 -1.34027926e-03 -3.75561041e+00] [-1.74710693e-02 1.07627094e-03 9.99846790e-01 -1.34393876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33241403699999 meters 0.0826486136376625 Centerline is valid? [True, True] Translation: X:62.36, Y:-3.76, Z:-1.35 [[ 9.99743112e-01 1.58656800e-02 1.61861368e-02 6.23566637e+01] [-1.58475594e-02 9.99873642e-01 -1.24717534e-03 -3.75608050e+00] [-1.62038788e-02 9.90344197e-04 9.99868218e-01 -1.34577883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.362414037 meters 0.08307528336135386 Centerline is valid? [True, True] Translation: X:62.39, Y:-3.76, Z:-1.35 [[ 9.99753795e-01 1.59626024e-02 1.54125081e-02 6.23876128e+01] [-1.59460580e-02 9.99872139e-01 -1.19574059e-03 -3.75964381e+00] [-1.54296245e-02 9.49677443e-04 9.99880505e-01 -1.34832432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.392414037 meters 0.08279784184224018 Centerline is valid? [True, True] Translation: X:62.42, Y:-3.76, Z:-1.35 [[ 9.99747163e-01 1.65832101e-02 1.51857685e-02 6.24191803e+01] [-1.65672130e-02 9.99862060e-01 -1.17862952e-03 -3.76251366e+00] [-1.52032192e-02 9.26745656e-04 9.99883995e-01 -1.35064963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.422414037 meters 0.08286371620046915 Centerline is valid? [True, True] Translation: X:62.45, Y:-3.77, Z:-1.35 [[ 9.99718617e-01 1.82870154e-02 1.51086636e-02 6.24492545e+01] [-1.82713921e-02 9.99832378e-01 -1.17146433e-03 -3.76551423e+00] [-1.51275536e-02 8.95078384e-04 9.99885171e-01 -1.35313506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.452414037 meters 0.09417447405325476 Centerline is valid? [True, True] Translation: X:62.48, Y:-3.79, Z:-1.36 [[ 9.99602049e-01 1.98845234e-02 2.00087550e-02 6.24770144e+01] [-1.98573332e-02 9.99801612e-01 -1.55669658e-03 -3.79438614e+00] [-2.00357396e-02 1.15875657e-03 9.99798593e-01 -1.36179416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.482414037 meters 0.08088193673576809 Centerline is valid? [True, True] Translation: X:62.51, Y:-3.77, Z:-1.35 [[ 9.99666955e-01 2.01048841e-02 1.61794104e-02 6.25114689e+01] [-2.00871833e-02 9.99797443e-01 -1.25581260e-03 -3.76601177e+00] [-1.62013811e-02 9.30395577e-04 9.99868316e-01 -1.35203144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51241403699999 meters 0.08119714757810215 Centerline is valid? [True, True] Translation: X:62.54, Y:-3.77, Z:-1.35 [[ 9.99635918e-01 2.06928358e-02 1.73158456e-02 6.25405463e+01] [-2.06725508e-02 9.99785389e-01 -1.34966724e-03 -3.76960283e+00] [-1.73400578e-02 9.91213153e-04 9.99849159e-01 -1.35349018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54241403699999 meters 0.0821503573247987 Centerline is valid? [True, True] Translation: X:62.57, Y:-3.78, Z:-1.36 [[ 9.99612458e-01 2.17695219e-02 1.73499541e-02 6.25695472e+01] [-2.17493433e-02 9.99762542e-01 -1.35089509e-03 -3.77535987e+00] [-1.73752426e-02 9.73021455e-04 9.99848566e-01 -1.35530691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57241403699999 meters 0.08187102143813323 Centerline is valid? [True, True] Translation: X:62.60, Y:-3.78, Z:-1.36 [[ 9.99593873e-01 2.22188025e-02 1.78441542e-02 6.25995863e+01] [-2.21974986e-02 9.99752637e-01 -1.39109033e-03 -3.77796698e+00] [-1.78706486e-02 9.94429781e-04 9.99839813e-01 -1.35692378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60241403699999 meters 0.08051592029946589 Centerline is valid? [True, True] Translation: X:62.63, Y:-3.78, Z:-1.36 [[ 9.99586015e-01 2.31859253e-02 1.70355920e-02 6.26295630e+01] [-2.31666459e-02 9.99730735e-01 -1.32821588e-03 -3.77837631e+00] [-1.70618008e-02 9.33008489e-04 9.99854002e-01 -1.35668262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63241403699999 meters 0.0799125292361314 Centerline is valid? [True, True] Translation: X:62.66, Y:-3.78, Z:-1.36 [[ 9.99608660e-01 2.26507008e-02 1.64156303e-02 6.26593941e+01] [-2.26327352e-02 9.99743028e-01 -1.27939442e-03 -3.77884750e+00] [-1.64403911e-02 9.07363124e-04 9.99864436e-01 -1.35708083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66241403699999 meters 0.08257365831888223 Centerline is valid? [True, True] Translation: X:62.69, Y:-3.79, Z:-1.36 [[ 9.99639653e-01 2.11011770e-02 1.65922885e-02 6.26871054e+01] [-2.10826129e-02 9.99776901e-01 -1.29298272e-03 -3.78977999e+00] [-1.66158703e-02 9.42708005e-04 9.99861502e-01 -1.36113353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69241403699999 meters 0.08029924711902864 Centerline is valid? [True, True] Translation: X:62.72, Y:-3.79, Z:-1.36 [[ 9.99666302e-01 1.99165699e-02 1.64503590e-02 6.27170662e+01] [-1.98981822e-02 9.99801191e-01 -1.28070525e-03 -3.78718440e+00] [-1.64725958e-02 9.52945637e-04 9.99863863e-01 -1.35919359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.722414037 meters 0.08142886050225027 Centerline is valid? [True, True] Translation: X:62.75, Y:-3.79, Z:-1.36 [[ 9.99710961e-01 1.79952429e-02 1.59425533e-02 6.27462700e+01] [-1.79777511e-02 9.99837618e-01 -1.23982302e-03 -3.79376806e+00] [-1.59622755e-02 9.52853407e-04 9.99872141e-01 -1.36163065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.752414037 meters 0.084472469434136 Centerline is valid? [True, True] Translation: X:62.78, Y:-3.81, Z:-1.37 [[ 9.99746113e-01 1.62151702e-02 1.56453758e-02 6.27756624e+01] [-1.61981140e-02 9.99868062e-01 -1.21629064e-03 -3.80567599e+00] [-1.56630339e-02 9.62556256e-04 9.99876864e-01 -1.36568585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.782414037 meters 0.08358435196536732 Centerline is valid? [True, True] Translation: X:62.81, Y:-3.81, Z:-1.37 [[ 9.99809763e-01 1.28590429e-02 1.46656770e-02 6.28065849e+01] [-1.28436903e-02 9.99916866e-01 -1.14054912e-03 -3.80679894e+00] [-1.46791241e-02 9.51970731e-04 9.99891803e-01 -1.36650663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.812414037 meters 0.08382782475768721 Centerline is valid? [True, True] Translation: X:62.84, Y:-3.81, Z:-1.37 [[ 9.99815762e-01 1.22327899e-02 1.47918960e-02 6.28384665e+01] [-1.22171881e-02 9.99924712e-01 -1.14465896e-03 -3.81105118e+00] [-1.48047848e-02 9.63732694e-04 9.99889939e-01 -1.36821613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.842414037 meters 0.08351164344141075 Centerline is valid? [True, True] Translation: X:62.87, Y:-3.81, Z:-1.37 [[ 9.99853871e-01 1.09188336e-02 1.31535425e-02 6.28693337e+01] [-1.09062784e-02 9.99939999e-01 -1.02586888e-03 -3.81349677e+00] [-1.31639546e-02 8.82262779e-04 9.99912962e-01 -1.36977740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.872414037 meters 0.08444082316589051 Centerline is valid? [True, True] Translation: X:62.90, Y:-3.82, Z:-1.37 [[ 9.99863393e-01 1.08283380e-02 1.24877191e-02 6.29002983e+01] [-1.08170514e-02 9.99941023e-01 -9.71006053e-04 -3.81830331e+00] [-1.24974970e-02 8.35793107e-04 9.99921554e-01 -1.37246645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90241403699999 meters 0.08370194557460979 Centerline is valid? [True, True] Translation: X:62.93, Y:-3.82, Z:-1.37 [[ 9.99871584e-01 1.06007857e-02 1.20182368e-02 6.29329032e+01] [-1.05903374e-02 9.99943486e-01 -9.32685863e-04 -3.81902688e+00] [-1.20274448e-02 8.05288909e-04 9.99927343e-01 -1.37196688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93241403699999 meters 0.08447783603126206 Centerline is valid? [True, True] Translation: X:62.96, Y:-3.82, Z:-1.37 [[ 9.99855721e-01 1.03947023e-02 1.34345536e-02 6.29639084e+01] [-1.03815625e-02 9.99945562e-01 -1.04743138e-03 -3.82318083e+00] [-1.34447100e-02 9.07808603e-04 9.99909204e-01 -1.37280305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96241403699999 meters 0.08413071414079977 Centerline is valid? [True, True] Translation: X:63.00, Y:-3.83, Z:-1.37 [[ 9.99851581e-01 1.03980667e-02 1.37366774e-02 6.29962823e+01] [-1.03842918e-02 9.99945505e-01 -1.07372473e-03 -3.82507433e+00] [-1.37470935e-02 9.30919704e-04 9.99905071e-01 -1.37386500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99241403699999 meters 0.08669430750688419 Centerline is valid? [True, True] Translation: X:63.03, Y:-3.83, Z:-1.38 [[ 9.99840225e-01 8.84119612e-03 1.55356731e-02 6.30262600e+01] [-8.82323391e-03 9.99960325e-01 -1.22435406e-03 -3.83481672e+00] [-1.55458815e-02 1.08708357e-03 9.99878565e-01 -1.37581719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02241403699999 meters 0.08437420503600403 Centerline is valid? [True, True] Translation: X:63.06, Y:-3.83, Z:-1.37 [[ 9.99842092e-01 8.14613142e-03 1.57933813e-02 6.30589659e+01] [-8.12755356e-03 9.99966202e-01 -1.24013579e-03 -3.83216840e+00] [-1.58029498e-02 1.11157841e-03 9.99874508e-01 -1.37445533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05241403699999 meters 0.08514961713156889 Centerline is valid? [True, True] Translation: X:63.09, Y:-3.84, Z:-1.38 [[ 9.99843722e-01 7.51493824e-03 1.60017599e-02 6.30907418e+01] [-7.49572278e-03 9.99971112e-01 -1.26047288e-03 -3.83712828e+00] [-1.60107700e-02 1.14033114e-03 9.99871169e-01 -1.37646864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08241403699999 meters 0.08583816151968786 Centerline is valid? [True, True] Translation: X:63.12, Y:-3.84, Z:-1.38 [[ 9.99866702e-01 6.52168371e-03 1.49681577e-02 6.31227063e+01] [-6.50465122e-03 9.99978141e-01 -1.18631741e-03 -3.84158458e+00] [-1.49755673e-02 1.08879663e-03 9.99887267e-01 -1.37829455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.112414037 meters 0.08657582708759032 Centerline is valid? [True, True] Translation: X:63.15, Y:-3.85, Z:-1.38 [[ 9.99889362e-01 4.83321257e-03 1.40678137e-02 6.31531637e+01] [-4.81797148e-03 9.99987770e-01 -1.11709108e-03 -3.84689236e+00] [-1.40730408e-02 1.04918917e-03 9.99900419e-01 -1.38103184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.142414037 meters 0.08611983534060524 Centerline is valid? [True, True] Translation: X:63.18, Y:-3.85, Z:-1.38 [[ 9.99908178e-01 4.02621009e-03 1.29392835e-02 6.31848384e+01] [-4.01332025e-03 9.99991424e-01 -1.02199043e-03 -3.84914613e+00] [-1.29432873e-02 9.69967096e-04 9.99915762e-01 -1.38211320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.172414037 meters 0.08887660955029092 Centerline is valid? [True, True] Translation: X:63.22, Y:-3.86, Z:-1.39 [[ 9.99915703e-01 3.47199480e-03 1.25112733e-02 6.32151582e+01] [-3.45986933e-03 9.99993524e-01 -9.90678040e-04 -3.85807500e+00] [-1.25146319e-02 9.47307158e-04 9.99921240e-01 -1.38532787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.202414037 meters 0.09106415741255731 Centerline is valid? [True, True] Translation: X:63.25, Y:-3.87, Z:-1.39 [[ 9.99903439e-01 3.26414722e-03 1.35076903e-02 6.32467290e+01] [-3.24995386e-03 9.99994144e-01 -1.07257878e-03 -3.86575665e+00] [-1.35111123e-02 1.02857584e-03 9.99908192e-01 -1.38745428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.232414037 meters 0.08802395754097582 Centerline is valid? [True, True] Translation: X:63.28, Y:-3.86, Z:-1.39 [[ 9.99892437e-01 3.26411709e-03 1.42989280e-02 6.32798131e+01] [-3.24816157e-03 9.99994076e-01 -1.13893623e-03 -3.86271504e+00] [-1.43025609e-02 1.09236849e-03 9.99897116e-01 -1.38611985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26241403699999 meters 0.09223824583873291 Centerline is valid? [True, True] Translation: X:63.31, Y:-3.87, Z:-1.39 [[ 9.99881498e-01 3.01325051e-03 1.50966654e-02 6.33104861e+01] [-2.99534717e-03 9.99994784e-01 -1.20838482e-03 -3.87358739e+00] [-1.51002278e-02 1.16302187e-03 9.99885309e-01 -1.39005891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29241403699999 meters 0.08912801221019713 Centerline is valid? [True, True] Translation: X:63.34, Y:-3.87, Z:-1.39 [[ 9.99882559e-01 2.85358356e-03 1.50573737e-02 6.33432870e+01] [-2.83571341e-03 9.99995250e-01 -1.20802093e-03 -3.86978750e+00] [-1.50607494e-02 1.16518066e-03 9.99885902e-01 -1.38875948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32241403699999 meters 0.08748687140722994 Centerline is valid? [True, True] Translation: X:63.38, Y:-3.87, Z:-1.39 [[ 9.99887934e-01 2.36552065e-03 1.47825285e-02 6.33758965e+01] [-2.34819859e-03 9.99996536e-01 -1.18904000e-03 -3.87107767e+00] [-1.47852900e-02 1.15419443e-03 9.99890025e-01 -1.38954904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35241403699999 meters 0.08699512987167349 Centerline is valid? [True, True] Translation: X:63.41, Y:-3.87, Z:-1.39 [[ 9.99898128e-01 2.05282418e-03 1.41251381e-02 6.34078530e+01] [-2.03693755e-03 9.99997277e-01 -1.13900141e-03 -3.87339261e+00] [-1.41274378e-02 1.11011336e-03 9.99899587e-01 -1.39185763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38241403699999 meters 0.08922151892681872 Centerline is valid? [True, True] Translation: X:63.44, Y:-3.88, Z:-1.40 [[ 9.99917690e-01 2.13679993e-03 1.26510183e-02 6.34388631e+01] [-2.12403143e-03 9.99997221e-01 -1.02263689e-03 -3.88115075e+00] [-1.26531683e-02 9.95681552e-04 9.99919450e-01 -1.39577904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41241403699999 meters 0.09153897944558007 Centerline is valid? [True, True] Translation: X:63.47, Y:-3.89, Z:-1.40 [[ 9.99929946e-01 2.70621887e-03 1.15229764e-02 6.34707980e+01] [-2.69565251e-03 9.99995932e-01 -9.32414627e-04 -3.88865033e+00] [-1.15254529e-02 9.01287368e-04 9.99933174e-01 -1.39963063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44241403699999 meters 0.08625207510912819 Centerline is valid? [True, True] Translation: X:63.50, Y:-3.88, Z:-1.40 [[ 9.99938797e-01 3.83227605e-03 1.03786102e-02 6.35036460e+01] [-3.82369283e-03 9.99992331e-01 -8.46726490e-04 -3.87859616e+00] [-1.03817755e-02 8.06990050e-04 9.99945782e-01 -1.39779836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.472414037 meters 0.08594048135921421 Centerline is valid? [True, True] Translation: X:63.53, Y:-3.88, Z:-1.40 [[ 9.99922066e-01 5.47131480e-03 1.12217364e-02 6.35347457e+01] [-5.46136045e-03 9.99984666e-01 -9.17512052e-04 -3.87967660e+00] [-1.12265843e-02 8.56154599e-04 9.99936613e-01 -1.39856667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.502414037 meters 0.08417167942470408 Centerline is valid? [True, True] Translation: X:63.57, Y:-3.88, Z:-1.40 [[ 9.99900168e-01 6.97502282e-03 1.22882928e-02 6.35671560e+01] [-6.96319871e-03 9.99975252e-01 -1.00474827e-03 -3.87721619e+00] [-1.22949969e-02 9.19082140e-04 9.99923991e-01 -1.39805741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.532414037 meters 0.08418844121553452 Centerline is valid? [True, True] Translation: X:63.60, Y:-3.88, Z:-1.40 [[ 9.99870655e-01 8.90433819e-03 1.33935060e-02 6.35970597e+01] [-8.89043257e-03 9.99959877e-01 -1.09741853e-03 -3.87917235e+00] [-1.34027404e-02 9.78202519e-04 9.99909701e-01 -1.39874894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.562414037 meters 0.0835671557057443 Centerline is valid? [True, True] Translation: X:63.63, Y:-3.88, Z:-1.40 [[ 9.99825246e-01 1.29222007e-02 1.35090537e-02 6.36262734e+01] [-1.29084129e-02 9.99916070e-01 -1.10734019e-03 -3.87966369e+00] [-1.35222291e-02 9.32766238e-04 9.99908135e-01 -1.40035151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.592414037 meters 0.08334511906805649 Centerline is valid? [True, True] Translation: X:63.66, Y:-3.88, Z:-1.40 [[ 9.99801953e-01 1.48438381e-02 1.32557351e-02 6.36578139e+01] [-1.48307518e-02 9.99889430e-01 -1.08497955e-03 -3.88052376e+00] [-1.32703746e-02 8.88172156e-04 9.99911550e-01 -1.40205778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.622414037 meters 0.08230668571857586 Centerline is valid? [True, True] Translation: X:63.69, Y:-3.88, Z:-1.40 [[ 9.99776129e-01 1.66729470e-02 1.30270601e-02 6.36891109e+01] [-1.66604514e-02 9.99860636e-01 -1.06714641e-03 -3.87860151e+00] [-1.30430371e-02 8.49870806e-04 9.99914575e-01 -1.40320478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65241403699999 meters 0.0831095178836738 Centerline is valid? [True, True] Translation: X:63.72, Y:-3.88, Z:-1.41 [[ 9.99747401e-01 1.84115317e-02 1.28899129e-02 6.37182109e+01] [-1.83994268e-02 9.99830157e-01 -1.05706584e-03 -3.88139331e+00] [-1.29071858e-02 8.19631817e-04 9.99916363e-01 -1.40534645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68241403699999 meters 0.08205570708640095 Centerline is valid? [True, True] Translation: X:63.75, Y:-3.88, Z:-1.41 [[ 9.99677097e-01 2.15018106e-02 1.35415463e-02 6.37483918e+01] [-2.14887370e-02 9.99768474e-01 -1.11022015e-03 -3.87939561e+00] [-1.35622829e-02 8.18870930e-04 9.99907693e-01 -1.40619241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71241403699999 meters 0.08083259987088927 Centerline is valid? [True, True] Translation: X:63.78, Y:-3.88, Z:-1.41 [[ 9.99639085e-01 2.30812240e-02 1.37461341e-02 6.37779275e+01] [-2.30678978e-02 9.99733265e-01 -1.12724194e-03 -3.87836646e+00] [-1.37684856e-02 8.09740683e-04 9.99904882e-01 -1.40594893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74241403699999 meters 0.0809202853826036 Centerline is valid? [True, True] Translation: X:63.81, Y:-3.88, Z:-1.41 [[ 9.99600692e-01 2.42277366e-02 1.45421214e-02 6.38060747e+01] [-2.42129396e-02 9.99706112e-01 -1.19275848e-03 -3.88036221e+00] [-1.45667455e-02 8.40174694e-04 9.99893546e-01 -1.40701753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77241403699999 meters 0.08026920287649979 Centerline is valid? [True, True] Translation: X:63.84, Y:-3.88, Z:-1.41 [[ 9.99544017e-01 2.58486819e-02 1.56077943e-02 6.38364805e+01] [-2.58318713e-02 9.99665485e-01 -1.27774180e-03 -3.88044445e+00] [-1.56356012e-02 8.73980634e-04 9.99877375e-01 -1.40674012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80241403699999 meters 0.08026920287649979 Centerline is valid? [True, True] Translation: X:63.86, Y:-3.88, Z:-1.41 [[ 9.99545743e-01 2.57818968e-02 1.56077128e-02 6.38647233e+01] [-2.57650626e-02 9.99667208e-01 -1.27873781e-03 -3.88268691e+00] [-1.56354870e-02 8.76023234e-04 9.99877375e-01 -1.40789770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83241403699999 meters 0.07946877107048865 Centerline is valid? [True, True] Translation: X:63.90, Y:-3.88, Z:-1.41 [[ 9.99478532e-01 2.85764685e-02 1.50349604e-02 6.38951711e+01] [-2.85611957e-02 9.99591290e-01 -1.22960574e-03 -3.88043647e+00] [-1.50639533e-02 7.99548092e-04 9.99886213e-01 -1.40969099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.862414037 meters 0.0793096547091372 Centerline is valid? [True, True] Translation: X:63.92, Y:-3.88, Z:-1.41 [[ 9.99442500e-01 3.01669293e-02 1.43054707e-02 6.39239475e+01] [-3.01532492e-02 9.99544601e-01 -1.17106113e-03 -3.88078377e+00] [-1.43342833e-02 7.39051844e-04 9.99896986e-01 -1.41176522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.892414037 meters 0.07915427330645562 Centerline is valid? [True, True] Translation: X:63.95, Y:-3.88, Z:-1.41 [[ 9.99405796e-01 3.16977728e-02 1.35390494e-02 6.39521492e+01] [-3.16856700e-02 9.99497269e-01 -1.10754540e-03 -3.88157146e+00] [-1.35673496e-02 6.77893437e-04 9.99907729e-01 -1.41443982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.922414037 meters 0.0785231635611452 Centerline is valid? [True, True] Translation: X:63.98, Y:-3.88, Z:-1.42 [[ 9.99368257e-01 3.31838296e-02 1.27248109e-02 6.39808226e+01] [-3.31732675e-02 9.99449074e-01 -1.04027137e-03 -3.88090980e+00] [-1.27523207e-02 6.17490628e-04 9.99918495e-01 -1.41549520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.952414037 meters 0.07866265527351239 Centerline is valid? [True, True] Translation: X:64.01, Y:-3.88, Z:-1.42 [[ 9.99189544e-01 3.73546610e-02 1.49961272e-02 6.40096371e+01] [-3.73405007e-02 9.99301852e-01 -1.22325388e-03 -3.88326909e+00] [-1.50313520e-02 6.62299589e-04 9.99886804e-01 -1.41822389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.982414037 meters 0.07734423937599322 Centerline is valid? [True, True] Translation: X:64.04, Y:-3.88, Z:-1.42 [[ 9.99114759e-01 3.92168000e-02 1.52230335e-02 6.40389035e+01] [-3.92024102e-02 9.99230517e-01 -1.24263766e-03 -3.88090598e+00] [-1.52600519e-02 6.44758023e-04 9.99883351e-01 -1.41660417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01241403699999 meters 0.07674170363518402 Centerline is valid? [True, True] Translation: X:64.07, Y:-3.88, Z:-1.42 [[ 9.99030580e-01 4.09396693e-02 1.61815688e-02 6.40678279e+01] [-4.09236559e-02 9.99161405e-01 -1.31963999e-03 -3.88002530e+00] [-1.62220247e-02 6.56151756e-04 9.99868199e-01 -1.41593512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04241403699999 meters 0.07644645339576253 Centerline is valid? [True, True] Translation: X:64.10, Y:-3.88, Z:-1.42 [[ 9.98993169e-01 4.18318644e-02 1.62093632e-02 6.40972729e+01] [-4.18159087e-02 9.99124458e-01 -1.32217781e-03 -3.87967552e+00] [-1.62504803e-02 6.43037348e-04 9.99867745e-01 -1.41556924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07241403699999 meters 0.07618116692768034 Centerline is valid? [True, True] Translation: X:64.13, Y:-3.88, Z:-1.41 [[ 9.98909769e-01 4.30524535e-02 1.80488006e-02 6.41268513e+01] [-4.30329499e-02 9.99072575e-01 -1.46777659e-03 -3.87904505e+00] [-1.80952531e-02 6.89483238e-04 9.99836030e-01 -1.41394992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10241403699999 meters 0.07672097689881144 Centerline is valid? [True, True] Translation: X:64.15, Y:-3.88, Z:-1.42 [[ 9.98959180e-01 4.21966487e-02 1.73205128e-02 6.41539036e+01] [-4.21785450e-02 9.99109095e-01 -1.40935321e-03 -3.88351622e+00] [-1.73645519e-02 6.77332294e-04 9.99848995e-01 -1.41618360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13241403699999 meters 0.07706899170206195 Centerline is valid? [True, True] Translation: X:64.18, Y:-3.89, Z:-1.42 [[ 9.99013594e-01 4.09920777e-02 1.70730246e-02 6.41817656e+01] [-4.09743603e-02 9.99159236e-01 -1.38640528e-03 -3.88879908e+00] [-1.71155018e-02 6.85481457e-04 9.99853284e-01 -1.41905780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16241403699999 meters 0.07695328691610112 Centerline is valid? [True, True] Translation: X:64.21, Y:-3.89, Z:-1.42 [[ 9.99086765e-01 3.98678245e-02 1.53685650e-02 6.42113510e+01] [-3.98533694e-02 9.99204762e-01 -1.24580099e-03 -3.89301134e+00] [-1.54060107e-02 6.32174177e-04 9.99881121e-01 -1.42114005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19241403699999 meters 0.0776420977847025 Centerline is valid? [True, True] Translation: X:64.24, Y:-3.90, Z:-1.42 [[ 9.99176366e-01 3.81552737e-02 1.38117721e-02 6.42397602e+01] [-3.81434267e-02 9.99271647e-01 -1.12025662e-03 -3.89896406e+00] [-1.38444560e-02 5.92505616e-04 9.99903985e-01 -1.42474968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.222414037 meters 0.07769724654097154 Centerline is valid? [True, True] Translation: X:64.27, Y:-3.90, Z:-1.43 [[ 9.99188530e-01 3.83515951e-02 1.23059552e-02 6.42677945e+01] [-3.83422079e-02 9.99264169e-01 -9.97935071e-04 -3.90162177e+00] [-1.23351725e-02 5.25287786e-04 9.99923781e-01 -1.42654585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.252414037 meters 0.07771697292924476 Centerline is valid? [True, True] Translation: X:64.30, Y:-3.90, Z:-1.43 [[ 9.99158541e-01 3.90709808e-02 1.24767331e-02 6.42966624e+01] [-3.90614067e-02 9.99236301e-01 -1.01021465e-03 -3.90312435e+00] [-1.25066747e-02 5.22005853e-04 9.99921652e-01 -1.42746884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.282414037 meters 0.07693438837359158 Centerline is valid? [True, True] Translation: X:64.33, Y:-3.90, Z:-1.43 [[ 9.99021174e-01 4.22640820e-02 1.30553405e-02 6.43263018e+01] [-4.22538961e-02 9.99106348e-01 -1.05517618e-03 -3.90261824e+00] [-1.30882696e-02 5.02504346e-04 9.99914219e-01 -1.42743930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.312414037 meters 0.07648902401018727 Centerline is valid? [True, True] Translation: X:64.36, Y:-3.90, Z:-1.43 [[ 9.98956976e-01 4.39687329e-02 1.23170925e-02 6.43553662e+01] [-4.39597883e-02 9.99032805e-01 -9.96119650e-04 -3.90434819e+00] [-1.23489776e-02 4.53623892e-04 9.99923646e-01 -1.42817015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.342414037 meters 0.07583903427338419 Centerline is valid? [True, True] Translation: X:64.39, Y:-3.91, Z:-1.43 [[ 9.98824787e-01 4.65060944e-02 1.36465576e-02 6.43850623e+01] [-4.64953796e-02 9.98917898e-01 -1.10155454e-03 -3.90550470e+00] [-1.36830196e-02 4.65758109e-04 9.99906275e-01 -1.42834232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.372414037 meters 0.07541925784843785 Centerline is valid? [True, True] Translation: X:64.41, Y:-3.91, Z:-1.43 [[ 9.98637391e-01 5.00997015e-02 1.46075498e-02 6.44139334e+01] [-5.00878171e-02 9.98744122e-01 -1.17852730e-03 -3.90780932e+00] [-1.46482484e-02 4.45261147e-04 9.99892610e-01 -1.43017810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40241403699999 meters 0.07514915080725436 Centerline is valid? [True, True] Translation: X:64.44, Y:-3.91, Z:-1.43 [[ 9.98518383e-01 5.23092703e-02 1.49926389e-02 6.44433001e+01] [-5.22970015e-02 9.98630843e-01 -1.20947971e-03 -3.90952881e+00] [-1.50353786e-02 4.23617664e-04 9.99886873e-01 -1.43030448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43241403699999 meters 0.07482831463683863 Centerline is valid? [True, True] Translation: X:64.47, Y:-3.91, Z:-1.43 [[ 9.98438705e-01 5.34290486e-02 1.62938451e-02 6.44719856e+01] [-5.34147161e-02 9.98571551e-01 -1.31386932e-03 -3.91057822e+00] [-1.63407690e-02 4.41486875e-04 9.99866383e-01 -1.43023360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46241403699999 meters 0.07473651361815013 Centerline is valid? [True, True] Translation: X:64.50, Y:-3.91, Z:-1.43 [[ 9.98349358e-01 5.49476321e-02 1.67128121e-02 6.44999137e+01] [-5.49327791e-02 9.98489147e-01 -1.34684824e-03 -3.91234898e+00] [-1.67615676e-02 4.26543858e-04 9.99859424e-01 -1.43065819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49241403699999 meters 0.07445155379399877 Centerline is valid? [True, True] Translation: X:64.53, Y:-3.91, Z:-1.43 [[ 9.98301448e-01 5.59604258e-02 1.62064776e-02 6.45287741e+01] [-5.59466191e-02 9.98432909e-01 -1.30440842e-03 -3.91412424e+00] [-1.62540759e-02 3.95495182e-04 9.99867816e-01 -1.43154515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52241403699999 meters 0.07468967166099243 Centerline is valid? [True, True] Translation: X:64.56, Y:-3.92, Z:-1.43 [[ 9.98311487e-01 5.59582339e-02 1.55836459e-02 6.45555930e+01] [-5.59454599e-02 9.98433038e-01 -1.25478598e-03 -3.92033846e+00] [-1.56294425e-02 3.80833017e-04 9.99877780e-01 -1.43487928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55241403699999 meters 0.07487661851755818 Centerline is valid? [True, True] Translation: X:64.58, Y:-3.93, Z:-1.44 [[ 9.98373127e-01 5.50764539e-02 1.47540922e-02 6.45837873e+01] [-5.50649534e-02 9.98482071e-01 -1.18489366e-03 -3.92538971e+00] [-1.47969562e-02 3.70532589e-04 9.99890450e-01 -1.43769107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58241403699999 meters 0.07492118902694048 Centerline is valid? [True, True] Translation: X:64.61, Y:-3.93, Z:-1.44 [[ 9.98482311e-01 5.33472163e-02 1.36802210e-02 6.46117426e+01] [-5.33371538e-02 9.98575955e-01 -1.09960175e-03 -3.92935184e+00] [-1.37194004e-02 3.68268842e-04 9.99905817e-01 -1.43848168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.612414037 meters 0.07523674290180343 Centerline is valid? [True, True] Translation: X:64.64, Y:-3.94, Z:-1.44 [[ 9.98687895e-01 4.93431021e-02 1.37020655e-02 6.46405383e+01] [-4.93326835e-02 9.98781799e-01 -1.09752779e-03 -3.93657897e+00] [-1.37395291e-02 4.20128052e-04 9.99905520e-01 -1.43963973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.642414037 meters 0.07542494229647669 Centerline is valid? [True, True] Translation: X:64.67, Y:-3.94, Z:-1.44 [[ 9.98766023e-01 4.76592209e-02 1.39652811e-02 6.46685813e+01] [-4.76482167e-02 9.98863551e-01 -1.11982816e-03 -3.94147111e+00] [-1.40027804e-02 4.53025581e-04 9.99901854e-01 -1.44062674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.672414037 meters 0.07567730434753817 Centerline is valid? [True, True] Translation: X:64.70, Y:-3.95, Z:-1.44 [[ 9.98858694e-01 4.55900861e-02 1.42426324e-02 6.46972668e+01] [-4.55784790e-02 9.98960112e-01 -1.13865652e-03 -3.94720810e+00] [-1.42797331e-02 4.88199443e-04 9.99897920e-01 -1.44157355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.702414037 meters 0.07602928668397375 Centerline is valid? [True, True] Translation: X:64.72, Y:-3.95, Z:-1.44 [[ 9.98927913e-01 4.40519830e-02 1.42283733e-02 6.47247221e+01] [-4.40402509e-02 9.99029110e-01 -1.13698600e-03 -3.95374054e+00] [-1.42646456e-02 5.09145928e-04 9.99898125e-01 -1.44292954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.732414037 meters 0.07682833663215104 Centerline is valid? [True, True] Translation: X:64.75, Y:-3.97, Z:-1.45 [[ 9.99158426e-01 3.87584194e-02 1.34248102e-02 6.47543739e+01] [-3.87475415e-02 9.99248460e-01 -1.06953611e-03 -3.96525586e+00] [-1.34561745e-02 5.48457628e-04 9.99909311e-01 -1.44706955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76241403699999 meters 0.07662355643400708 Centerline is valid? [True, True] Translation: X:64.78, Y:-3.97, Z:-1.45 [[ 9.99271788e-01 3.59345484e-02 1.28296913e-02 6.47839101e+01] [-3.59243686e-02 9.99353988e-01 -1.02311423e-03 -3.96920332e+00] [-1.28581683e-02 5.61470624e-04 9.99917173e-01 -1.44686376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79241403699999 meters 0.0780739286159629 Centerline is valid? [True, True] Translation: X:64.81, Y:-3.98, Z:-1.45 [[ 9.99354096e-01 3.34205535e-02 1.32082247e-02 6.48112150e+01] [-3.34095390e-02 9.99441190e-01 -1.05374428e-03 -3.97862081e+00] [-1.32360605e-02 6.11782966e-04 9.99912212e-01 -1.45013392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82241403699999 meters 0.07760940461812223 Centerline is valid? [True, True] Translation: X:64.84, Y:-3.98, Z:-1.45 [[ 9.99422136e-01 3.11042077e-02 1.37084712e-02 6.48402072e+01] [-3.10921468e-02 9.99515926e-01 -1.09211855e-03 -3.98143168e+00] [-1.37358048e-02 6.65261660e-04 9.99905438e-01 -1.44868868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85241403699999 meters 0.0791290529978792 Centerline is valid? [True, True] Translation: X:64.87, Y:-3.99, Z:-1.45 [[ 9.99535103e-01 2.63836280e-02 1.52801326e-02 6.48683480e+01] [-2.63681151e-02 9.99651561e-01 -1.21584481e-03 -3.99187216e+00] [-1.53068868e-02 8.12371273e-04 9.99882513e-01 -1.45012487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88241403699999 meters 0.07965210815569962 Centerline is valid? [True, True] Translation: X:64.90, Y:-4.00, Z:-1.45 [[ 9.99600099e-01 2.41797667e-02 1.46622136e-02 6.48974325e+01] [-2.41652535e-02 9.99707297e-01 -1.16622437e-03 -3.99837298e+00] [-1.46861210e-02 8.11441886e-04 9.99891824e-01 -1.45051340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91241403699999 meters 0.08149407709444313 Centerline is valid? [True, True] Translation: X:64.93, Y:-4.01, Z:-1.45 [[ 9.99644185e-01 2.21194562e-02 1.49075139e-02 6.49255564e+01] [-2.21042264e-02 9.99754969e-01 -1.18563447e-03 -4.00812226e+00] [-1.49300866e-02 8.55693540e-04 9.99888174e-01 -1.45357490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94241403699999 meters 0.08159029703981388 Centerline is valid? [True, True] Translation: X:64.96, Y:-4.01, Z:-1.45 [[ 9.99688857e-01 2.03173488e-02 1.44704790e-02 6.49553549e+01] [-2.03028383e-02 9.99793216e-01 -1.14898193e-03 -4.01234895e+00] [-1.44908310e-02 8.54832634e-04 9.99894637e-01 -1.45487962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.972414037 meters 0.08193266768867605 Centerline is valid? [True, True] Translation: X:64.99, Y:-4.02, Z:-1.46 [[ 9.99718880e-01 1.95227670e-02 1.34544321e-02 6.49852747e+01] [-1.95101532e-02 9.99809088e-01 -1.06815314e-03 -4.01754729e+00] [-1.34727168e-02 8.05354830e-04 9.99908915e-01 -1.45697825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.002414037 meters 0.08068292515072224 Centerline is valid? [True, True] Translation: X:65.02, Y:-4.02, Z:-1.46 [[ 9.99767933e-01 1.82514997e-02 1.14439173e-02 6.50154712e+01] [-1.82422854e-02 9.99833182e-01 -9.09047296e-04 -4.01780888e+00] [-1.14585997e-02 7.00073131e-04 9.99934103e-01 -1.45699787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.032414037 meters 0.0804698318820467 Centerline is valid? [True, True] Translation: X:65.04, Y:-4.02, Z:-1.46 [[ 9.99773923e-01 1.80808683e-02 1.11886020e-02 6.50448842e+01] [-1.80720462e-02 9.99836292e-01 -8.89100612e-04 -4.01970584e+00] [-1.12028461e-02 6.86698674e-04 9.99937010e-01 -1.45827942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.062414037 meters 0.08113170876663295 Centerline is valid? [True, True] Translation: X:65.07, Y:-4.02, Z:-1.46 [[ 9.99749507e-01 1.94586011e-02 1.10583153e-02 6.50733704e+01] [-1.94500657e-02 9.99810443e-01 -8.78879833e-04 -4.02452858e+00] [-1.10733209e-02 6.63574720e-04 9.99938469e-01 -1.46024849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.092414037 meters 0.08094507810737074 Centerline is valid? [True, True] Translation: X:65.10, Y:-4.03, Z:-1.46 [[ 9.99725478e-01 2.05317360e-02 1.12878528e-02 6.51032530e+01] [-2.05229210e-02 9.99788981e-01 -8.96215265e-04 -4.02653838e+00] [-1.13038717e-02 6.64309522e-04 9.99935889e-01 -1.46199613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.122414037 meters 0.08074147344246412 Centerline is valid? [True, True] Translation: X:65.13, Y:-4.03, Z:-1.46 [[ 9.99702161e-01 2.16278341e-02 1.13059868e-02 6.51325913e+01] [-2.16190689e-02 9.99765878e-01 -8.96927914e-04 -4.02850953e+00] [-1.13227384e-02 6.52235867e-04 9.99935683e-01 -1.46294210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15241403699999 meters 0.08067617042644279 Centerline is valid? [True, True] Translation: X:65.16, Y:-4.03, Z:-1.46 [[ 9.99661238e-01 2.28891138e-02 1.23894442e-02 6.51612056e+01] [-2.28786856e-02 9.99737766e-01 -9.82797200e-04 -4.03098543e+00] [-1.24086907e-02 6.99010065e-04 9.99922765e-01 -1.46467681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18241403699999 meters 0.08039824888446724 Centerline is valid? [True, True] Translation: X:65.19, Y:-4.03, Z:-1.47 [[ 9.99635778e-01 2.42260204e-02 1.18916587e-02 6.51898104e+01] [-2.42165082e-02 9.99706292e-01 -9.43266630e-04 -4.03196991e+00] [-1.19110176e-02 6.54948621e-04 9.99928847e-01 -1.46588618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21241403699999 meters 0.07994717489779082 Centerline is valid? [True, True] Translation: X:65.22, Y:-4.03, Z:-1.47 [[ 9.99560787e-01 2.65096198e-02 1.32466378e-02 6.52197909e+01] [-2.64980427e-02 9.99648315e-01 -1.04874475e-03 -4.03296192e+00] [-1.32697810e-02 6.97274151e-04 9.99911709e-01 -1.46591226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24241403699999 meters 0.08007374147117881 Centerline is valid? [True, True] Translation: X:65.25, Y:-4.03, Z:-1.47 [[ 9.99544856e-01 2.72704835e-02 1.28997036e-02 6.52474593e+01] [-2.72595577e-02 9.99627867e-01 -1.02208983e-03 -4.03491037e+00] [-1.29227761e-02 6.69984418e-04 9.99916273e-01 -1.46730730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27241403699999 meters 0.07864978577120879 Centerline is valid? [True, True] Translation: X:65.28, Y:-4.03, Z:-1.47 [[ 9.99493237e-01 2.89395820e-02 1.32578306e-02 6.52767736e+01] [-2.89282085e-02 9.99580941e-01 -1.04888412e-03 -4.03210444e+00] [-1.32826291e-02 6.64827293e-04 9.99911561e-01 -1.46607001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30241403699999 meters 0.07985161761497903 Centerline is valid? [True, True] Translation: X:65.30, Y:-4.04, Z:-1.47 [[ 9.99429848e-01 3.17667559e-02 1.14391038e-02 6.53045664e+01] [-3.17584785e-02 9.99495163e-01 -9.04572982e-04 -4.03692390e+00] [-1.14620643e-02 5.40768705e-04 9.99934162e-01 -1.47099577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33241403699999 meters 0.07933187738704227 Centerline is valid? [True, True] Translation: X:65.33, Y:-4.04, Z:-1.47 [[ 9.99389606e-01 3.31503705e-02 1.10212992e-02 6.53331117e+01] [-3.31427789e-02 9.99450248e-01 -8.70796201e-04 -4.03626574e+00] [-1.10441074e-02 5.04988189e-04 9.99938884e-01 -1.47193123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.362414037 meters 0.07891469603497178 Centerline is valid? [True, True] Translation: X:65.36, Y:-4.04, Z:-1.47 [[ 9.99348719e-01 3.44115787e-02 1.08619097e-02 6.53622549e+01] [-3.44042867e-02 9.99407629e-01 -8.57533392e-04 -4.03676817e+00] [-1.08849845e-02 4.83278642e-04 9.99940640e-01 -1.47346902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.392414037 meters 0.07867113028427156 Centerline is valid? [True, True] Translation: X:65.39, Y:-4.04, Z:-1.47 [[ 9.99278237e-01 3.62323872e-02 1.14113876e-02 6.53911863e+01] [-3.62244673e-02 9.99343273e-01 -9.00030111e-04 -4.03626587e+00] [-1.14365037e-02 4.86009065e-04 9.99934483e-01 -1.47475758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.422414037 meters 0.07768205989976078 Centerline is valid? [True, True] Translation: X:65.42, Y:-4.03, Z:-1.47 [[ 9.99256415e-01 3.70947793e-02 1.05163680e-02 6.54201688e+01] [-3.70881050e-02 9.99311656e-01 -8.29034623e-04 -4.03449232e+00] [-1.05398820e-02 4.38386006e-04 9.99944358e-01 -1.47419504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.452414037 meters 0.07748076349552416 Centerline is valid? [True, True] Translation: X:65.45, Y:-4.04, Z:-1.48 [[ 9.99232141e-01 3.76435686e-02 1.08669342e-02 6.54485192e+01] [-3.76364832e-02 9.99291130e-01 -8.55856535e-04 -4.03551527e+00] [-1.08914485e-02 4.46206171e-04 9.99940587e-01 -1.47520308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.482414037 meters 0.07763611115767562 Centerline is valid? [True, True] Translation: X:65.48, Y:-4.04, Z:-1.48 [[ 9.99218835e-01 3.77443248e-02 1.17083417e-02 6.54772279e+01] [-3.77361185e-02 9.99287315e-01 -9.21106059e-04 -4.03819142e+00] [-1.17347638e-02 4.78559155e-04 9.99931031e-01 -1.47665852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51241403699999 meters 0.07715989402362004 Centerline is valid? [True, True] Translation: X:65.51, Y:-4.04, Z:-1.48 [[ 9.99204618e-01 3.82319094e-02 1.13336751e-02 6.55062452e+01] [-3.82242586e-02 9.99268789e-01 -8.90983388e-04 -4.03917944e+00] [-1.13594518e-02 4.57053387e-04 9.99935375e-01 -1.47626268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54241403699999 meters 0.07779730987115659 Centerline is valid? [True, True] Translation: X:65.53, Y:-4.04, Z:-1.48 [[ 9.99186843e-01 3.86842953e-02 1.13656747e-02 6.55336177e+01] [-3.86766339e-02 9.99251380e-01 -8.93194565e-04 -4.04332436e+00] [-1.13917188e-02 4.52882216e-04 9.99935010e-01 -1.47937927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57241403699999 meters 0.0773136798287997 Centerline is valid? [True, True] Translation: X:65.56, Y:-4.04, Z:-1.48 [[ 9.99184256e-01 3.89582574e-02 1.06337136e-02 6.55627135e+01] [-3.89515793e-02 9.99240751e-01 -8.34478112e-04 -4.04242843e+00] [-1.06581497e-02 4.19597455e-04 9.99943112e-01 -1.47900030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60241403699999 meters 0.07740473529959432 Centerline is valid? [True, True] Translation: X:65.59, Y:-4.05, Z:-1.48 [[ 9.99132933e-01 4.03413468e-02 1.02935771e-02 6.55899408e+01] [-4.03351541e-02 9.99185879e-01 -8.08593037e-04 -4.04528569e+00] [-1.03178166e-02 3.92698916e-04 9.99946693e-01 -1.48179852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63241403699999 meters 0.07743558904731877 Centerline is valid? [True, True] Translation: X:65.62, Y:-4.05, Z:-1.48 [[ 9.99117584e-01 4.06858559e-02 1.04265866e-02 6.56187099e+01] [-4.06795491e-02 9.99171911e-01 -8.16333653e-04 -4.04792271e+00] [-1.04511657e-02 3.91464467e-04 9.99945308e-01 -1.48349191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66241403699999 meters 0.07731449851834023 Centerline is valid? [True, True] Translation: X:65.65, Y:-4.05, Z:-1.49 [[ 9.99083103e-01 4.13392155e-02 1.11365757e-02 6.56476230e+01] [-4.13320713e-02 9.99145085e-01 -8.71001010e-04 -4.05010529e+00] [-1.11630614e-02 4.09904651e-04 9.99937607e-01 -1.48537029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69241403699999 meters 0.07731449851834023 Centerline is valid? [True, True] Translation: X:65.68, Y:-4.05, Z:-1.49 [[ 9.99087243e-01 4.12390260e-02 1.11365567e-02 6.56750119e+01] [-4.12318729e-02 9.99149225e-01 -8.71246152e-04 -4.05213925e+00] [-1.11630114e-02 4.11269825e-04 9.99937607e-01 -1.48649318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.722414037 meters 0.07708643236801337 Centerline is valid? [True, True] Translation: X:65.70, Y:-4.05, Z:-1.49 [[ 9.99052424e-01 4.19011397e-02 1.17706606e-02 6.57034932e+01] [-4.18932228e-02 9.99121671e-01 -9.18463056e-04 -4.05406093e+00] [-1.17988068e-02 4.24481835e-04 9.99930302e-01 -1.48702106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.752414037 meters 0.07670321815344107 Centerline is valid? [True, True] Translation: X:65.73, Y:-4.05, Z:-1.49 [[ 9.98988694e-01 4.31547940e-02 1.26195631e-02 6.57329586e+01] [-4.31458130e-02 9.99068302e-01 -9.83191893e-04 -4.05478329e+00] [-1.26502349e-02 4.37716275e-04 9.99919887e-01 -1.48647938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.782414037 meters 0.07662783764172396 Centerline is valid? [True, True] Translation: X:65.76, Y:-4.06, Z:-1.49 [[ 9.98990146e-01 4.30137028e-02 1.29810932e-02 6.57616664e+01] [-4.30041910e-02 9.99074380e-01 -1.01111585e-03 -4.05753183e+00] [-1.30125695e-02 4.51853356e-04 9.99915231e-01 -1.48711294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.812414037 meters 0.07686664571218729 Centerline is valid? [True, True] Translation: X:65.79, Y:-4.06, Z:-1.49 [[ 9.98986710e-01 4.29385493e-02 1.34846201e-02 6.57897013e+01] [-4.29282925e-02 9.99077605e-01 -1.04929631e-03 -4.06111078e+00] [-1.35172372e-02 4.69361356e-04 9.99908528e-01 -1.48876174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.842414037 meters 0.07715447169395027 Centerline is valid? [True, True] Translation: X:65.82, Y:-4.07, Z:-1.49 [[ 9.99017632e-01 4.20809462e-02 1.38911907e-02 6.58175165e+01] [-4.20699869e-02 9.99114082e-01 -1.08034526e-03 -4.06613455e+00] [-1.39243462e-02 4.94881755e-04 9.99902929e-01 -1.49023061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87241403699998 meters 0.07677928626083236 Centerline is valid? [True, True] Translation: X:65.85, Y:-4.07, Z:-1.49 [[ 9.99177523e-01 3.85773050e-02 1.24927366e-02 6.58479008e+01] [-3.85682062e-02 9.99255501e-01 -9.68515487e-04 -4.06976163e+00] [-1.25207985e-02 4.85896464e-04 9.99921494e-01 -1.48984898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90241403699999 meters 0.07797584669242687 Centerline is valid? [True, True] Translation: X:65.87, Y:-4.08, Z:-1.49 [[ 9.99249546e-01 3.66747580e-02 1.24622021e-02 6.58748487e+01] [-3.66655251e-02 9.99327124e-01 -9.68622461e-04 -4.07821218e+00] [-1.24893405e-02 5.10962372e-04 9.99921875e-01 -1.49413666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93241403699999 meters 0.07769695172480125 Centerline is valid? [True, True] Translation: X:65.90, Y:-4.08, Z:-1.49 [[ 9.99324514e-01 3.49613250e-02 1.13234889e-02 6.59040496e+01] [-3.49536057e-02 9.99388550e-01 -8.78959478e-04 -4.08064884e+00] [-1.13472947e-02 4.82568987e-04 9.99935501e-01 -1.49438992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96241403699999 meters 0.07864371729727275 Centerline is valid? [True, True] Translation: X:65.93, Y:-4.09, Z:-1.50 [[ 9.99448785e-01 3.07612665e-02 1.24848238e-02 6.59317857e+01] [-3.07515709e-02 9.99526590e-01 -9.67863885e-04 -4.08962120e+00] [-1.25086861e-02 5.83402440e-04 9.99921593e-01 -1.49507531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99241403699999 meters 0.08006126692071311 Centerline is valid? [True, True] Translation: X:65.96, Y:-4.10, Z:-1.50 [[ 9.99499118e-01 2.87095028e-02 1.33145977e-02 6.59587041e+01] [-2.86983029e-02 9.99587587e-01 -1.03151657e-03 -4.09819535e+00] [-1.33387209e-02 6.48893540e-04 9.99910825e-01 -1.49810424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02241403699999 meters 0.08099310560531886 Centerline is valid? [True, True] Translation: X:65.99, Y:-4.11, Z:-1.50 [[ 9.99548584e-01 2.64390594e-02 1.42690063e-02 6.59869344e+01] [-2.64259996e-02 9.99650164e-01 -1.10305841e-03 -4.10520517e+00] [-1.42931783e-02 7.25487721e-04 9.99897584e-01 -1.49980978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05241403699999 meters 0.07942764368318238 Centerline is valid? [True, True] Translation: X:66.02, Y:-4.10, Z:-1.50 [[ 9.99600603e-01 2.41262484e-02 1.47159221e-02 6.60171097e+01] [-2.41121246e-02 9.99708615e-01 -1.13645557e-03 -4.10486420e+00] [-1.47390525e-02 7.81169519e-04 9.99891069e-01 -1.49796995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08241403699999 meters 0.08021012607837048 Centerline is valid? [True, True] Translation: X:66.05, Y:-4.11, Z:-1.50 [[ 9.99657371e-01 2.21238406e-02 1.39884300e-02 6.60453689e+01] [-2.21109126e-02 9.99754942e-01 -1.07819090e-03 -4.11208984e+00] [-1.40088558e-02 7.68524532e-04 9.99901576e-01 -1.50041757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.112414037 meters 0.08049572352424017 Centerline is valid? [True, True] Translation: X:66.07, Y:-4.12, Z:-1.50 [[ 9.99731084e-01 1.85661728e-02 1.38944931e-02 6.60747393e+01] [-1.85530533e-02 9.99827302e-01 -1.07253911e-03 -4.11811934e+00] [-1.39120065e-02 8.14465417e-04 9.99902892e-01 -1.50199672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.142414037 meters 0.08117313747583786 Centerline is valid? [True, True] Translation: X:66.10, Y:-4.12, Z:-1.50 [[ 9.99756771e-01 1.74461314e-02 1.34918635e-02 6.61042556e+01] [-1.74337005e-02 9.99847482e-01 -1.03843715e-03 -4.12358551e+00] [-1.35079225e-02 8.02971467e-04 9.99908441e-01 -1.50379226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.172414037 meters 0.0821781791251314 Centerline is valid? [True, True] Translation: X:66.13, Y:-4.13, Z:-1.50 [[ 9.99762860e-01 1.67399513e-02 1.39283105e-02 6.61341704e+01] [-1.67265907e-02 9.99859523e-01 -1.07518487e-03 -4.12985879e+00] [-1.39443524e-02 8.41956755e-04 9.99902418e-01 -1.50497201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.202414037 meters 0.07998616906807308 Centerline is valid? [True, True] Translation: X:66.17, Y:-4.13, Z:-1.50 [[ 9.99750903e-01 1.67209418e-02 1.47831897e-02 6.61655782e+01] [-1.67058913e-02 9.99859796e-01 -1.14099274e-03 -4.12610514e+00] [-1.48001955e-02 8.93742164e-04 9.99890072e-01 -1.50256542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.232414037 meters 0.08172183783667936 Centerline is valid? [True, True] Translation: X:66.20, Y:-4.13, Z:-1.51 [[ 9.99723925e-01 1.77372910e-02 1.54097978e-02 6.61957112e+01] [-1.77211237e-02 9.99842266e-01 -1.18508015e-03 -4.13478386e+00] [-1.54283873e-02 9.11674046e-04 9.99880560e-01 -1.50688422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26241403699999 meters 0.08041860516764239 Centerline is valid? [True, True] Translation: X:66.23, Y:-4.13, Z:-1.51 [[ 9.99741040e-01 1.78301313e-02 1.41399948e-02 6.62270052e+01] [-1.78164204e-02 9.99840675e-01 -1.09503763e-03 -4.13343592e+00] [-1.41572666e-02 8.42829964e-04 9.99899426e-01 -1.50669551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29241403699999 meters 0.08128256349153107 Centerline is valid? [True, True] Translation: X:66.26, Y:-4.14, Z:-1.51 [[ 9.99735193e-01 1.80401156e-02 1.42862754e-02 6.62566801e+01] [-1.80261529e-02 9.99836905e-01 -1.10553077e-03 -4.13906087e+00] [-1.43038893e-02 8.47711433e-04 9.99897335e-01 -1.50937803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32241403699999 meters 0.08116496524445736 Centerline is valid? [True, True] Translation: X:66.29, Y:-4.14, Z:-1.51 [[ 9.99739000e-01 1.77697764e-02 1.43585033e-02 6.62879255e+01] [-1.77556067e-02 9.99841736e-01 -1.11373113e-03 -4.14165449e+00] [-1.43760217e-02 8.58496508e-04 9.99896291e-01 -1.51077791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35241403699999 meters 0.0813763894908135 Centerline is valid? [True, True] Translation: X:66.32, Y:-4.14, Z:-1.51 [[ 9.99728231e-01 1.78604048e-02 1.49823389e-02 6.63177724e+01] [-1.78449719e-02 9.99840089e-01 -1.16313459e-03 -4.14488228e+00] [-1.50007171e-02 8.95459066e-04 9.99887082e-01 -1.51173853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38241403699999 meters 0.08143974805530631 Centerline is valid? [True, True] Translation: X:66.35, Y:-4.15, Z:-1.51 [[ 9.99704731e-01 1.87638331e-02 1.54392368e-02 6.63487260e+01] [-1.87476264e-02 9.99823535e-01 -1.19378563e-03 -4.14681858e+00] [-1.54589124e-02 9.03984099e-04 9.99880095e-01 -1.51359126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41241403699999 meters 0.08176773768912515 Centerline is valid? [True, True] Translation: X:66.38, Y:-4.15, Z:-1.52 [[ 9.99715510e-01 1.91129648e-02 1.42686038e-02 6.63803741e+01] [-1.90991226e-02 9.99816984e-01 -1.10576661e-03 -4.14893274e+00] [-1.42871269e-02 8.32934218e-04 9.99897587e-01 -1.51538780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44241403699999 meters 0.0821881240909882 Centerline is valid? [True, True] Translation: X:66.41, Y:-4.15, Z:-1.52 [[ 9.99719657e-01 1.91852387e-02 1.38756794e-02 6.64102618e+01] [-1.91720636e-02 9.99815614e-01 -1.08192402e-03 -4.15135451e+00] [-1.38938779e-02 8.15595298e-04 9.99903143e-01 -1.51758328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.472414037 meters 0.08079558905289123 Centerline is valid? [True, True] Translation: X:66.44, Y:-4.15, Z:-1.52 [[ 9.99725486e-01 1.86331788e-02 1.42041617e-02 6.64414547e+01] [-1.86193000e-02 9.99826031e-01 -1.10871887e-03 -4.14867009e+00] [-1.42223495e-02 8.43942967e-04 9.99898501e-01 -1.51813418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.502414037 meters 0.08096696933295569 Centerline is valid? [True, True] Translation: X:66.47, Y:-4.15, Z:-1.52 [[ 9.99730578e-01 1.77826477e-02 1.49180760e-02 6.64721010e+01] [-1.77671979e-02 9.99841469e-01 -1.16754606e-03 -4.15134942e+00] [-1.49364730e-02 9.02179085e-04 9.99888038e-01 -1.51895739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.532414037 meters 0.08195401728683334 Centerline is valid? [True, True] Translation: X:66.50, Y:-4.16, Z:-1.52 [[ 9.99737229e-01 1.69229137e-02 1.54624951e-02 6.65030896e+01] [-1.69063003e-02 9.99856353e-01 -1.20452453e-03 -4.15626997e+00] [-1.54806580e-02 9.42794427e-04 9.99879723e-01 -1.52028855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.562414037 meters 0.0816495394254302 Centerline is valid? [True, True] Translation: X:66.54, Y:-4.16, Z:-1.52 [[ 9.99747101e-01 1.62442963e-02 1.55517332e-02 6.65358275e+01] [-1.62273603e-02 9.99867590e-01 -1.21458806e-03 -4.15628444e+00] [-1.55694041e-02 9.61917315e-04 9.99878327e-01 -1.51988808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.592414037 meters 0.08200640434958008 Centerline is valid? [True, True] Translation: X:66.57, Y:-4.16, Z:-1.52 [[ 9.99757541e-01 1.62254094e-02 1.48860877e-02 6.65675893e+01] [-1.62098427e-02 9.99867932e-01 -1.16579244e-03 -4.15896934e+00] [-1.49030372e-02 9.24208643e-04 9.99888516e-01 -1.52124991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62241403699998 meters 0.08246179469173155 Centerline is valid? [True, True] Translation: X:66.60, Y:-4.16, Z:-1.52 [[ 9.99760002e-01 1.66360330e-02 1.42541497e-02 6.65981924e+01] [-1.66217520e-02 9.99861222e-01 -1.11977940e-03 -4.16200289e+00] [-1.42708003e-02 8.82581717e-04 9.99897777e-01 -1.52322251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65241403699999 meters 0.08179329985295176 Centerline is valid? [True, True] Translation: X:66.63, Y:-4.16, Z:-1.52 [[ 9.99761341e-01 1.66013888e-02 1.42005223e-02 6.66292171e+01] [-1.65870980e-02 9.99861793e-01 -1.12355683e-03 -4.16197533e+00] [-1.42172123e-02 8.87743234e-04 9.99898536e-01 -1.52406484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68241403699999 meters 0.08217855050953397 Centerline is valid? [True, True] Translation: X:66.66, Y:-4.16, Z:-1.53 [[ 9.99782355e-01 1.64039045e-02 1.28900923e-02 6.66602591e+01] [-1.63921092e-02 9.99865120e-01 -1.02019302e-03 -4.16451986e+00] [-1.29050889e-02 8.08675175e-04 9.99916399e-01 -1.52649512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71241403699999 meters 0.08132095968562425 Centerline is valid? [True, True] Translation: X:66.69, Y:-4.16, Z:-1.53 [[ 9.99785509e-01 1.63729020e-02 1.26832421e-02 6.66912708e+01] [-1.63614625e-02 9.99865637e-01 -1.00518237e-03 -4.16390457e+00] [-1.26979957e-02 7.97450374e-04 9.99919059e-01 -1.52707936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74241403699999 meters 0.08097798165948317 Centerline is valid? [True, True] Translation: X:66.72, Y:-4.16, Z:-1.53 [[ 9.99789095e-01 1.65523342e-02 1.21566950e-02 6.67220347e+01] [-1.65418381e-02 9.99862710e-01 -9.63452043e-04 -4.16452532e+00] [-1.21709734e-02 7.62154766e-04 9.99925640e-01 -1.52831831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77241403699999 meters 0.08213729528926131 Centerline is valid? [True, True] Translation: X:66.75, Y:-4.17, Z:-1.53 [[ 9.99790663e-01 1.66181455e-02 1.19359639e-02 6.67523844e+01] [-1.66080377e-02 9.99861630e-01 -9.45460241e-04 -4.16939038e+00] [-1.19500241e-02 7.47029383e-04 9.99928317e-01 -1.53099910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80241403699999 meters 0.08094997361654802 Centerline is valid? [True, True] Translation: X:66.78, Y:-4.17, Z:-1.53 [[ 9.99743486e-01 1.85012750e-02 1.30638882e-02 6.67838535e+01] [-1.84893206e-02 9.99828522e-01 -1.03526777e-03 -4.16715216e+00] [-1.30808018e-02 7.93459793e-04 9.99914128e-01 -1.53199210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83241403699999 meters 0.08156473925522614 Centerline is valid? [True, True] Translation: X:66.81, Y:-4.17, Z:-1.53 [[ 9.99728620e-01 1.93875457e-02 1.29154611e-02 6.68136774e+01] [-1.93759293e-02 9.99811745e-01 -1.02395460e-03 -4.17060687e+00] [-1.29328816e-02 7.73427659e-04 9.99916068e-01 -1.53437552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.862414037 meters 0.08129359948085411 Centerline is valid? [True, True] Translation: X:66.84, Y:-4.17, Z:-1.54 [[ 9.99711852e-01 1.99716576e-02 1.33170978e-02 6.68438791e+01] [-1.99593528e-02 9.99800234e-01 -1.05626380e-03 -4.17174627e+00] [-1.33355329e-02 7.90158783e-04 9.99910766e-01 -1.53560861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.892414037 meters 0.08073914212315379 Centerline is valid? [True, True] Translation: X:66.87, Y:-4.17, Z:-1.54 [[ 9.99651290e-01 2.24892380e-02 1.38395653e-02 6.68734974e+01] [-2.24761865e-02 9.99746776e-01 -1.09789290e-03 -4.17141155e+00] [-1.38607516e-02 7.86449401e-04 9.99903626e-01 -1.53660974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.922414037 meters 0.0805759564479345 Centerline is valid? [True, True] Translation: X:66.90, Y:-4.17, Z:-1.54 [[ 9.99605493e-01 2.42667377e-02 1.41415487e-02 6.69028084e+01] [-2.42532950e-02 9.99705217e-01 -1.12133203e-03 -4.17155162e+00] [-1.41645911e-02 7.77910504e-04 9.99899375e-01 -1.53756149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.952414037 meters 0.08087733737665882 Centerline is valid? [True, True] Translation: X:66.93, Y:-4.17, Z:-1.54 [[ 9.99560106e-01 2.56420618e-02 1.49023184e-02 6.69311398e+01] [-2.56272884e-02 9.99670869e-01 -1.18150217e-03 -4.17243225e+00] [-1.49277097e-02 7.99076426e-04 9.99888256e-01 -1.53856653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.982414037 meters 0.07985662832553206 Centerline is valid? [True, True] Translation: X:66.96, Y:-4.17, Z:-1.54 [[ 9.99491846e-01 2.83671952e-02 1.45379638e-02 6.69617413e+01] [-2.83534455e-02 9.99597298e-01 -1.15106595e-03 -4.16973328e+00] [-1.45647618e-02 7.38279664e-04 9.99893656e-01 -1.53903963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01241403699999 meters 0.07855483256936303 Centerline is valid? [True, True] Translation: X:66.99, Y:-4.17, Z:-1.54 [[ 9.99479111e-01 2.91737017e-02 1.37986363e-02 6.69910373e+01] [-2.91613746e-02 9.99574118e-01 -1.09375748e-03 -4.16693286e+00] [-1.38246686e-02 6.90800548e-04 9.99904196e-01 -1.53867518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04241403699999 meters 0.07989761360313209 Centerline is valid? [True, True] Translation: X:67.02, Y:-4.17, Z:-1.54 [[ 9.99446677e-01 3.01780723e-02 1.39865827e-02 6.70183585e+01] [-3.01655131e-02 9.99544303e-01 -1.10809414e-03 -4.17343829e+00] [-1.40136493e-02 6.85568557e-04 9.99901569e-01 -1.54371805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07241403699999 meters 0.08030392109854019 Centerline is valid? [True, True] Translation: X:67.05, Y:-4.18, Z:-1.55 [[ 9.99434963e-01 3.07660769e-02 1.35352838e-02 6.70459366e+01] [-3.07543852e-02 9.99526398e-01 -1.07114832e-03 -4.17662603e+00] [-1.35618285e-02 6.54273749e-04 9.99907820e-01 -1.54649631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10241403699999 meters 0.07838594749906791 Centerline is valid? [True, True] Translation: X:67.08, Y:-4.17, Z:-1.54 [[ 9.99383788e-01 3.20478141e-02 1.43171889e-02 6.70750873e+01] [-3.20348882e-02 9.99486111e-01 -1.13131316e-03 -4.17088611e+00] [-1.43460876e-02 6.71966484e-04 9.99896864e-01 -1.54391683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13241403699999 meters 0.07819900220342935 Centerline is valid? [True, True] Translation: X:67.10, Y:-4.17, Z:-1.54 [[ 9.99374993e-01 3.24593546e-02 1.40004885e-02 6.71037279e+01] [-3.24470470e-02 9.99472845e-01 -1.10539651e-03 -4.17139477e+00] [-1.40289885e-02 6.50431120e-04 9.99901377e-01 -1.54459054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16241403699999 meters 0.07863284194040242 Centerline is valid? [True, True] Translation: X:67.13, Y:-4.17, Z:-1.55 [[ 9.99322586e-01 3.36145157e-02 1.49811340e-02 6.71319698e+01] [-3.36005715e-02 9.99434643e-01 -1.18158952e-03 -4.17432280e+00] [-1.50123829e-02 6.77414432e-04 9.99887078e-01 -1.54629187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19241403699999 meters 0.07751584944642102 Centerline is valid? [True, True] Translation: X:67.16, Y:-4.17, Z:-1.55 [[ 9.99274669e-01 3.49079907e-02 1.52173435e-02 6.71609013e+01] [-3.48937689e-02 9.99390308e-01 -1.19917188e-03 -4.17270909e+00] [-1.52499263e-02 6.67311614e-04 9.99883490e-01 -1.54551119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.222414037 meters 0.07859150427158677 Centerline is valid? [True, True] Translation: X:67.19, Y:-4.18, Z:-1.55 [[ 9.99294194e-01 3.46771587e-02 1.44432808e-02 6.71878093e+01] [-3.46643291e-02 9.99398364e-01 -1.13775478e-03 -4.17876229e+00] [-1.44740453e-02 6.36285105e-04 9.99895043e-01 -1.54862737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.252414037 meters 0.07769431098809196 Centerline is valid? [True, True] Translation: X:67.22, Y:-4.18, Z:-1.55 [[ 9.99285492e-01 3.49263394e-02 1.44449487e-02 6.72164453e+01] [-3.49135570e-02 9.99389690e-01 -1.13621149e-03 -4.17836160e+00] [-1.44758165e-02 6.31075122e-04 9.99895021e-01 -1.54810594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.282414037 meters 0.0778146247671848 Centerline is valid? [True, True] Translation: X:67.24, Y:-4.18, Z:-1.55 [[ 9.99291337e-01 3.50184479e-02 1.38033179e-02 6.72447858e+01] [-3.50067961e-02 9.99386485e-01 -1.08491729e-03 -4.18098313e+00] [-1.38328415e-02 6.00938515e-04 9.99904141e-01 -1.55031574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.312414037 meters 0.07817596243094364 Centerline is valid? [True, True] Translation: X:67.27, Y:-4.18, Z:-1.55 [[ 9.99302727e-01 3.45616778e-02 1.41262217e-02 6.72735482e+01] [-3.45494435e-02 9.99402374e-01 -1.10926703e-03 -4.18429036e+00] [-1.41561176e-02 6.20440473e-04 9.99899605e-01 -1.55191462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.342414037 meters 0.07838255228235398 Centerline is valid? [True, True] Translation: X:67.30, Y:-4.19, Z:-1.55 [[ 9.99301134e-01 3.43881893e-02 1.46525306e-02 6.73012275e+01] [-3.43750175e-02 9.99408343e-01 -1.14992751e-03 -4.18783235e+00] [-1.46834052e-02 6.45442869e-04 9.99891985e-01 -1.55279021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37241403699998 meters 0.07837812850764002 Centerline is valid? [True, True] Translation: X:67.33, Y:-4.19, Z:-1.55 [[ 9.99329095e-01 3.38175573e-02 1.40617613e-02 6.73297068e+01] [-3.38053908e-02 9.99427827e-01 -1.10207883e-03 -4.19101053e+00] [-1.40909851e-02 6.25976099e-04 9.99900521e-01 -1.55380549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40241403699999 meters 0.07891564481805166 Centerline is valid? [True, True] Translation: X:67.36, Y:-4.20, Z:-1.56 [[ 9.99373902e-01 3.24772842e-02 1.40367151e-02 6.73567282e+01] [-3.24650300e-02 9.99472267e-01 -1.10005382e-03 -4.19566381e+00] [-1.40650343e-02 6.43662702e-04 9.99900875e-01 -1.55566251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43241403699999 meters 0.07898639628268996 Centerline is valid? [True, True] Translation: X:67.39, Y:-4.20, Z:-1.56 [[ 9.99440117e-01 3.10344808e-02 1.25025274e-02 6.73857376e+01] [-3.10246738e-02 9.99518141e-01 -9.77637778e-04 -4.19958164e+00] [-1.25268434e-02 5.89203582e-04 9.99921362e-01 -1.55823008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46241403699999 meters 0.07894506744256827 Centerline is valid? [True, True] Translation: X:67.42, Y:-4.20, Z:-1.56 [[ 9.99489511e-01 2.99858291e-02 1.10257627e-02 6.74153291e+01] [-2.99781473e-02 9.99550183e-01 -8.61358553e-04 -4.20295188e+00] [-1.10466317e-02 5.30386899e-04 9.99938843e-01 -1.55938380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49241403699999 meters 0.07941086151803485 Centerline is valid? [True, True] Translation: X:67.44, Y:-4.21, Z:-1.56 [[ 9.99504283e-01 2.93345696e-02 1.14311418e-02 6.74427166e+01] [-2.93262583e-02 9.99569493e-01 -8.94054553e-04 -4.20739979e+00] [-1.14524473e-02 5.58378737e-04 9.99934263e-01 -1.56130425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52241403699999 meters 0.07962607541946257 Centerline is valid? [True, True] Translation: X:67.47, Y:-4.21, Z:-1.56 [[ 9.99542923e-01 2.75113748e-02 1.25327659e-02 6.74714949e+01] [-2.75012646e-02 9.99621290e-01 -9.78357609e-04 -4.21198945e+00] [-1.25549355e-02 6.33243514e-04 9.99920983e-01 -1.56157694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55241403699999 meters 0.07864800128512778 Centerline is valid? [True, True] Translation: X:67.50, Y:-4.21, Z:-1.56 [[ 9.99545643e-01 2.71985753e-02 1.29901598e-02 6.75000812e+01] [-2.71876990e-02 9.99629833e-01 -1.01316224e-03 -4.21164933e+00] [-1.30129078e-02 6.59529348e-04 9.99915111e-01 -1.56056391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58241403699999 meters 0.07991191251445755 Centerline is valid? [True, True] Translation: X:67.53, Y:-4.22, Z:-1.56 [[ 9.99579664e-01 2.66798815e-02 1.13437295e-02 6.75278817e+01] [-2.66715670e-02 9.99643860e-01 -8.83637828e-04 -4.21869291e+00] [-1.13632649e-02 5.80711363e-04 9.99935267e-01 -1.56408957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.612414037 meters 0.07991191251445755 Centerline is valid? [True, True] Translation: X:67.56, Y:-4.22, Z:-1.57 [[ 9.99581417e-01 2.66141142e-02 1.13437235e-02 6.75561332e+01] [-2.66057946e-02 9.99645613e-01 -8.83715560e-04 -4.22081995e+00] [-1.13632227e-02 5.81536874e-04 9.99935267e-01 -1.56524751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.642414037 meters 0.07962353938572486 Centerline is valid? [True, True] Translation: X:67.58, Y:-4.22, Z:-1.57 [[ 9.99584433e-01 2.64036902e-02 1.15674864e-02 6.75846234e+01] [-2.63950342e-02 9.99651185e-01 -9.00355338e-04 -4.22215128e+00] [-1.15872242e-02 5.94656980e-04 9.99932689e-01 -1.56598702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.672414037 meters 0.07905633839198332 Centerline is valid? [True, True] Translation: X:67.61, Y:-4.22, Z:-1.57 [[ 9.99576550e-01 2.68803569e-02 1.11430114e-02 6.76132765e+01] [-2.68723610e-02 9.99638497e-01 -8.66698853e-04 -4.22448448e+00] [-1.11622803e-02 5.66892825e-04 9.99937539e-01 -1.56695223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.702414037 meters 0.07987833085856251 Centerline is valid? [True, True] Translation: X:67.64, Y:-4.23, Z:-1.57 [[ 9.99567439e-01 2.69146110e-02 1.18549223e-02 6.76408383e+01] [-2.69055683e-02 9.99637555e-01 -9.21638553e-04 -4.23009249e+00] [-1.18754311e-02 6.02276466e-04 9.99929303e-01 -1.56941338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.732414037 meters 0.07988848675350246 Centerline is valid? [True, True] Translation: X:67.67, Y:-4.23, Z:-1.57 [[ 9.99543628e-01 2.70847490e-02 1.33772645e-02 6.76693246e+01] [-2.70732793e-02 9.99632913e-01 -1.03778616e-03 -4.23322968e+00] [-1.34004620e-02 6.75146122e-04 9.99909982e-01 -1.57015445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76241403699999 meters 0.08013033154373596 Centerline is valid? [True, True] Translation: X:67.70, Y:-4.24, Z:-1.57 [[ 9.99535154e-01 2.73864329e-02 1.33962406e-02 6.76968894e+01] [-2.73749624e-02 9.99624696e-01 -1.03890140e-03 -4.23645156e+00] [-1.34196647e-02 6.71696886e-04 9.99909727e-01 -1.57033508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79241403699999 meters 0.08147805240850037 Centerline is valid? [True, True] Translation: X:67.72, Y:-4.24, Z:-1.57 [[ 9.99555415e-01 2.70128907e-02 1.26204734e-02 6.77247955e+01] [-2.70027050e-02 9.99634883e-01 -9.76818526e-04 -4.24234172e+00] [-1.26422522e-02 6.35597326e-04 9.99919882e-01 -1.57392040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82241403699999 meters 0.07876769829604523 Centerline is valid? [True, True] Translation: X:67.75, Y:-4.24, Z:-1.57 [[ 9.99568154e-01 2.67702418e-02 1.21186016e-02 6.77544760e+01] [-2.67608317e-02 9.99641425e-01 -9.38024288e-04 -4.23728008e+00] [-1.21393673e-02 6.13315348e-04 9.99926127e-01 -1.57092249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85241403699999 meters 0.0790756808684582 Centerline is valid? [True, True] Translation: X:67.78, Y:-4.24, Z:-1.57 [[ 9.99605618e-01 2.57840370e-02 1.11261721e-02 6.77833559e+01] [-2.57760557e-02 9.99667372e-01 -8.60169160e-04 -4.24175145e+00] [-1.11446498e-02 5.73041094e-04 9.99937732e-01 -1.57256463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88241403699999 meters 0.079130951004424 Centerline is valid? [True, True] Translation: X:67.81, Y:-4.25, Z:-1.57 [[ 9.99656738e-01 2.34942224e-02 1.15943220e-02 6.78127159e+01] [-2.34854153e-02 9.99723779e-01 -8.95197222e-04 -4.24811023e+00] [-1.16121514e-02 6.22592467e-04 9.99932383e-01 -1.57404700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91241403699999 meters 0.08031433739947422 Centerline is valid? [True, True] Translation: X:67.84, Y:-4.26, Z:-1.58 [[ 9.99668844e-01 2.27345896e-02 1.20557617e-02 6.78406143e+01] [-2.27250122e-02 9.99741320e-01 -9.30836079e-04 -4.25549684e+00] [-1.20738053e-02 6.56560495e-04 9.99926893e-01 -1.57677534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94241403699999 meters 0.08025812970985043 Centerline is valid? [True, True] Translation: X:67.87, Y:-4.26, Z:-1.58 [[ 9.99685757e-01 2.18174065e-02 1.23445817e-02 6.78698345e+01] [-2.18073097e-02 9.99761739e-01 -9.51947663e-04 -4.25775133e+00] [-1.23624095e-02 6.82446403e-04 9.99923350e-01 -1.57669043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.972414037 meters 0.080530816391006 Centerline is valid? [True, True] Translation: X:67.90, Y:-4.26, Z:-1.58 [[ 9.99689717e-01 2.11654492e-02 1.31337039e-02 6.78994680e+01] [-2.11539711e-02 9.99775717e-01 -1.01226871e-03 -4.26214452e+00] [-1.31521833e-02 7.34124627e-04 9.99913237e-01 -1.57755924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.002414037 meters 0.08135178109176348 Centerline is valid? [True, True] Translation: X:67.93, Y:-4.27, Z:-1.58 [[ 9.99720400e-01 2.03836064e-02 1.19846178e-02 6.79277955e+01] [-2.03740228e-02 9.99792004e-01 -9.21225494e-04 -4.26953959e+00] [-1.20009030e-02 6.76793043e-04 9.99927758e-01 -1.58006831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.032414037 meters 0.08013100789165853 Centerline is valid? [True, True] Translation: X:67.96, Y:-4.27, Z:-1.58 [[ 9.99720648e-01 2.04736938e-02 1.18090174e-02 6.79571104e+01] [-2.04643631e-02 9.99790168e-01 -9.10440864e-04 -4.26992608e+00] [-1.18251796e-02 6.68522509e-04 9.99929857e-01 -1.58043646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.062414037 meters 0.08114849508097144 Centerline is valid? [True, True] Translation: X:67.99, Y:-4.28, Z:-1.58 [[ 9.99731781e-01 2.02278617e-02 1.12782817e-02 6.79857194e+01] [-2.02193335e-02 9.99795190e-01 -8.69689714e-04 -4.27608016e+00] [-1.12935638e-02 6.41417108e-04 9.99936020e-01 -1.58350950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.092414037 meters 0.07930124220129753 Centerline is valid? [True, True] Translation: X:68.02, Y:-4.27, Z:-1.58 [[ 9.99749340e-01 2.00981109e-02 9.86527881e-03 6.80158703e+01] [-2.00915867e-02 9.99797855e-01 -7.60004959e-04 -4.27337723e+00] [-9.87855926e-03 5.61605351e-04 9.99951048e-01 -1.58238378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12241403699998 meters 0.08091530071749807 Centerline is valid? [True, True] Translation: X:68.04, Y:-4.28, Z:-1.59 [[ 9.99755708e-01 1.99680683e-02 9.47634299e-03 6.80436239e+01] [-1.99620437e-02 9.99800472e-01 -7.29922677e-04 -4.28056774e+00] [-9.48902734e-03 5.40577190e-04 9.99954832e-01 -1.58606014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15241403699999 meters 0.08007566230154191 Centerline is valid? [True, True] Translation: X:68.07, Y:-4.28, Z:-1.58 [[ 9.99754675e-01 1.96825188e-02 1.01581706e-02 6.80723035e+01] [-1.96755775e-02 9.99806111e-01 -7.82808800e-04 -4.28101426e+00] [-1.01716087e-02 5.82748884e-04 9.99948098e-01 -1.58489960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18241403699999 meters 0.08121209404823929 Centerline is valid? [True, True] Translation: X:68.10, Y:-4.29, Z:-1.59 [[ 9.99755712e-01 1.96904848e-02 1.00400226e-02 6.80998999e+01] [-1.96837166e-02 9.99805958e-01 -7.72501213e-04 -4.28840263e+00] [-1.00532853e-02 5.74687540e-04 9.99949299e-01 -1.58797420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21241403699999 meters 0.08133096283738861 Centerline is valid? [True, True] Translation: X:68.13, Y:-4.29, Z:-1.59 [[ 9.99758213e-01 1.92942065e-02 1.05474971e-02 6.81282333e+01] [-1.92867167e-02 9.99813665e-01 -8.11368783e-04 -4.29209775e+00] [-1.05611865e-02 6.07746016e-04 9.99944044e-01 -1.58923828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24241403699999 meters 0.0814418515811094 Centerline is valid? [True, True] Translation: X:68.16, Y:-4.30, Z:-1.59 [[ 9.99757761e-01 1.91078052e-02 1.09229842e-02 6.81574610e+01] [-1.90997815e-02 9.99817231e-01 -8.38427392e-04 -4.29702355e+00] [-1.09370083e-02 6.29597682e-04 9.99939991e-01 -1.59042275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27241403699999 meters 0.08173601561116937 Centerline is valid? [True, True] Translation: X:68.19, Y:-4.30, Z:-1.59 [[ 9.99743472e-01 1.98106487e-02 1.09784995e-02 6.81864719e+01] [-1.98025950e-02 9.99803555e-01 -8.41817709e-04 -4.30044305e+00] [-1.09930198e-02 6.24198980e-04 9.99939380e-01 -1.59199322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30241403699999 meters 0.08087284330508458 Centerline is valid? [True, True] Translation: X:68.22, Y:-4.30, Z:-1.59 [[ 9.99735689e-01 2.00174894e-02 1.13072169e-02 6.82167423e+01] [-2.00089616e-02 9.99799425e-01 -8.66823172e-04 -4.30043369e+00] [-1.13223006e-02 6.40348391e-04 9.99935696e-01 -1.59183258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33241403699999 meters 0.08085371397809596 Centerline is valid? [True, True] Translation: X:68.25, Y:-4.30, Z:-1.59 [[ 9.99712587e-01 2.12554941e-02 1.10881279e-02 6.82468802e+01] [-2.12473714e-02 9.99773888e-01 -8.49852646e-04 -4.30277752e+00] [-1.11036847e-02 6.14014817e-04 9.99938164e-01 -1.59282133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.362414037 meters 0.08102546108279768 Centerline is valid? [True, True] Translation: X:68.28, Y:-4.31, Z:-1.60 [[ 9.99699175e-01 2.21384472e-02 1.05569696e-02 6.82758027e+01] [-2.21311295e-02 9.99754749e-01 -8.09494734e-04 -4.30583692e+00] [-1.05723015e-02 5.75613555e-04 9.99943946e-01 -1.59505653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.392414037 meters 0.08101597425387708 Centerline is valid? [True, True] Translation: X:68.30, Y:-4.31, Z:-1.60 [[ 9.99684833e-01 2.28894140e-02 1.03106924e-02 6.83049208e+01] [-2.28824718e-02 9.99737849e-01 -7.90788814e-04 -4.30817483e+00] [-1.03260902e-02 5.54605454e-04 9.99946531e-01 -1.59736660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.422414037 meters 0.08153404109312015 Centerline is valid? [True, True] Translation: X:68.33, Y:-4.31, Z:-1.60 [[ 9.99676169e-01 2.36162322e-02 9.47793825e-03 6.83333928e+01] [-2.36104017e-02 9.99720972e-01 -7.26602367e-04 -4.31350200e+00] [-9.49245325e-03 5.02589141e-04 9.99954819e-01 -1.60107251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.452414037 meters 0.0817424145288011 Centerline is valid? [True, True] Translation: X:68.36, Y:-4.32, Z:-1.60 [[ 9.99673873e-01 2.34108411e-02 1.02019552e-02 6.83619410e+01] [-2.34040768e-02 9.99725781e-01 -7.81935896e-04 -4.31706037e+00] [-1.02174634e-02 5.42913544e-04 9.99947653e-01 -1.60300596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.482414037 meters 0.08229391457717664 Centerline is valid? [True, True] Translation: X:68.39, Y:-4.32, Z:-1.61 [[ 9.99651079e-01 2.41480934e-02 1.07046669e-02 6.83904648e+01] [-2.41407023e-02 9.99708235e-01 -8.19148674e-04 -4.32217104e+00] [-1.07213245e-02 5.60444679e-04 9.99942368e-01 -1.60503449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51241403699999 meters 0.08192237823535857 Centerline is valid? [True, True] Translation: X:68.42, Y:-4.32, Z:-1.61 [[ 9.99665478e-01 2.40923316e-02 9.40697242e-03 6.84189606e+01] [-2.40866190e-02 9.99709616e-01 -7.20118469e-04 -4.32308424e+00] [-9.42159012e-03 4.93295413e-04 9.99955494e-01 -1.60599268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54241403699999 meters 0.08023151386544264 Centerline is valid? [True, True] Translation: X:68.45, Y:-4.32, Z:-1.60 [[ 9.99652560e-01 2.48715190e-02 8.72738695e-03 6.84482602e+01] [-2.48666339e-02 9.99690554e-01 -6.67820472e-04 -4.32015769e+00] [-8.74129601e-03 4.50567707e-04 9.99961693e-01 -1.60409636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57241403699999 meters 0.08060120815680166 Centerline is valid? [True, True] Translation: X:68.48, Y:-4.32, Z:-1.61 [[ 9.99649621e-01 2.50689679e-02 8.49601919e-03 6.84756414e+01] [-2.50643453e-02 9.99685629e-01 -6.50138980e-04 -4.32336246e+00] [-8.50964660e-03 4.36964026e-04 9.99963697e-01 -1.60625519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60241403699999 meters 0.07912376144058084 Centerline is valid? [True, True] Translation: X:68.51, Y:-4.32, Z:-1.60 [[ 9.99650977e-01 2.52628537e-02 7.72741183e-03 6.85052490e+01] [-2.52590416e-02 9.99680765e-01 -5.90540944e-04 -4.32154542e+00] [-7.73986372e-03 3.95147815e-04 9.99969969e-01 -1.60439525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63241403699999 meters 0.08032980192747033 Centerline is valid? [True, True] Translation: X:68.53, Y:-4.33, Z:-1.61 [[ 9.99640674e-01 2.54612163e-02 8.38144725e-03 6.85321307e+01] [-2.54567408e-02 9.99675720e-01 -6.40242851e-04 -4.32931846e+00] [-8.39503067e-03 4.26648465e-04 9.99964670e-01 -1.60810505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66241403699999 meters 0.08038861251162015 Centerline is valid? [True, True] Translation: X:68.56, Y:-4.33, Z:-1.61 [[ 9.99643366e-01 2.54606524e-02 8.05583341e-03 6.85606539e+01] [-2.54565275e-02 9.99675741e-01 -6.14175227e-04 -4.33290195e+00] [-8.06885854e-03 4.08882646e-04 9.99967363e-01 -1.61001594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69241403699999 meters 0.0799653127946558 Centerline is valid? [True, True] Translation: X:68.59, Y:-4.33, Z:-1.61 [[ 9.99618862e-01 2.63609359e-02 8.19948721e-03 6.85898788e+01] [-2.63566897e-02 9.99652406e-01 -6.25516274e-04 -4.33433419e+00] [-8.21312631e-03 4.09166526e-04 9.99966188e-01 -1.60960379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.722414037 meters 0.07960622248643914 Centerline is valid? [True, True] Translation: X:68.62, Y:-4.33, Z:-1.61 [[ 9.99600010e-01 2.69029666e-02 8.72065603e-03 6.86193107e+01] [-2.68982063e-02 9.99637958e-01 -6.62714383e-04 -4.33462972e+00] [-8.73532777e-03 4.27879299e-04 9.99961755e-01 -1.60945693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.752414037 meters 0.07983508439622264 Centerline is valid? [True, True] Translation: X:68.65, Y:-4.34, Z:-1.61 [[ 9.99568703e-01 2.81201956e-02 8.46539736e-03 6.86473528e+01] [-2.81157521e-02 9.99604467e-01 -6.43477399e-04 -4.33753792e+00] [-8.48014372e-03 4.05188855e-04 9.99963961e-01 -1.61173040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.782414037 meters 0.07946714962089375 Centerline is valid? [True, True] Translation: X:68.68, Y:-4.34, Z:-1.61 [[ 9.99503742e-01 3.04167451e-02 8.19094304e-03 6.86759403e+01] [-3.04126659e-02 9.99537234e-01 -6.22137721e-04 -4.33911002e+00] [-8.20607596e-03 3.72720566e-04 9.99966260e-01 -1.61303196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.812414037 meters 0.07878197586078238 Centerline is valid? [True, True] Translation: X:68.71, Y:-4.34, Z:-1.61 [[ 9.99480646e-01 3.11117745e-02 8.39619592e-03 6.87051109e+01] [-3.11075177e-02 9.99515841e-01 -6.37143357e-04 -4.33947952e+00] [-8.41195348e-03 3.75627641e-04 9.99964548e-01 -1.61392934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.842414037 meters 0.07817886002495808 Centerline is valid? [True, True] Translation: X:68.73, Y:-4.34, Z:-1.61 [[ 9.99432690e-01 3.27150451e-02 8.00143839e-03 6.87343449e+01] [-3.27112335e-02 9.99464660e-01 -6.06804687e-04 -4.34020787e+00] [-8.01700654e-03 3.44723522e-04 9.99967804e-01 -1.61358478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87241403699998 meters 0.07852697970602293 Centerline is valid? [True, True] Translation: X:68.76, Y:-4.34, Z:-1.62 [[ 9.99388603e-01 3.38927412e-02 8.58500016e-03 6.87621365e+01] [-3.38883990e-02 9.99425411e-01 -6.50797117e-04 -4.34408757e+00] [-8.60212462e-03 3.59467311e-04 9.99962936e-01 -1.61614383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90241403699999 meters 0.07775288547453278 Centerline is valid? [True, True] Translation: X:68.79, Y:-4.34, Z:-1.62 [[ 9.99333804e-01 3.57668530e-02 7.25813333e-03 6.87914359e+01] [-3.57638034e-02 9.99360119e-01 -5.49564099e-04 -4.34261956e+00] [-7.27314517e-03 2.89619528e-04 9.99973508e-01 -1.61536517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93241403699999 meters 0.07755528606543129 Centerline is valid? [True, True] Translation: X:68.82, Y:-4.34, Z:-1.62 [[ 9.99314773e-01 3.64288483e-02 6.55158078e-03 6.88199424e+01] [-3.64263787e-02 9.99336216e-01 -4.95914171e-04 -4.34363392e+00] [-6.56529753e-03 2.56923995e-04 9.99978415e-01 -1.61605772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96241403699999 meters 0.07794850124206834 Centerline is valid? [True, True] Translation: X:68.85, Y:-4.35, Z:-1.62 [[ 9.99305131e-01 3.68153226e-02 5.82133111e-03 6.88468969e+01] [-3.68133766e-02 9.99322061e-01 -4.41135255e-04 -4.34826604e+00] [-5.83362513e-03 2.26525870e-04 9.99982959e-01 -1.61908509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99241403699999 meters 0.07752901659722056 Centerline is valid? [True, True] Translation: X:68.88, Y:-4.35, Z:-1.62 [[ 9.99278553e-01 3.73432462e-02 6.91769337e-03 6.88754616e+01] [-3.73405235e-02 9.99302463e-01 -5.22363009e-04 -4.35060640e+00] [-6.93237476e-03 2.63675860e-04 9.99975936e-01 -1.61792470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02241403699999 meters 0.07744200800649266 Centerline is valid? [True, True] Translation: X:68.90, Y:-4.35, Z:-1.62 [[ 9.99294255e-01 3.69477786e-02 6.77157526e-03 6.89037657e+01] [-3.69451634e-02 9.99317164e-01 -5.10928071e-04 -4.35340050e+00] [-6.78582904e-03 2.60390532e-04 9.99976942e-01 -1.61798414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05241403699999 meters 0.07721236825732382 Centerline is valid? [True, True] Translation: X:68.93, Y:-4.36, Z:-1.62 [[ 9.99333904e-01 3.59108714e-02 6.49292230e-03 6.89329067e+01] [-3.59084470e-02 9.99354964e-01 -4.89609706e-04 -4.35568701e+00] [-6.50631644e-03 2.56132822e-04 9.99978801e-01 -1.61792123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08241403699999 meters 0.07836400775534501 Centerline is valid? [True, True] Translation: X:68.96, Y:-4.36, Z:-1.62 [[ 9.99432648e-01 3.31079809e-02 6.18408760e-03 6.89601631e+01] [-3.31057301e-02 9.99451746e-01 -4.66003618e-04 -4.36477293e+00] [-6.19612559e-03 2.61010495e-04 9.99980770e-01 -1.62225756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.112414037 meters 0.07825008104241299 Centerline is valid? [True, True] Translation: X:68.99, Y:-4.37, Z:-1.62 [[ 9.99497037e-01 3.12593474e-02 5.34091253e-03 6.89894725e+01] [-3.12576488e-02 9.99511280e-01 -4.01228811e-04 -4.36738115e+00] [-5.35084447e-03 2.34082639e-04 9.99985657e-01 -1.62270216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.142414037 meters 0.07831043155597144 Centerline is valid? [True, True] Translation: X:69.02, Y:-4.37, Z:-1.62 [[ 9.99568000e-01 2.89950671e-02 4.80611267e-03 6.90188142e+01] [-2.89936656e-02 9.99579530e-01 -3.61048328e-04 -4.37088823e+00] [-4.81456047e-03 2.21545532e-04 9.99988385e-01 -1.62294628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.172414037 meters 0.07991373822048292 Centerline is valid? [True, True] Translation: X:69.05, Y:-4.38, Z:-1.63 [[ 9.99648722e-01 2.61154389e-02 4.51849338e-03 6.90469579e+01] [-2.61141683e-02 9.99658909e-01 -3.39987607e-04 -4.37975882e+00] [-4.52583109e-03 2.21871480e-04 9.99989734e-01 -1.62746834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.202414037 meters 0.08070948645746163 Centerline is valid? [True, True] Translation: X:69.08, Y:-4.39, Z:-1.63 [[ 9.99780495e-01 2.05840438e-02 3.90625549e-03 6.90769015e+01] [-2.05830593e-02 9.99788104e-01 -2.92076226e-04 -4.38841277e+00] [-3.91143988e-03 2.11609426e-04 9.99992328e-01 -1.62893091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.232414037 meters 0.08120652139260978 Centerline is valid? [True, True] Translation: X:69.11, Y:-4.39, Z:-1.63 [[ 9.99829540e-01 1.78496377e-02 4.72027592e-03 6.91060491e+01] [-1.78481638e-02 9.99840646e-01 -3.54182759e-04 -4.39450051e+00] [-4.72584576e-03 2.69874127e-04 9.99988797e-01 -1.63018161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26241403699999 meters 0.08180397726278597 Centerline is valid? [True, True] Translation: X:69.14, Y:-4.40, Z:-1.63 [[ 9.99867693e-01 1.51011623e-02 6.04580081e-03 6.91353721e+01] [-1.50986980e-02 9.99885906e-01 -4.53052697e-04 -4.40064560e+00] [-6.05195264e-03 3.61709035e-04 9.99981621e-01 -1.63082464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29241403699999 meters 0.08188172340434566 Centerline is valid? [True, True] Translation: X:69.17, Y:-4.41, Z:-1.63 [[ 9.99915349e-01 1.10751046e-02 6.82912216e-03 6.91654073e+01] [-1.10718735e-02 9.99938574e-01 -5.10770519e-04 -4.40740651e+00] [-6.83435952e-03 4.35116105e-04 9.99976551e-01 -1.63092932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32241403699999 meters 0.08239172302804908 Centerline is valid? [True, True] Translation: X:69.20, Y:-4.41, Z:-1.63 [[ 9.99939023e-01 9.23072022e-03 6.06163414e-03 6.91958217e+01] [-9.22814455e-03 9.99957317e-01 -4.52744760e-04 -4.41164240e+00] [-6.06555457e-03 3.96779517e-04 9.99981526e-01 -1.63168551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35241403699999 meters 0.08384752257129713 Centerline is valid? [True, True] Translation: X:69.23, Y:-4.42, Z:-1.63 [[ 9.99949918e-01 8.16745119e-03 5.78404452e-03 6.92260495e+01] [-8.16509176e-03 9.99966572e-01 -4.31416329e-04 -4.41763251e+00] [-5.78737474e-03 3.84167469e-04 9.99983179e-01 -1.63406321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38241403699999 meters 0.08398579478142833 Centerline is valid? [True, True] Translation: X:69.26, Y:-4.42, Z:-1.63 [[ 9.99964951e-01 6.62879958e-03 5.11434245e-03 6.92572299e+01] [-6.62693787e-03 9.99977969e-01 -3.80877988e-04 -4.41948041e+00] [-5.11675454e-03 3.46972209e-04 9.99986849e-01 -1.63480566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41241403699999 meters 0.0826060809582003 Centerline is valid? [True, True] Translation: X:69.29, Y:-4.42, Z:-1.63 [[ 9.99967299e-01 6.40891849e-03 4.93218161e-03 6.92886632e+01] [-6.40718398e-03 9.99979406e-01 -3.67393100e-04 -4.41918049e+00] [-4.93443463e-03 3.35779690e-04 9.99987769e-01 -1.63494244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44241403699999 meters 0.08245734551043515 Centerline is valid? [True, True] Translation: X:69.32, Y:-4.42, Z:-1.64 [[ 9.99969294e-01 5.80291853e-03 5.26655220e-03 6.93198691e+01] [-5.80093108e-03 9.99983097e-01 -3.92568130e-04 -4.42203777e+00] [-5.26874122e-03 3.62005169e-04 9.99986055e-01 -1.63687626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.472414037 meters 0.0834110488207232 Centerline is valid? [True, True] Translation: X:69.35, Y:-4.43, Z:-1.64 [[ 9.99967925e-01 5.04388764e-03 6.22162992e-03 6.93499798e+01] [-5.04109260e-03 9.99987186e-01 -4.64845580e-04 -4.42784267e+00] [-6.22389482e-03 4.33466857e-04 9.99980537e-01 -1.64022433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.502414037 meters 0.0834110488207232 Centerline is valid? [True, True] Translation: X:69.38, Y:-4.43, Z:-1.64 [[ 9.99966677e-01 5.28484577e-03 6.22220039e-03 6.93817061e+01] [-5.28210250e-03 9.99985945e-01 -4.57235324e-04 -4.43028536e+00] [-6.22452935e-03 4.24353788e-04 9.99980537e-01 -1.64152392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.532414037 meters 0.08455809609010663 Centerline is valid? [True, True] Translation: X:69.41, Y:-4.43, Z:-1.64 [[ 9.99963431e-01 5.07467131e-03 6.88363936e-03 6.94123212e+01] [-5.07128569e-03 9.99987011e-01 -5.09202108e-04 -4.43482994e+00] [-6.88613398e-03 4.74274585e-04 9.99976178e-01 -1.64378311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.562414037 meters 0.08470816090642355 Centerline is valid? [True, True] Translation: X:69.44, Y:-4.44, Z:-1.64 [[ 9.99968823e-01 4.56970854e-03 6.43983482e-03 6.94440425e+01] [-4.56672875e-03 9.99989459e-01 -4.77341860e-04 -4.43508442e+00] [-6.44194825e-03 4.47917998e-04 9.99979150e-01 -1.64454025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.592414037 meters 0.08444763817627042 Centerline is valid? [True, True] Translation: X:69.48, Y:-4.43, Z:-1.64 [[ 9.99969424e-01 3.77914965e-03 6.84612299e-03 6.94759169e+01] [-3.77574979e-03 9.99992742e-01 -5.09467879e-04 -4.43392614e+00] [-6.84799866e-03 4.83603054e-04 9.99976435e-01 -1.64441039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62241403699998 meters 0.08423053938915617 Centerline is valid? [True, True] Translation: X:69.51, Y:-4.43, Z:-1.65 [[ 9.99975787e-01 3.14732140e-03 6.20649617e-03 6.95075531e+01] [-3.14451217e-03 9.99994949e-01 -4.62333409e-04 -4.43499281e+00] [-6.20791993e-03 4.42805811e-04 9.99980633e-01 -1.64571990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65241403699999 meters 0.08492152718765922 Centerline is valid? [True, True] Translation: X:69.54, Y:-4.44, Z:-1.65 [[ 9.99981994e-01 2.84812290e-03 5.28211213e-03 6.95385566e+01] [-2.84608463e-03 9.99995873e-01 -3.93359249e-04 -4.43905965e+00] [-5.28321066e-03 3.78318828e-04 9.99985972e-01 -1.64796676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68241403699999 meters 0.08584370681846702 Centerline is valid? [True, True] Translation: X:69.57, Y:-4.44, Z:-1.65 [[ 9.99980709e-01 2.05099658e-03 5.86307133e-03 6.95697470e+01] [-2.04845773e-03 9.99997806e-01 -4.38997063e-04 -4.44301505e+00] [-5.86395884e-03 4.26978340e-04 9.99982716e-01 -1.65025743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71241403699999 meters 0.0881300055571569 Centerline is valid? [True, True] Translation: X:69.60, Y:-4.45, Z:-1.65 [[ 9.99975019e-01 -5.65039198e-04 7.04575167e-03 6.95994102e+01] [ 5.68828621e-04 9.99999695e-01 -5.35838508e-04 -4.44859882e+00] [-7.04544675e-03 5.39832947e-04 9.99975035e-01 -1.65223994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74241403699999 meters 0.08846507098535923 Centerline is valid? [True, True] Translation: X:69.63, Y:-4.45, Z:-1.65 [[ 9.99964965e-01 -2.01627169e-03 8.12421278e-03 6.96313966e+01] [ 2.02136820e-03 9.99997765e-01 -6.19161220e-04 -4.45017355e+00] [-8.12294622e-03 6.35561554e-04 9.99966806e-01 -1.65229368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77241403699999 meters 0.08937156485982617 Centerline is valid? [True, True] Translation: X:69.66, Y:-4.45, Z:-1.65 [[ 9.99956109e-01 -4.24850108e-03 8.35046642e-03 6.96621778e+01] [ 4.25398155e-03 9.99990748e-01 -6.38654830e-04 -4.45280316e+00] [-8.34767584e-03 6.74149529e-04 9.99964930e-01 -1.65359164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80241403699999 meters 0.08998797966615305 Centerline is valid? [True, True] Translation: X:69.69, Y:-4.45, Z:-1.65 [[ 9.99944469e-01 -6.79493708e-03 8.05523450e-03 6.96927318e+01] [ 6.80012258e-03 9.99976689e-01 -6.16528909e-04 -4.45436671e+00] [-8.05085745e-03 6.71271254e-04 9.99967366e-01 -1.65384689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83241403699999 meters 0.0908112396380103 Centerline is valid? [True, True] Translation: X:69.72, Y:-4.46, Z:-1.66 [[ 9.99899193e-01 -1.18920729e-02 7.75778970e-03 6.97231655e+01] [ 1.18970370e-02 9.99929051e-01 -5.94049662e-04 -4.45666174e+00] [-7.75017482e-03 6.86284489e-04 9.99969731e-01 -1.65556803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.862414037 meters 0.09131473926631349 Centerline is valid? [True, True] Translation: X:69.75, Y:-4.46, Z:-1.66 [[ 9.99868628e-01 -1.46768643e-02 6.87876194e-03 6.97536957e+01] [ 1.46808315e-02 9.99892092e-01 -5.26584779e-04 -4.45926821e+00] [-6.87029106e-03 6.27501546e-04 9.99976202e-01 -1.65762355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.892414037 meters 0.0927319034741587 Centerline is valid? [True, True] Translation: X:69.78, Y:-4.46, Z:-1.66 [[ 9.99822049e-01 -1.75924421e-02 6.81000560e-03 6.97837940e+01] [ 1.75963975e-02 9.99845035e-01 -5.21337987e-04 -4.46411723e+00] [-6.79977869e-03 6.41076780e-04 9.99976676e-01 -1.66022743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.922414037 meters 0.09546506519340013 Centerline is valid? [True, True] Translation: X:69.81, Y:-4.47, Z:-1.66 [[ 9.99735858e-01 -2.15823365e-02 7.90042135e-03 6.98135194e+01] [ 2.15877821e-02 9.99766774e-01 -6.04651658e-04 -4.47029646e+00] [-7.88552897e-03 7.75044519e-04 9.99968608e-01 -1.66140294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.952414037 meters 0.09576485431542954 Centerline is valid? [True, True] Translation: X:69.85, Y:-4.47, Z:-1.66 [[ 9.99701412e-01 -2.26817577e-02 9.08983117e-03 6.98460798e+01] [ 2.26889962e-02 9.99742331e-01 -6.93984236e-04 -4.47149328e+00] [-9.07174821e-03 9.00016165e-04 9.99958446e-01 -1.66124677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.982414037 meters 0.09594917734427458 Centerline is valid? [True, True] Translation: X:69.88, Y:-4.47, Z:-1.66 [[ 9.99673174e-01 -2.34793039e-02 1.01127406e-02 6.98778406e+01] [ 2.34883188e-02 9.99723812e-01 -7.73582860e-04 -4.47183615e+00] [-1.00917844e-02 1.01086131e-03 9.99948566e-01 -1.66166255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01241403699999 meters 0.09759448759593431 Centerline is valid? [True, True] Translation: X:69.91, Y:-4.47, Z:-1.66 [[ 9.99677755e-01 -2.35755993e-02 9.41158357e-03 6.99089535e+01] [ 2.35834149e-02 9.99721613e-01 -7.20292580e-04 -4.47319652e+00] [-9.39198218e-03 9.42017750e-04 9.99955451e-01 -1.66290598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04241403699999 meters 0.09746273402551822 Centerline is valid? [True, True] Translation: X:69.94, Y:-4.47, Z:-1.67 [[ 9.99691844e-01 -2.33267354e-02 8.48996888e-03 6.99411658e+01] [ 2.33330839e-02 9.99727536e-01 -6.49470668e-04 -4.47376812e+00] [-8.47250564e-03 8.47367687e-04 9.99963749e-01 -1.66541146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07241403699999 meters 0.09853127344552141 Centerline is valid? [True, True] Translation: X:69.97, Y:-4.48, Z:-1.67 [[ 9.99721158e-01 -2.22233018e-02 7.98311511e-03 6.99716556e+01] [ 2.22288916e-02 9.99752720e-01 -6.12153173e-04 -4.47684502e+00] [-7.96753698e-03 7.89438280e-04 9.99967947e-01 -1.66821779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10241403699999 meters 0.10032117312097924 Centerline is valid? [True, False] Translation: X:69.96, Y:-4.48, Z:-1.67 [[ 9.99749810e-01 -1.67987392e-02 1.47688824e-02 6.99630871e+01] [ 1.68510546e-02 9.99852145e-01 -3.42498863e-03 -4.47704036e+00] [-1.47091633e-02 3.67300297e-03 9.99885068e-01 -1.67360917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13241403699999 meters 0.10123579930077999 Centerline is valid? [False, False] Translation: X:69.96, Y:-4.48, Z:-1.67 [[ 9.99805998e-01 -1.28689307e-02 1.49116217e-02 6.99628830e+01] [ 1.28646290e-02 9.99917173e-01 3.84372181e-04 -4.47570935e+00] [-1.49153330e-02 -1.92465132e-04 9.99888742e-01 -1.67395444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16241403699999 meters 0.09632140309835256 Centerline is valid? [False, True] Translation: X:69.96, Y:-4.47, Z:-1.67 [[ 9.99952727e-01 -9.72161316e-03 -1.86706018e-04 6.99643327e+01] [ 9.72139867e-03 9.99952122e-01 -1.11731015e-03 -4.47305701e+00] [ 1.97559136e-04 1.11544229e-03 9.99999358e-01 -1.66996838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19241403699999 meters 0.09578708193333334 Centerline is valid? [True, True] Translation: X:70.00, Y:-4.47, Z:-1.67 [[ 9.99965969e-01 -8.24968634e-03 6.30264534e-05 6.99958547e+01] [ 8.24968664e-03 9.99965971e-01 -4.37573645e-06 -4.47242961e+00] [-6.29882102e-05 4.89553603e-06 9.99999998e-01 -1.67084056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.222414037 meters 0.0997623348611665 Centerline is valid? [True, True] Translation: X:70.02, Y:-4.48, Z:-1.67 [[ 9.99978692e-01 -6.52795378e-03 3.04556462e-05 7.00247608e+01] [ 6.52795380e-03 9.99978693e-01 -6.22276506e-07 -4.47887923e+00] [-3.04509350e-05 8.21076297e-07 1.00000000e+00 -1.67441443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.252414037 meters 0.09573494793084994 Centerline is valid? [True, True] Translation: X:70.06, Y:-4.47, Z:-1.67 [[ 9.99993627e-01 -3.56202196e-03 -2.39740240e-04 7.00566270e+01] [ 3.56202703e-03 9.99993656e-01 2.07190407e-05 -4.46936390e+00] [ 2.39664917e-04 -2.15728699e-05 9.99999971e-01 -1.67314582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.282414037 meters 0.09576563872514232 Centerline is valid? [True, True] Translation: X:70.09, Y:-4.47, Z:-1.67 [[ 9.99997480e-01 -2.15463999e-03 -6.31253109e-04 7.00873408e+01] [ 2.15467544e-03 9.99997677e-01 5.54820860e-05 -4.47038846e+00] [ 6.31132099e-04 -5.68420917e-05 9.99999799e-01 -1.67482189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.312414037 meters 0.09551518723662607 Centerline is valid? [True, True] Translation: X:70.12, Y:-4.47, Z:-1.68 [[ 9.99999405e-01 -6.45535463e-04 -8.79598737e-04 7.01181759e+01] [ 6.45602539e-04 9.99999789e-01 7.59752850e-05 -4.47130524e+00] [ 8.79549507e-04 -7.65431110e-05 9.99999610e-01 -1.67639135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.342414037 meters 0.09530654893891406 Centerline is valid? [True, True] Translation: X:70.15, Y:-4.47, Z:-1.68 [[ 9.99998891e-01 1.43177324e-03 -4.10841598e-04 7.01478578e+01] [-1.43175880e-03 9.99998974e-01 3.54433227e-05 -4.47085922e+00] [ 4.10891923e-04 -3.48550573e-05 9.99999915e-01 -1.67751964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37241403699998 meters 0.09548593755111931 Centerline is valid? [True, True] Translation: X:70.18, Y:-4.47, Z:-1.68 [[ 9.99998421e-01 1.76805559e-03 1.76690375e-04 7.01775983e+01] [-1.76805274e-03 9.99998437e-01 -1.62367475e-05 -4.47102141e+00] [-1.76718806e-04 1.59243239e-05 9.99999984e-01 -1.67801169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40241403699999 meters 0.09553313002568568 Centerline is valid? [True, True] Translation: X:70.21, Y:-4.47, Z:-1.68 [[ 9.99996827e-01 2.48943580e-03 3.85869472e-04 7.02081142e+01] [-2.48942314e-03 9.99996901e-01 -3.32769139e-05 -4.47186672e+00] [-3.85951117e-04 3.23162160e-05 9.99999925e-01 -1.67911956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43241403699999 meters 0.09609473601437545 Centerline is valid? [True, True] Translation: X:70.24, Y:-4.47, Z:-1.68 [[ 9.99995801e-01 2.89692646e-03 8.03980552e-05 7.02371600e+01] [-2.89692588e-03 9.99995804e-01 -7.42654428e-06 -4.47367694e+00] [-8.04192320e-05 7.19360588e-06 9.99999997e-01 -1.68073740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46241403699999 meters 0.0861211294775222 Centerline is valid? [True, True] Translation: X:70.27, Y:-4.45, Z:-1.68 [[ 9.99994431e-01 3.32292781e-03 -3.10252660e-04 7.02693670e+01] [-3.32291984e-03 9.99994479e-01 2.61902414e-05 -4.45343237e+00] [ 3.10337976e-04 -2.51591508e-05 9.99999952e-01 -1.67506436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49241403699999 meters 0.09041201188768774 Centerline is valid? [True, True] Translation: X:70.30, Y:-4.46, Z:-1.68 [[ 9.99994255e-01 3.38819396e-03 -1.04691969e-04 7.02970336e+01] [-3.38819321e-03 9.99994260e-01 7.36600894e-06 -4.46324602e+00] [ 1.04716326e-04 -7.01125000e-06 9.99999994e-01 -1.67940887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52241403699999 meters 0.08622034590502899 Centerline is valid? [True, True] Translation: X:70.33, Y:-4.46, Z:-1.68 [[ 9.99989657e-01 4.51095334e-03 -5.79854891e-04 7.03278635e+01] [-4.51092578e-03 9.99989825e-01 4.88317888e-05 -4.45580034e+00] [ 5.80069268e-04 -4.62156013e-05 9.99999831e-01 -1.67654264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55241403699999 meters 0.08768838006428188 Centerline is valid? [True, True] Translation: X:70.36, Y:-4.46, Z:-1.68 [[ 9.99985711e-01 5.34493688e-03 9.30531060e-05 7.03559508e+01] [-5.34493596e-03 9.99985716e-01 -1.01958099e-05 -4.46002352e+00] [-9.31062728e-05 9.69830136e-06 9.99999996e-01 -1.67867140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58241403699999 meters 0.08834467689569535 Centerline is valid? [True, True] Translation: X:70.38, Y:-4.46, Z:-1.68 [[ 9.99969734e-01 7.74895696e-03 -6.96499374e-04 7.03847214e+01] [-7.74891785e-03 9.99969975e-01 5.88420861e-05 -4.46062877e+00] [ 6.96934426e-04 -5.34431888e-05 9.99999756e-01 -1.68136840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.612414037 meters 0.08630855639417465 Centerline is valid? [True, True] Translation: X:70.41, Y:-4.46, Z:-1.68 [[ 9.99962295e-01 8.59180621e-03 -1.26106566e-03 7.04137313e+01] [-8.59167903e-03 9.99963085e-01 1.06231284e-04 -4.45673021e+00] [ 1.26193183e-03 -9.53926070e-05 9.99999199e-01 -1.68057348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.642414037 meters 0.08500730088475343 Centerline is valid? [True, True] Translation: X:70.44, Y:-4.45, Z:-1.68 [[ 9.99952699e-01 9.69327089e-03 -7.99865914e-04 7.04425314e+01] [-9.69322078e-03 9.99953017e-01 6.65043784e-05 -4.45437635e+00] [ 8.00472980e-04 -5.87479557e-05 9.99999678e-01 -1.68061955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.672414037 meters 0.08538600277131211 Centerline is valid? [True, True] Translation: X:70.47, Y:-4.46, Z:-1.68 [[ 9.99927712e-01 1.19646635e-02 1.19059985e-03 7.04720343e+01] [-1.19645494e-02 9.99928417e-01 -1.02914750e-04 -4.45703130e+00] [-1.19174597e-03 8.86623199e-05 9.99999286e-01 -1.68028266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.702414037 meters 0.08490581139108802 Centerline is valid? [True, True] Translation: X:70.50, Y:-4.46, Z:-1.68 [[ 9.99924096e-01 1.21410761e-02 2.09655127e-03 7.05007257e+01] [-1.21407209e-02 9.99926282e-01 -1.82034995e-04 -4.45734960e+00] [-2.09860682e-03 1.56567534e-04 9.99997786e-01 -1.68054163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.732414037 meters 0.08725572688794658 Centerline is valid? [True, True] Translation: X:70.53, Y:-4.46, Z:-1.68 [[ 9.99913510e-01 1.29247584e-02 2.43377136e-03 7.05278786e+01] [-1.29242822e-02 9.99916456e-01 -2.11280501e-04 -4.46478713e+00] [-2.43629878e-03 1.79807480e-04 9.99997016e-01 -1.68320056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76241403699999 meters 0.08299904327375285 Centerline is valid? [True, True] Translation: X:70.56, Y:-4.46, Z:-1.68 [[ 9.99912967e-01 1.30400615e-02 2.00376378e-03 7.05571728e+01] [-1.30397392e-02 9.99914964e-01 -1.73815653e-04 -4.45664585e+00] [-2.00585995e-03 1.47671968e-04 9.99997977e-01 -1.67989043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79241403699999 meters 0.08446641329034728 Centerline is valid? [True, True] Translation: X:70.59, Y:-4.46, Z:-1.68 [[ 9.99896584e-01 1.43631503e-02 7.21574931e-04 7.05850981e+01] [-1.43631079e-02 9.99896843e-01 -6.39406367e-05 -4.46088850e+00] [-7.22418885e-04 5.35699656e-05 9.99999738e-01 -1.68323505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82241403699999 meters 0.08419554258685492 Centerline is valid? [True, True] Translation: X:70.61, Y:-4.46, Z:-1.68 [[ 9.99880488e-01 1.54545668e-02 4.06823916e-04 7.06135499e+01] [-1.54545530e-02 9.99880571e-01 -3.69222824e-05 -4.46160367e+00] [-4.07345947e-04 3.06305880e-05 9.99999917e-01 -1.68457276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85241403699999 meters 0.08425742918300984 Centerline is valid? [True, True] Translation: X:70.64, Y:-4.46, Z:-1.69 [[ 9.99869034e-01 1.61769738e-02 -4.68865232e-04 7.06427646e+01] [-1.61769578e-02 9.99869144e-01 3.79318434e-05 -4.46284124e+00] [ 4.69417500e-04 -3.03420626e-05 9.99999889e-01 -1.68513172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88241403699999 meters 0.08314334237760113 Centerline is valid? [True, True] Translation: X:70.67, Y:-4.46, Z:-1.69 [[ 9.99847238e-01 1.74719838e-02 -4.79726079e-04 7.06721850e+01] [-1.74719669e-02 9.99847353e-01 3.93516690e-05 -4.46163774e+00] [ 4.80340402e-04 -3.09638993e-05 9.99999884e-01 -1.68523240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91241403699999 meters 0.08298723127201701 Centerline is valid? [True, True] Translation: X:70.70, Y:-4.46, Z:-1.69 [[ 9.99810467e-01 1.94606827e-02 -5.57650901e-04 7.07017430e+01] [-1.94606598e-02 9.99810622e-01 4.65294795e-05 -4.46301243e+00] [ 5.58450790e-04 -3.56684062e-05 9.99999843e-01 -1.68794677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94241403699999 meters 0.08299294614873627 Centerline is valid? [True, True] Translation: X:70.73, Y:-4.47, Z:-1.69 [[ 9.99790434e-01 2.04533511e-02 -8.64784076e-04 7.07305281e+01] [-2.04532968e-02 9.99790807e-01 7.16250444e-05 -4.46528320e+00] [ 8.66068141e-04 -5.39223490e-05 9.99999624e-01 -1.68933848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.972414037 meters 0.08089142695962903 Centerline is valid? [True, True] Translation: X:70.76, Y:-4.46, Z:-1.69 [[ 9.99763715e-01 2.16716153e-02 -1.68957883e-03 7.07603557e+01] [-2.16714055e-02 9.99765137e-01 1.42360942e-04 -4.46182916e+00] [ 1.69226720e-03 -1.05711756e-04 9.99998563e-01 -1.68800962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.002414037 meters 0.08089503979896158 Centerline is valid? [True, True] Translation: X:70.79, Y:-4.46, Z:-1.69 [[ 9.99751509e-01 2.22620431e-02 -1.14950412e-03 7.07894678e+01] [-2.22619470e-02 9.99752168e-01 9.62792691e-05 -4.46401372e+00] [ 1.15136261e-03 -7.06651446e-05 9.99999335e-01 -1.68908476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.032414037 meters 0.08134413471173749 Centerline is valid? [True, True] Translation: X:70.82, Y:-4.47, Z:-1.69 [[ 9.99729395e-01 2.32132077e-02 -1.51125174e-03 7.08167498e+01] [-2.32130438e-02 9.99730533e-01 1.25891261e-04 -4.46717061e+00] [ 1.51376685e-03 -9.07764419e-05 9.99998850e-01 -1.69070568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.062414037 meters 0.07988606758970727 Centerline is valid? [True, True] Translation: X:70.85, Y:-4.47, Z:-1.69 [[ 9.99714243e-01 2.38844284e-02 -9.82970342e-04 7.08456833e+01] [-2.38843599e-02 9.99714725e-01 8.13624937e-05 -4.46522051e+00] [ 9.84633221e-04 -5.78616264e-05 9.99999514e-01 -1.68905043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.092414037 meters 0.080504974426732 Centerline is valid? [True, True] Translation: X:70.87, Y:-4.47, Z:-1.69 [[ 9.99678783e-01 2.52733415e-02 -1.89446115e-03 7.08737040e+01] [-2.52730859e-02 9.99680572e-01 1.58750796e-04 -4.46857418e+00] [ 1.89786817e-03 -1.10820923e-04 9.99998193e-01 -1.69098547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12241403699998 meters 0.08042293725443217 Centerline is valid? [True, True] Translation: X:70.90, Y:-4.47, Z:-1.69 [[ 9.99652398e-01 2.61861639e-02 -3.06081531e-03 7.09024853e+01] [-2.61854972e-02 9.99657068e-01 2.57677154e-04 -4.46998251e+00] [ 3.06651324e-03 -1.77438614e-04 9.99995282e-01 -1.69226780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15241403699999 meters 0.08050806826561874 Centerline is valid? [True, True] Translation: X:70.93, Y:-4.47, Z:-1.69 [[ 9.99637411e-01 2.67808608e-02 -2.79854849e-03 7.09312466e+01] [-2.67803068e-02 9.99641316e-01 2.35242990e-04 -4.47288803e+00] [ 2.80384471e-03 -1.60211707e-04 9.99996056e-01 -1.69378274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18241403699999 meters 0.08026226239702014 Centerline is valid? [True, True] Translation: X:70.96, Y:-4.47, Z:-1.69 [[ 9.99642721e-01 2.65987651e-02 -2.63351737e-03 7.09586934e+01] [-2.65982779e-02 9.99646179e-01 2.19867202e-04 -4.47430650e+00] [ 2.63843377e-03 -1.49741622e-04 9.99996508e-01 -1.69401964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21241403699999 meters 0.08140997495970989 Centerline is valid? [True, True] Translation: X:70.99, Y:-4.48, Z:-1.70 [[ 9.99667950e-01 2.56538809e-02 -2.42222094e-03 7.09861560e+01] [-2.56534688e-02 9.99670875e-01 2.01032026e-04 -4.48070105e+00] [ 2.42658098e-03 -1.38826904e-04 9.99997046e-01 -1.69702519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24241403699999 meters 0.08158706876968512 Centerline is valid? [True, True] Translation: X:71.01, Y:-4.48, Z:-1.70 [[ 9.99706291e-01 2.41504029e-02 -2.02210763e-03 7.10141525e+01] [-2.41501118e-02 9.99708329e-01 1.68222904e-04 -4.48419943e+00] [ 2.02558049e-03 -1.19339371e-04 9.99997941e-01 -1.69765730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27241403699999 meters 0.08194128550680091 Centerline is valid? [True, True] Translation: X:71.04, Y:-4.49, Z:-1.70 [[ 9.99737846e-01 2.28369995e-02 -1.64632384e-03 7.10423230e+01] [-2.28368059e-02 9.99739197e-01 1.36331409e-04 -4.48773828e+00] [ 1.64900787e-03 -9.86988916e-05 9.99998636e-01 -1.69860565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30241403699999 meters 0.08337549537095748 Centerline is valid? [True, True] Translation: X:71.07, Y:-4.49, Z:-1.70 [[ 9.99804869e-01 1.96488957e-02 -2.03568339e-03 7.10705404e+01] [-1.96485886e-02 9.99806933e-01 1.70751239e-04 -4.49464657e+00] [ 2.03864544e-03 -1.30719615e-04 9.99997913e-01 -1.69978851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33241403699999 meters 0.08403528903336407 Centerline is valid? [True, True] Translation: X:71.10, Y:-4.50, Z:-1.70 [[ 9.99826384e-01 1.84385228e-02 -2.68744630e-03 7.10997246e+01] [-1.84379825e-02 9.99829980e-01 2.25684356e-04 -4.49970210e+00] [ 2.69115067e-03 -1.76094086e-04 9.99996363e-01 -1.70078633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.362414037 meters 0.08254096248414453 Centerline is valid? [True, True] Translation: X:71.13, Y:-4.50, Z:-1.70 [[ 9.99839679e-01 1.75567165e-02 -3.51821469e-03 7.11293695e+01] [-1.75557845e-02 9.99845842e-01 2.95620274e-04 -4.49925132e+00] [ 3.52286245e-03 -2.33807862e-04 9.99993767e-01 -1.70021298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.392414037 meters 0.08296835409459964 Centerline is valid? [True, True] Translation: X:71.16, Y:-4.50, Z:-1.70 [[ 9.99863632e-01 1.59047329e-02 -4.44497976e-03 7.11587248e+01] [-1.59032283e-02 9.99873466e-01 3.73622595e-04 -4.50410371e+00] [ 4.45035969e-03 -3.02882117e-04 9.99990051e-01 -1.70163513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.422414037 meters 0.08296835409459964 Centerline is valid? [True, True] Translation: X:71.19, Y:-4.51, Z:-1.70 [[ 9.99865243e-01 1.58030478e-02 -4.44520068e-03 7.11861623e+01] [-1.58015538e-02 9.99875079e-01 3.70999734e-04 -4.50631387e+00] [ 4.45050831e-03 -3.00708662e-04 9.99990051e-01 -1.70251953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.452414037 meters 0.0828734804344459 Centerline is valid? [True, True] Translation: X:71.21, Y:-4.51, Z:-1.70 [[ 9.99871506e-01 1.54880061e-02 -4.13441219e-03 7.12143681e+01] [-1.54867087e-02 9.99880014e-01 3.45638206e-04 -4.50909546e+00] [ 4.13926936e-03 -2.81565357e-04 9.99991394e-01 -1.70299207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.482414037 meters 0.0837444125101407 Centerline is valid? [True, True] Translation: X:71.24, Y:-4.51, Z:-1.70 [[ 9.99878643e-01 1.53055295e-02 -2.90527581e-03 7.12417854e+01] [-1.53048922e-02 9.99882844e-01 2.41460813e-04 -4.51377984e+00] [ 2.90863113e-03 -1.96966577e-04 9.99995751e-01 -1.70421383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51241403699999 meters 0.08344645038963742 Centerline is valid? [True, True] Translation: X:71.27, Y:-4.52, Z:-1.70 [[ 9.99869277e-01 1.59642495e-02 -2.56338484e-03 7.12704902e+01] [-1.59637553e-02 9.99872548e-01 2.13115056e-04 -4.51651714e+00] [ 2.56646035e-03 -1.72165949e-04 9.99996692e-01 -1.70411639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54241403699999 meters 0.08403738767077612 Centerline is valid? [True, True] Translation: X:71.30, Y:-4.52, Z:-1.70 [[ 9.99872353e-01 1.57906902e-02 -2.43564513e-03 7.12973075e+01] [-1.57902484e-02 9.99875306e-01 2.00513616e-04 -4.52015794e+00] [ 2.43850767e-03 -1.62028579e-04 9.99997014e-01 -1.70488319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57241403699999 meters 0.08381300048219723 Centerline is valid? [True, True] Translation: X:71.33, Y:-4.52, Z:-1.71 [[ 9.99866086e-01 1.60552755e-02 -3.16845601e-03 7.13257383e+01] [-1.60545212e-02 9.99871083e-01 2.63359326e-04 -4.52262029e+00] [ 3.17227585e-03 -2.12456014e-04 9.99994946e-01 -1.70586255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60241403699999 meters 0.08315221760030646 Centerline is valid? [True, True] Translation: X:71.35, Y:-4.52, Z:-1.71 [[ 9.99858605e-01 1.62536078e-02 -4.31157939e-03 7.13542746e+01] [-1.62522109e-02 9.99867860e-01 3.58818057e-04 -4.52324700e+00] [ 4.31684175e-03 -2.88694625e-04 9.99990641e-01 -1.70695295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63241403699999 meters 0.082113154181973 Centerline is valid? [True, True] Translation: X:71.38, Y:-4.52, Z:-1.71 [[ 9.99857666e-01 1.64319177e-02 -3.82620958e-03 7.13834248e+01] [-1.64308211e-02 9.99864954e-01 3.17867249e-04 -4.52290063e+00] [ 3.83091604e-03 -2.54954241e-04 9.99992630e-01 -1.70696995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66241403699999 meters 0.08345907377464956 Centerline is valid? [True, True] Translation: X:71.41, Y:-4.53, Z:-1.71 [[ 9.99862035e-01 1.61679330e-02 -3.80914788e-03 7.14104713e+01] [-1.61668475e-02 9.99869258e-01 3.15578735e-04 -4.52893038e+00] [ 3.81375213e-03 -2.53953283e-04 9.99992695e-01 -1.70946480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69241403699999 meters 0.08584150559747138 Centerline is valid? [True, True] Translation: X:71.44, Y:-4.54, Z:-1.71 [[ 9.99872806e-01 1.55482148e-02 -3.55316440e-03 7.14375865e+01] [-1.55472679e-02 9.99879091e-01 2.93959597e-04 -4.53719965e+00] [ 3.55730533e-03 -2.38680208e-04 9.99993644e-01 -1.71254989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.722414037 meters 0.08590802162088837 Centerline is valid? [True, True] Translation: X:71.47, Y:-4.54, Z:-1.71 [[ 9.99875908e-01 1.55278875e-02 -2.65575557e-03 7.14658938e+01] [-1.55273590e-02 9.99879419e-01 2.19483674e-04 -4.53998045e+00] [ 2.65884346e-03 -1.78219567e-04 9.99996449e-01 -1.71350514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.752414037 meters 0.08607825823503187 Centerline is valid? [True, True] Translation: X:71.49, Y:-4.54, Z:-1.71 [[ 9.99872172e-01 1.58182817e-02 -2.32862331e-03 7.14946236e+01] [-1.58178771e-02 9.99874871e-01 1.92057749e-04 -4.54278316e+00] [ 2.33136996e-03 -1.55199321e-04 9.99997270e-01 -1.71356822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.782414037 meters 0.09491290221911089 Centerline is valid? [True, True] Translation: X:71.52, Y:-4.56, Z:-1.72 [[ 9.99848680e-01 1.70125629e-02 3.63173688e-03 7.15224130e+01] [-1.70115731e-02 9.99855247e-01 -3.03264986e-04 -4.56412721e+00] [-3.63637049e-03 2.41437539e-04 9.99993359e-01 -1.72121227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.812414037 meters 0.08127999536038491 Centerline is valid? [True, True] Translation: X:71.55, Y:-4.54, Z:-1.71 [[ 9.99859602e-01 1.67298153e-02 -9.43074259e-04 7.15544037e+01] [-1.67297502e-02 9.99860045e-01 7.68903898e-05 -4.53645137e+00] [ 9.44228633e-04 -6.11021978e-05 9.99999552e-01 -1.71005599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.842414037 meters 0.08106855069849903 Centerline is valid? [True, True] Translation: X:71.58, Y:-4.54, Z:-1.71 [[ 9.99853493e-01 1.70836604e-02 -1.06801027e-03 7.15828533e+01] [-1.70835775e-02 9.99854061e-01 8.66432637e-05 -4.53812173e+00] [ 1.06933459e-03 -6.83851336e-05 9.99999426e-01 -1.71111627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87241403699998 meters 0.0828568797461846 Centerline is valid? [True, True] Translation: X:71.61, Y:-4.55, Z:-1.71 [[ 9.99831249e-01 1.83437965e-02 -9.89701161e-04 7.16101715e+01] [-1.83437267e-02 9.99831737e-01 7.95043486e-05 -4.54516601e+00] [ 9.90993042e-04 -6.13361245e-05 9.99999507e-01 -1.71473823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90241403699999 meters 0.08180832156198296 Centerline is valid? [True, True] Translation: X:71.64, Y:-4.54, Z:-1.71 [[ 9.99800493e-01 1.99131868e-02 -1.56167758e-03 7.16395374e+01] [-1.99130109e-02 9.99801708e-01 1.28125559e-04 -4.54403880e+00] [ 1.56391930e-03 -9.70022940e-05 9.99998772e-01 -1.71404517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93241403699999 meters 0.081074349673308 Centerline is valid? [True, True] Translation: X:71.67, Y:-4.54, Z:-1.71 [[ 9.99770042e-01 2.14294888e-02 -8.00552231e-04 7.16693296e+01] [-2.14294432e-02 9.99770361e-01 6.53947334e-05 -4.54371772e+00] [ 8.01769769e-04 -4.82243068e-05 9.99999677e-01 -1.71353999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96241403699999 meters 0.0806055126255265 Centerline is valid? [True, True] Translation: X:71.70, Y:-4.54, Z:-1.71 [[ 9.99708181e-01 2.41383104e-02 9.45828741e-04 7.16983401e+01] [-2.41382461e-02 9.99708627e-01 -7.93406275e-05 -4.54489970e+00] [-9.47468300e-04 5.64868275e-05 9.99999550e-01 -1.71339256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99241403699999 meters 0.08040162672890701 Centerline is valid? [True, True] Translation: X:71.73, Y:-4.55, Z:-1.71 [[ 9.99671614e-01 2.55924164e-02 1.30114988e-03 7.17274998e+01] [-2.55922954e-02 9.99672458e-01 -1.09564415e-04 -4.54666069e+00] [-1.30352772e-03 7.62290235e-05 9.99999148e-01 -1.71494581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02241403699999 meters 0.08117140209405359 Centerline is valid? [True, True] Translation: X:71.75, Y:-4.55, Z:-1.72 [[ 9.99640240e-01 2.68051079e-02 9.36176445e-04 7.17548572e+01] [-2.68050445e-02 9.99640677e-01 -8.02578013e-05 -4.55082240e+00] [-9.37991374e-04 5.51346765e-05 9.99999559e-01 -1.71773447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05241403699999 meters 0.07868278533093954 Centerline is valid? [True, True] Translation: X:71.79, Y:-4.55, Z:-1.72 [[ 9.99532658e-01 3.05643582e-02 5.34369552e-04 7.17853963e+01] [-3.05643386e-02 9.99532800e-01 -4.48286357e-05 -4.54758625e+00] [-5.35490054e-04 2.84750334e-05 9.99999856e-01 -1.71711330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08241403699999 meters 0.07753330818852977 Centerline is valid? [True, True] Translation: X:71.82, Y:-4.55, Z:-1.72 [[ 9.99456167e-01 3.29300072e-02 1.72787385e-03 7.18154226e+01] [-3.29298069e-02 9.99457656e-01 -1.44241565e-04 -4.54619788e+00] [-1.73168663e-03 8.72645694e-05 9.99998497e-01 -1.71584354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.112414037 meters 0.07734566585315869 Centerline is valid? [True, True] Translation: X:71.84, Y:-4.55, Z:-1.72 [[ 9.99377227e-01 3.52765840e-02 8.48849287e-04 7.18429243e+01] [-3.52765347e-02 9.99377587e-01 -7.30000018e-05 -4.54727031e+00] [-8.50896143e-04 4.30100781e-05 9.99999637e-01 -1.71720169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.142414037 meters 0.07724835742885022 Centerline is valid? [True, True] Translation: X:71.87, Y:-4.55, Z:-1.72 [[ 9.99281448e-01 3.78534997e-02 1.92378635e-03 7.18722616e+01] [-3.78532613e-02 9.99283296e-01 -1.60211381e-04 -4.54818787e+00] [-1.92847213e-03 8.72746728e-05 9.99998137e-01 -1.71829167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.172414037 meters 0.07641275117949341 Centerline is valid? [True, True] Translation: X:71.90, Y:-4.55, Z:-1.72 [[ 9.99116177e-01 4.20329826e-02 3.04151190e-04 7.19024988e+01] [-4.20329765e-02 9.99116224e-01 -2.66704937e-05 -4.54764293e+00] [-3.05003429e-04 1.38625418e-05 9.99999953e-01 -1.71848653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.202414037 meters 0.07634511345957395 Centerline is valid? [True, True] Translation: X:71.93, Y:-4.55, Z:-1.72 [[ 9.99052200e-01 4.35200164e-02 8.42750662e-04 7.19310915e+01] [-4.35199713e-02 9.99052555e-01 -7.17803296e-05 -4.55048044e+00] [-8.45076083e-04 3.50358116e-05 9.99999642e-01 -1.72011991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.232414037 meters 0.07578219249754205 Centerline is valid? [True, True] Translation: X:71.96, Y:-4.55, Z:-1.72 [[ 9.99028860e-01 4.40513141e-02 9.05037717e-04 7.19601601e+01] [-4.40512625e-02 9.99029269e-01 -7.69089367e-05 -4.55243107e+00] [-9.07547109e-04 3.69661933e-05 9.99999587e-01 -1.72014284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26241403699999 meters 0.07616846377441233 Centerline is valid? [True, True] Translation: X:71.99, Y:-4.56, Z:-1.72 [[ 9.98952412e-01 4.57043841e-02 2.27750592e-03 7.19872848e+01] [-4.57040660e-02 9.98955005e-01 -1.91549479e-04 -4.55962267e+00] [-2.28388058e-03 8.72575332e-05 9.99997388e-01 -1.72461649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29241403699999 meters 0.07579379667713085 Centerline is valid? [True, True] Translation: X:72.01, Y:-4.56, Z:-1.72 [[ 9.98951749e-01 4.57218332e-02 2.21732602e-03 7.20148994e+01] [-4.57215334e-02 9.98954207e-01 -1.85760114e-04 -4.56140450e+00] [-2.22350045e-03 8.41858449e-05 9.99997524e-01 -1.72413707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32241403699999 meters 0.07536520289245875 Centerline is valid? [True, True] Translation: X:72.04, Y:-4.56, Z:-1.72 [[ 9.98899753e-01 4.67412280e-02 3.81336329e-03 7.20439834e+01] [-4.67403576e-02 9.98907022e-01 -3.17087509e-04 -4.56328316e+00] [-3.82401642e-03 1.38500671e-04 9.99992679e-01 -1.72349274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35241403699999 meters 0.07573322371256676 Centerline is valid? [True, True] Translation: X:72.07, Y:-4.57, Z:-1.72 [[ 9.98891482e-01 4.68735253e-02 4.32206659e-03 7.20719811e+01] [-4.68724163e-02 9.98900820e-01 -3.57587016e-04 -4.56704912e+00] [-4.33407723e-03 1.54604920e-04 9.99990596e-01 -1.72434503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38241403699999 meters 0.07552562711700755 Centerline is valid? [True, True] Translation: X:72.10, Y:-4.57, Z:-1.72 [[ 9.98900348e-01 4.66864563e-02 4.29769159e-03 7.21002332e+01] [-4.66853615e-02 9.98909581e-01 -3.54758299e-04 -4.56969798e+00] [-4.30956771e-03 1.53728902e-04 9.99990702e-01 -1.72497880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41241403699999 meters 0.07557493809695663 Centerline is valid? [True, True] Translation: X:72.13, Y:-4.57, Z:-1.73 [[ 9.98930890e-01 4.60347640e-02 4.22824474e-03 7.21290158e+01] [-4.60336996e-02 9.98939826e-01 -3.48765751e-04 -4.57448939e+00] [-4.23981741e-03 1.53751134e-04 9.99991000e-01 -1.72670854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44241403699999 meters 0.07579828416263755 Centerline is valid? [True, True] Translation: X:72.16, Y:-4.58, Z:-1.73 [[ 9.99055831e-01 4.33047745e-02 3.48471693e-03 7.21580930e+01] [-4.33040377e-02 9.99061899e-01 -2.86632869e-04 -4.58268527e+00] [-3.49386048e-03 1.35459926e-04 9.99993887e-01 -1.72824230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.472414037 meters 0.07622634592226432 Centerline is valid? [True, True] Translation: X:72.19, Y:-4.59, Z:-1.73 [[ 9.99155541e-01 4.08595330e-02 4.32475888e-03 7.21859231e+01] [-4.08583709e-02 9.99164884e-01 -3.56758831e-04 -4.58906605e+00] [-4.33572420e-03 1.79754960e-04 9.99990585e-01 -1.72894938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.502414037 meters 0.07744251788082825 Centerline is valid? [True, True] Translation: X:72.21, Y:-4.60, Z:-1.73 [[ 9.99345818e-01 3.58147192e-02 5.02408363e-03 7.22138357e+01] [-3.58130988e-02 9.99358420e-01 -4.12150967e-04 -4.60035061e+00] [-5.03562136e-03 2.31953342e-04 9.99987294e-01 -1.73075349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.532414037 meters 0.07723924258825508 Centerline is valid? [True, True] Translation: X:72.24, Y:-4.60, Z:-1.73 [[ 9.99456464e-01 3.25966264e-02 4.92307556e-03 7.22433560e+01] [-3.25950322e-02 9.99468559e-01 -4.03732494e-04 -4.60343894e+00] [-4.93361956e-03 2.43045244e-04 9.99987800e-01 -1.73012239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.562414037 meters 0.07881844135770329 Centerline is valid? [True, True] Translation: X:72.27, Y:-4.61, Z:-1.73 [[ 9.99535715e-01 3.00547020e-02 5.00692216e-03 7.22708209e+01] [-3.00530175e-02 9.99548221e-01 -4.11354271e-04 -4.61386404e+00] [-5.01702327e-03 2.60690167e-04 9.99987381e-01 -1.73335749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.592414037 meters 0.08038438794687774 Centerline is valid? [True, True] Translation: X:72.30, Y:-4.63, Z:-1.74 [[ 9.99682760e-01 2.46657753e-02 5.09696218e-03 7.23006143e+01] [-2.46639714e-02 9.99695711e-01 -4.16480025e-04 -4.62582094e+00] [-5.10568403e-03 2.90636572e-04 9.99986924e-01 -1.73523678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62241403699998 meters 0.07920201867198554 Centerline is valid? [True, True] Translation: X:72.33, Y:-4.63, Z:-1.73 [[ 9.99745343e-01 2.21090079e-02 4.52105703e-03 7.23311317e+01] [-2.21075626e-02 9.99755530e-01 -3.69417759e-04 -4.62652367e+00] [-4.52811922e-03 2.69374133e-04 9.99989712e-01 -1.73370756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65241403699999 meters 0.08184809936195821 Centerline is valid? [True, True] Translation: X:72.36, Y:-4.64, Z:-1.74 [[ 9.99830737e-01 1.76976209e-02 5.02897991e-03 7.23593408e+01] [-1.76957740e-02 9.99843333e-01 -4.11521691e-04 -4.63967913e+00] [-5.03547499e-03 3.22460345e-04 9.99987270e-01 -1.73779944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68241403699999 meters 0.08254806270744378 Centerline is valid? [True, True] Translation: X:72.39, Y:-4.65, Z:-1.74 [[ 9.99867136e-01 1.54767672e-02 5.11671785e-03 7.23884585e+01] [-1.54748254e-02 9.99880170e-01 -4.18882135e-04 -4.64567613e+00] [-5.12258766e-03 3.39646165e-04 9.99986822e-01 -1.73866846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71241403699999 meters 0.08188893990628203 Centerline is valid? [True, True] Translation: X:72.42, Y:-4.65, Z:-1.74 [[ 9.99894898e-01 1.34224695e-02 5.47991065e-03 7.24176917e+01] [-1.34202103e-02 9.99909844e-01 -4.48836108e-04 -4.64850357e+00] [-5.48544109e-03 3.75247381e-04 9.99984884e-01 -1.73873351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74241403699999 meters 0.0815904803586661 Centerline is valid? [True, True] Translation: X:72.45, Y:-4.65, Z:-1.74 [[ 9.99926490e-01 1.08057551e-02 5.49993305e-03 7.24478707e+01] [-1.08034465e-02 9.99941540e-01 -4.49276336e-04 -4.65174231e+00] [-5.50446629e-03 3.89825077e-04 9.99984774e-01 -1.73976476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77241403699999 meters 0.08468636951684547 Centerline is valid? [True, True] Translation: X:72.48, Y:-4.66, Z:-1.74 [[ 9.99962041e-01 6.40533274e-03 5.90656692e-03 7.24764134e+01] [-6.40259513e-03 9.99979387e-01 -4.82278181e-04 -4.66437695e+00] [-5.90953432e-03 4.44442517e-04 9.99982440e-01 -1.74161626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80241403699999 meters 0.08474651716979882 Centerline is valid? [True, True] Translation: X:72.51, Y:-4.67, Z:-1.74 [[ 9.99964676e-01 4.74404620e-03 6.93838482e-03 7.25077905e+01] [-4.74023868e-03 9.99988605e-01 -5.65102712e-04 -4.66800143e+00] [-6.94098663e-03 5.32193150e-04 9.99975769e-01 -1.74136789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83241403699999 meters 0.08447294135268914 Centerline is valid? [True, True] Translation: X:72.54, Y:-4.67, Z:-1.74 [[ 9.99965331e-01 1.12877275e-03 8.25004324e-03 7.25385079e+01] [-1.12325803e-03 9.99999143e-01 -6.73050467e-04 -4.67074786e+00] [-8.25079588e-03 6.63760205e-04 9.99965741e-01 -1.74000557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.862414037 meters 0.08689821242833073 Centerline is valid? [True, True] Translation: X:72.57, Y:-4.68, Z:-1.74 [[ 9.99971549e-01 4.95160235e-04 7.52706327e-03 7.25693681e+01] [-4.90591937e-04 9.99999694e-01 -6.08750576e-04 -4.68008220e+00] [-7.52736240e-03 6.05040540e-04 9.99971486e-01 -1.74217676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.892414037 meters 0.0870636491908613 Centerline is valid? [True, True] Translation: X:72.60, Y:-4.68, Z:-1.74 [[ 9.99978015e-01 -3.01518640e-04 6.62410482e-03 7.26009309e+01] [ 3.05079016e-04 9.99999810e-01 -5.36483960e-04 -4.68332118e+00] [-6.62394180e-03 5.38493041e-04 9.99977916e-01 -1.74409839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.922414037 meters 0.08584799063745867 Centerline is valid? [True, True] Translation: X:72.63, Y:-4.68, Z:-1.75 [[ 9.99979560e-01 -2.42167376e-03 5.91736944e-03 7.26322056e+01] [ 2.42458657e-03 9.99996943e-01 -4.85124161e-04 -4.68420611e+00] [-5.91617654e-03 4.99461420e-04 9.99982375e-01 -1.74532864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.952414037 meters 0.08565946400871184 Centerline is valid? [True, True] Translation: X:72.66, Y:-4.69, Z:-1.75 [[ 9.99978330e-01 -2.75958863e-03 5.97693840e-03 7.26640479e+01] [ 2.76255876e-03 9.99996065e-01 -4.88734044e-04 -4.68658769e+00] [-5.97556618e-03 5.05235097e-04 9.99982019e-01 -1.74719096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.982414037 meters 0.0865817410598544 Centerline is valid? [True, True] Translation: X:72.70, Y:-4.69, Z:-1.75 [[ 9.99981177e-01 -3.46053046e-03 5.06651063e-03 7.26952880e+01] [ 3.46267613e-03 9.99993919e-01 -4.14788243e-04 -4.69046235e+00] [-5.06504443e-03 4.32324121e-04 9.99987079e-01 -1.74879180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01241403699999 meters 0.08630574874349935 Centerline is valid? [True, True] Translation: X:72.73, Y:-4.69, Z:-1.75 [[ 9.99979708e-01 -3.14827403e-03 5.53817163e-03 7.27273598e+01] [ 3.15083297e-03 9.99994933e-01 -4.53390066e-04 -4.69175744e+00] [-5.53671617e-03 4.70830719e-04 9.99984561e-01 -1.75020170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04241403699999 meters 0.08839731800509691 Centerline is valid? [True, True] Translation: X:72.76, Y:-4.70, Z:-1.75 [[ 9.99976588e-01 -2.73856807e-03 6.27089934e-03 7.27582069e+01] [ 2.74184844e-03 9.99996109e-01 -5.14573090e-04 -4.69698958e+00] [-6.26946574e-03 5.31754898e-04 9.99980205e-01 -1.75237462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07241403699999 meters 0.08871307326540423 Centerline is valid? [True, True] Translation: X:72.79, Y:-4.70, Z:-1.75 [[ 9.99977447e-01 -3.09110978e-03 5.96241911e-03 7.27902170e+01] [ 3.09408049e-03 9.99995094e-01 -4.89078898e-04 -4.69991742e+00] [-5.96087806e-03 5.07516072e-04 9.99982105e-01 -1.75317134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10241403699999 meters 0.08818931419921176 Centerline is valid? [True, True] Translation: X:72.82, Y:-4.70, Z:-1.75 [[ 9.99973803e-01 -2.82941523e-03 6.66244773e-03 7.28226558e+01] [ 2.83312337e-03 9.99995837e-01 -5.47201665e-04 -4.70134279e+00] [-6.66087173e-03 5.66062866e-04 9.99977656e-01 -1.75459984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13241403699999 meters 0.08653976632423849 Centerline is valid? [True, True] Translation: X:72.86, Y:-4.70, Z:-1.75 [[ 9.99976379e-01 -2.64486723e-03 6.34402312e-03 7.28552846e+01] [ 2.64822752e-03 9.99996358e-01 -5.21337416e-04 -4.70004174e+00] [-6.34262114e-03 5.38125518e-04 9.99979741e-01 -1.75474842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16241403699999 meters 0.08824026782571295 Centerline is valid? [True, True] Translation: X:72.89, Y:-4.70, Z:-1.76 [[ 9.99977421e-01 -2.09453066e-03 6.38511030e-03 7.28867622e+01] [ 2.09792653e-03 9.99997661e-01 -5.25190015e-04 -4.70367095e+00] [-6.38399534e-03 5.38573649e-04 9.99979477e-01 -1.75683202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19241403699999 meters 0.08827524448768262 Centerline is valid? [True, True] Translation: X:72.92, Y:-4.70, Z:-1.76 [[ 9.99984516e-01 -1.09406088e-03 5.45623430e-03 7.29195421e+01] [ 1.09652387e-03 9.99999298e-01 -4.48436263e-04 -4.70482284e+00] [-5.45573985e-03 4.54412211e-04 9.99985014e-01 -1.75787756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.222414037 meters 0.08693765700544011 Centerline is valid? [True, True] Translation: X:72.95, Y:-4.70, Z:-1.76 [[ 9.99989512e-01 -5.62255215e-04 4.54530569e-03 7.29523297e+01] [ 5.63960649e-04 9.99999771e-01 -3.73934705e-04 -4.70247017e+00] [-4.54509440e-03 3.76494157e-04 9.99989600e-01 -1.75811909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.252414037 meters 0.08737857381808443 Centerline is valid? [True, True] Translation: X:72.98, Y:-4.70, Z:-1.76 [[ 9.99984253e-01 2.61096858e-03 4.96760199e-03 7.29819193e+01] [-2.60895636e-03 9.99996512e-01 -4.11506274e-04 -4.70246183e+00] [-4.96865910e-03 3.98539537e-04 9.99987577e-01 -1.76018907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.282414037 meters 0.08665624494632822 Centerline is valid? [True, True] Translation: X:73.01, Y:-4.70, Z:-1.76 [[ 9.99976318e-01 4.64099504e-03 5.08173496e-03 7.30128831e+01] [-4.63892020e-03 9.99989152e-01 -4.20004397e-04 -4.70209857e+00] [-5.08362907e-03 3.96420687e-04 9.99987000e-01 -1.76136729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.312414037 meters 0.08665624494632822 Centerline is valid? [True, True] Translation: X:73.04, Y:-4.70, Z:-1.76 [[ 9.99976162e-01 4.67454137e-03 5.08176531e-03 7.30437101e+01] [-4.67246882e-03 9.99988996e-01 -4.19637796e-04 -4.70468452e+00] [-5.08367101e-03 3.95883403e-04 9.99987000e-01 -1.76236060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.342414037 meters 0.08400755293763171 Centerline is valid? [True, True] Translation: X:73.07, Y:-4.70, Z:-1.76 [[ 9.99956673e-01 8.17112621e-03 4.45923010e-03 7.30747189e+01] [-8.16956145e-03 9.99966560e-01 -3.69007805e-04 -4.69848468e+00] [-4.46209620e-03 3.32561862e-04 9.99989989e-01 -1.76258430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37241403699998 meters 0.08412339812780104 Centerline is valid? [True, True] Translation: X:73.10, Y:-4.70, Z:-1.76 [[ 9.99926437e-01 1.06194824e-02 5.86056735e-03 7.31038411e+01] [-1.06168173e-02 9.99943522e-01 -4.85666367e-04 -4.69961898e+00] [-5.86539388e-03 4.23410067e-04 9.99982709e-01 -1.76406763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40241403699999 meters 0.08258352900602642 Centerline is valid? [True, True] Translation: X:73.13, Y:-4.70, Z:-1.76 [[ 9.99900037e-01 1.24452160e-02 6.71066487e-03 7.31341306e+01] [-1.24417637e-02 9.99922444e-01 -5.55942207e-04 -4.69671291e+00] [-6.71706324e-03 4.72394127e-04 9.99977329e-01 -1.76309631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43241403699999 meters 0.08200425782747692 Centerline is valid? [True, True] Translation: X:73.16, Y:-4.70, Z:-1.76 [[ 9.99873274e-01 1.40386113e-02 7.50688715e-03 7.31644465e+01] [-1.40343373e-02 9.99901321e-01 -6.21710781e-04 -4.69517832e+00] [-7.51487433e-03 5.16277807e-04 9.99971630e-01 -1.76308273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46241403699999 meters 0.08277574235056227 Centerline is valid? [True, True] Translation: X:73.19, Y:-4.70, Z:-1.76 [[ 9.99818018e-01 1.72430736e-02 8.16131201e-03 7.31940604e+01] [-1.72381287e-02 9.99851184e-01 -6.75854891e-04 -4.69627518e+00] [-8.17175129e-03 5.35046151e-04 9.99966468e-01 -1.76442522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49241403699999 meters 0.08323136709134345 Centerline is valid? [True, True] Translation: X:73.22, Y:-4.70, Z:-1.77 [[ 9.99801796e-01 1.83181792e-02 7.79823596e-03 7.32225894e+01] [-1.83136931e-02 9.99832081e-01 -6.46290464e-04 -4.69857353e+00] [-7.80876535e-03 5.03347867e-04 9.99969384e-01 -1.76576412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52241403699999 meters 0.08027590163650153 Centerline is valid? [True, True] Translation: X:73.25, Y:-4.69, Z:-1.77 [[ 9.99794134e-01 1.93059409e-02 6.24268007e-03 7.32523426e+01] [-1.93030820e-02 9.99813544e-01 -5.17901719e-04 -4.69167471e+00] [-6.25151467e-03 3.97292135e-04 9.99980380e-01 -1.76556356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55241403699999 meters 0.08031895557157827 Centerline is valid? [True, True] Translation: X:73.28, Y:-4.69, Z:-1.77 [[ 9.99794639e-01 1.94974920e-02 5.52521167e-03 7.32811955e+01] [-1.94952560e-02 9.99809844e-01 -4.58248679e-04 -4.69355328e+00] [-5.53309572e-03 3.50439157e-04 9.99984631e-01 -1.76669654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58241403699999 meters 0.08166424471199296 Centerline is valid? [True, True] Translation: X:73.31, Y:-4.70, Z:-1.77 [[ 9.99792359e-01 1.96118762e-02 5.53288287e-03 7.33088314e+01] [-1.96096355e-02 9.99807607e-01 -4.58938360e-04 -4.69878214e+00] [-5.54081903e-03 3.50345249e-04 9.99984588e-01 -1.76970529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.612414037 meters 0.08089216459907153 Centerline is valid? [True, True] Translation: X:73.34, Y:-4.70, Z:-1.77 [[ 9.99789150e-01 1.95617054e-02 6.24459281e-03 7.33376406e+01] [-1.95588588e-02 9.99808574e-01 -5.16608406e-04 -4.69622803e+00] [-6.25350317e-03 3.94362370e-04 9.99980369e-01 -1.76799302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.642414037 meters 0.08120277244967307 Centerline is valid? [True, True] Translation: X:73.37, Y:-4.70, Z:-1.77 [[ 9.99780431e-01 1.94800930e-02 7.72113537e-03 7.33667159e+01] [-1.94757468e-02 9.99810126e-01 -6.37693906e-04 -4.69798060e+00] [-7.73209167e-03 4.87179011e-04 9.99969988e-01 -1.76874980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.672414037 meters 0.08113143060055679 Centerline is valid? [True, True] Translation: X:73.40, Y:-4.70, Z:-1.77 [[ 9.99796875e-01 1.87952112e-02 7.27654898e-03 7.33957849e+01] [-1.87913357e-02 9.99823247e-01 -6.00612437e-04 -4.69858780e+00] [-7.28655146e-03 4.63754363e-04 9.99973345e-01 -1.76961361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.702414037 meters 0.08190272024649045 Centerline is valid? [True, True] Translation: X:73.42, Y:-4.70, Z:-1.77 [[ 9.99790344e-01 1.91814325e-02 7.16520023e-03 7.34236090e+01] [-1.91776850e-02 9.99815916e-01 -5.91372438e-04 -4.70324168e+00] [-7.17522460e-03 4.53836500e-04 9.99974155e-01 -1.77235811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.732414037 meters 0.08238922585717222 Centerline is valid? [True, True] Translation: X:73.45, Y:-4.71, Z:-1.77 [[ 9.99801738e-01 1.86743369e-02 6.91037696e-03 7.34523908e+01] [-1.86708457e-02 9.99825522e-01 -5.69383774e-04 -4.70666399e+00] [-6.91980412e-03 4.40248305e-04 9.99975961e-01 -1.77420553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76241403699999 meters 0.08184350580945766 Centerline is valid? [True, True] Translation: X:73.48, Y:-4.71, Z:-1.78 [[ 9.99818717e-01 1.81891827e-02 5.62903432e-03 7.34818698e+01] [-1.81868633e-02 9.99834498e-01 -4.62955269e-04 -4.70655484e+00] [-5.63652348e-03 3.60496866e-04 9.99984050e-01 -1.77528544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79241403699999 meters 0.08233576607635898 Centerline is valid? [True, True] Translation: X:73.51, Y:-4.71, Z:-1.78 [[ 9.99831110e-01 1.74994068e-02 5.61442555e-03 7.35105418e+01] [-1.74970847e-02 9.99846807e-01 -4.62453158e-04 -4.70925794e+00] [-5.62165812e-03 3.64138975e-04 9.99984132e-01 -1.77665450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82241403699999 meters 0.08425340067992734 Centerline is valid? [True, True] Translation: X:73.54, Y:-4.72, Z:-1.78 [[ 9.99827288e-01 1.76170684e-02 5.91891260e-03 7.35374265e+01] [-1.76144894e-02 9.99844734e-01 -4.87573329e-04 -4.71516291e+00] [-5.92658320e-03 3.83230496e-04 9.99982364e-01 -1.78072469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85241403699999 meters 0.08305325860118395 Centerline is valid? [True, True] Translation: X:73.57, Y:-4.71, Z:-1.78 [[ 9.99835021e-01 1.73421568e-02 5.40184860e-03 7.35660941e+01] [-1.73400092e-02 9.99849552e-01 -4.44152143e-04 -4.71377216e+00] [-5.40873846e-03 3.50410763e-04 9.99985311e-01 -1.78024043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88241403699999 meters 0.08337796639130111 Centerline is valid? [True, True] Translation: X:73.59, Y:-4.72, Z:-1.78 [[ 9.99849017e-01 1.66314066e-02 5.03378579e-03 7.35947644e+01] [-1.66295337e-02 9.99861634e-01 -4.13692880e-04 -4.71624948e+00] [-5.03996958e-03 3.29920909e-04 9.99987245e-01 -1.78173641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91241403699999 meters 0.08595731301942167 Centerline is valid? [True, True] Translation: X:73.62, Y:-4.73, Z:-1.79 [[ 9.99866325e-01 1.54949334e-02 5.21911656e-03 7.36225211e+01] [-1.54929093e-02 9.99879886e-01 -4.28038684e-04 -4.72555427e+00] [-5.22512210e-03 3.47122167e-04 9.99986289e-01 -1.78601673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94241403699999 meters 0.08328324602585814 Centerline is valid? [True, True] Translation: X:73.65, Y:-4.72, Z:-1.79 [[ 9.99882300e-01 1.45026960e-02 5.00585154e-03 7.36526210e+01] [-1.45008245e-02 9.99894773e-01 -4.09943704e-04 -4.72246530e+00] [-5.01127008e-03 3.37306479e-04 9.99987387e-01 -1.78503693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.972414037 meters 0.08320791420831349 Centerline is valid? [True, True] Translation: X:73.68, Y:-4.73, Z:-1.79 [[ 9.99913806e-01 1.24707720e-02 4.10606988e-03 7.36826190e+01] [-1.24694975e-02 9.99922196e-01 -3.35847305e-04 -4.72535196e+00] [-4.10993868e-03 2.84617729e-04 9.99991514e-01 -1.78647460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.002414037 meters 0.08421147301617474 Centerline is valid? [True, True] Translation: X:73.71, Y:-4.73, Z:-1.79 [[ 9.99926986e-01 1.12787022e-02 4.33754545e-03 7.37109783e+01] [-1.12772652e-02 9.99936346e-01 -3.55613323e-04 -4.72961581e+00] [-4.34128021e-03 3.06671707e-04 9.99990530e-01 -1.78802136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.032414037 meters 0.08916337097185265 Centerline is valid? [True, True] Translation: X:73.74, Y:-4.74, Z:-1.79 [[ 9.99950877e-01 8.91291020e-03 4.33624315e-03 7.37395458e+01] [-8.91145700e-03 9.99960229e-01 -3.54335566e-04 -4.74280291e+00] [-4.33922885e-03 3.15675915e-04 9.99990536e-01 -1.79245750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.062414037 meters 0.08439721515432017 Centerline is valid? [True, True] Translation: X:73.77, Y:-4.74, Z:-1.79 [[ 9.99961896e-01 7.33106808e-03 4.73935675e-03 7.37697881e+01] [-7.32931278e-03 9.99973065e-01 -3.87629610e-04 -4.73510033e+00] [-4.74207083e-03 3.52878612e-04 9.99988694e-01 -1.78896207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.092414037 meters 0.08514990004839833 Centerline is valid? [True, True] Translation: X:73.80, Y:-4.74, Z:-1.79 [[ 9.99966426e-01 6.23617435e-03 5.31572265e-03 7.37997858e+01] [-6.23395737e-03 9.99980475e-01 -4.33528817e-04 -4.74066354e+00] [-5.31832242e-03 4.00376273e-04 9.99985777e-01 -1.79055487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12241403699998 meters 0.08896773737575527 Centerline is valid? [True, True] Translation: X:73.83, Y:-4.75, Z:-1.79 [[ 9.99979980e-01 2.78999558e-03 5.67932160e-03 7.38282162e+01] [-2.78740759e-03 9.99996008e-01 -4.63551369e-04 -4.75402589e+00] [-5.68059223e-03 4.47711505e-04 9.99983765e-01 -1.79368656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15241403699999 meters 0.08738607191900546 Centerline is valid? [True, True] Translation: X:73.86, Y:-4.75, Z:-1.79 [[ 9.99979186e-01 1.52275076e-03 6.26974018e-03 7.38606798e+01] [-1.51958605e-03 9.99998716e-01 -5.09492633e-04 -4.75436037e+00] [-6.27050796e-03 4.99954618e-04 9.99980215e-01 -1.79314019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18241403699999 meters 0.08762029213002027 Centerline is valid? [True, True] Translation: X:73.89, Y:-4.76, Z:-1.79 [[ 9.99981852e-01 -1.10010855e-03 5.92337128e-03 7.38909218e+01] [ 1.10298996e-03 9.99999275e-01 -4.83202980e-04 -4.75627108e+00] [-5.92283541e-03 4.89727629e-04 9.99982340e-01 -1.79280062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21241403699999 meters 0.09055033392753184 Centerline is valid? [True, True] Translation: X:73.92, Y:-4.76, Z:-1.79 [[ 9.99979954e-01 -2.12784213e-03 5.96348698e-03 7.39213330e+01] [ 2.13074797e-03 9.99997614e-01 -4.80961183e-04 -4.76419269e+00] [-5.96244934e-03 4.93658230e-04 9.99982103e-01 -1.79497037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24241403699999 meters 0.09003860783675446 Centerline is valid? [True, True] Translation: X:73.95, Y:-4.77, Z:-1.80 [[ 9.99975119e-01 -3.46882684e-03 6.14238579e-03 7.39524893e+01] [ 3.47197156e-03 9.99993847e-01 -5.01379740e-04 -4.76511229e+00] [-6.14060880e-03 5.22693453e-04 9.99981010e-01 -1.79511650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27241403699999 meters 0.09267021328586436 Centerline is valid? [True, True] Translation: X:73.98, Y:-4.77, Z:-1.80 [[ 9.99964307e-01 -6.15755856e-03 5.78528898e-03 7.39815858e+01] [ 6.16040376e-03 9.99980912e-01 -4.74106921e-04 -4.77488809e+00] [-5.78225921e-03 5.09729714e-04 9.99983153e-01 -1.79775807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30241403699999 meters 0.0878466801250766 Centerline is valid? [True, True] Translation: X:74.01, Y:-4.77, Z:-1.80 [[ 9.99955225e-01 -7.96645836e-03 5.10715299e-03 7.40131522e+01] [ 7.96869469e-03 9.99968162e-01 -4.17682780e-04 -4.76864227e+00] [-5.10366294e-03 4.58361421e-04 9.99986871e-01 -1.79649980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33241403699999 meters 0.09333883959427497 Centerline is valid? [True, True] Translation: X:74.04, Y:-4.78, Z:-1.80 [[ 9.99920538e-01 -1.19151269e-02 4.11675542e-03 7.40416842e+01] [ 1.19166062e-02 9.99928939e-01 -3.35010919e-04 -4.78317797e+00] [-4.11247118e-03 3.84042052e-04 9.99991470e-01 -1.80071992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.362414037 meters 0.09185279720696729 Centerline is valid? [True, True] Translation: X:74.07, Y:-4.78, Z:-1.80 [[ 9.99900253e-01 -1.34140195e-02 4.42125018e-03 7.40734652e+01] [ 1.34157478e-02 9.99909939e-01 -3.61461480e-04 -4.78199438e+00] [-4.41600335e-03 4.20739802e-04 9.99990161e-01 -1.79989331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.392414037 meters 0.09229345363132382 Centerline is valid? [True, True] Translation: X:74.10, Y:-4.78, Z:-1.80 [[ 9.99876432e-01 -1.50711586e-02 4.47009243e-03 7.41043239e+01] [ 1.50729414e-02 9.99886330e-01 -3.65385140e-04 -4.78423236e+00] [-4.46407753e-03 4.32717431e-04 9.99989942e-01 -1.80037629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.422414037 meters 0.09455062034082733 Centerline is valid? [True, True] Translation: X:74.13, Y:-4.79, Z:-1.80 [[ 9.99842673e-01 -1.68369106e-02 5.58108589e-03 7.41342773e+01] [ 1.68397199e-02 9.99858098e-01 -4.56749228e-04 -4.78974571e+00] [-5.57260368e-03 5.50661292e-04 9.99984321e-01 -1.80129574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.452414037 meters 0.09140851199686946 Centerline is valid? [True, True] Translation: X:74.17, Y:-4.79, Z:-1.80 [[ 9.99822681e-01 -1.75205116e-02 6.90204591e-03 7.41666527e+01] [ 1.75248242e-02 9.99846269e-01 -5.64834722e-04 -4.78674444e+00] [-6.89108865e-03 6.85691707e-04 9.99976021e-01 -1.80030907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.482414037 meters 0.0957069562511113 Centerline is valid? [True, True] Translation: X:74.20, Y:-4.80, Z:-1.80 [[ 9.99802220e-01 -1.85478571e-02 7.17616540e-03 7.41971703e+01] [ 1.85525527e-02 9.99827713e-01 -5.88315729e-04 -4.79860381e+00] [-7.16401705e-03 7.21335559e-04 9.99974078e-01 -1.80321765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51241403699999 meters 0.09329063937659696 Centerline is valid? [True, True] Translation: X:74.23, Y:-4.80, Z:-1.80 [[ 9.99800356e-01 -1.85717799e-02 7.37141065e-03 7.42292706e+01] [ 1.85767235e-02 9.99827256e-01 -6.02738632e-04 -4.79589800e+00] [-7.35894336e-03 7.39554957e-04 9.99972649e-01 -1.80278778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54241403699999 meters 0.09603226414578836 Centerline is valid? [True, True] Translation: X:74.26, Y:-4.80, Z:-1.80 [[ 9.99807891e-01 -1.82745764e-02 7.08665229e-03 7.42601830e+01] [ 1.82791582e-02 9.99832753e-01 -5.82306855e-04 -4.80274470e+00] [-7.07482566e-03 7.11733027e-04 9.99974720e-01 -1.80483020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57241403699999 meters 0.09669282064943979 Centerline is valid? [True, True] Translation: X:74.29, Y:-4.80, Z:-1.81 [[ 9.99839372e-01 -1.69429045e-02 5.84531890e-03 7.42910898e+01] [ 1.69460020e-02 9.99856291e-01 -4.80798712e-04 -4.80326761e+00] [-5.83633274e-03 5.79776269e-04 9.99982800e-01 -1.80681392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60241403699999 meters 0.09403939315343589 Centerline is valid? [True, True] Translation: X:74.32, Y:-4.80, Z:-1.81 [[ 9.99853317e-01 -1.60989379e-02 5.84540650e-03 7.43241451e+01] [ 1.61020145e-02 9.99870239e-01 -4.79642732e-04 -4.80003524e+00] [-5.83692626e-03 5.73695197e-04 9.99982800e-01 -1.80752487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63241403699999 meters 0.09423505119103437 Centerline is valid? [True, True] Translation: X:74.36, Y:-4.80, Z:-1.81 [[ 9.99855007e-01 -1.60003724e-02 5.82687658e-03 7.43567506e+01] [ 1.60034281e-02 9.99871823e-01 -4.78154700e-04 -4.80329226e+00] [-5.81847905e-03 5.71335371e-04 9.99982909e-01 -1.80945599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66241403699999 meters 0.09337228153692742 Centerline is valid? [True, True] Translation: X:74.39, Y:-4.80, Z:-1.81 [[ 9.99854250e-01 -1.57146183e-02 6.67310870e-03 7.43892061e+01] [ 1.57186332e-02 9.99876304e-01 -5.49631868e-04 -4.80498550e+00] [-6.66364601e-03 6.54443907e-04 9.99977584e-01 -1.81046572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69241403699999 meters 0.09647672550237553 Centerline is valid? [True, True] Translation: X:74.42, Y:-4.81, Z:-1.81 [[ 9.99860252e-01 -1.57419448e-02 5.62748423e-03 7.44196312e+01] [ 1.57448033e-02 9.99875935e-01 -4.64015054e-04 -4.81297829e+00] [-5.61948155e-03 5.52553841e-04 9.99984058e-01 -1.81285850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.722414037 meters 0.09646383237071235 Centerline is valid? [True, True] Translation: X:74.45, Y:-4.81, Z:-1.81 [[ 9.99861009e-01 -1.54655006e-02 6.22738849e-03 7.44517693e+01] [ 1.54689963e-02 9.99880216e-01 -5.13578351e-04 -4.81306763e+00] [-6.21869980e-03 6.09838418e-04 9.99980478e-01 -1.81297127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.752414037 meters 0.09199684243388255 Centerline is valid? [True, True] Translation: X:74.49, Y:-4.81, Z:-1.81 [[ 9.99869093e-01 -1.48197837e-02 6.49384317e-03 7.44850691e+01] [ 1.48235745e-02 9.99889981e-01 -5.36002919e-04 -4.80560929e+00] [-6.48518527e-03 6.32194720e-04 9.99978771e-01 -1.81102088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.782414037 meters 0.09257047822557556 Centerline is valid? [True, True] Translation: X:74.52, Y:-4.81, Z:-1.81 [[ 9.99879900e-01 -1.42126735e-02 6.17936937e-03 7.45165537e+01] [ 1.42160966e-02 9.99898816e-01 -5.10383897e-04 -4.80887629e+00] [-6.17149020e-03 5.98169111e-04 9.99980777e-01 -1.81209830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.812414037 meters 0.09854658737487511 Centerline is valid? [True, True] Translation: X:74.55, Y:-4.82, Z:-1.82 [[ 9.99878041e-01 -1.41789187e-02 6.54688418e-03 7.45466197e+01] [ 1.41827672e-02 9.99899273e-01 -5.41775439e-04 -4.82238626e+00] [-6.53854294e-03 6.34562298e-04 9.99978422e-01 -1.81659121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.842414037 meters 0.09929357605082514 Centerline is valid? [True, True] Translation: X:74.58, Y:-4.83, Z:-1.82 [[ 9.99876664e-01 -1.43680008e-02 6.34163613e-03 7.45786263e+01] [ 1.43716151e-02 9.99896585e-01 -5.24725495e-04 -4.82656010e+00] [-6.33344105e-03 6.15800331e-04 9.99979754e-01 -1.81897968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87241403699998 meters 0.09422808198531298 Centerline is valid? [True, True] Translation: X:74.61, Y:-4.82, Z:-1.82 [[ 9.99867863e-01 -1.46890353e-02 6.96332539e-03 7.46119687e+01] [ 1.46934046e-02 9.99891880e-01 -5.76732507e-04 -4.81803007e+00] [-6.95410087e-03 6.78971257e-04 9.99975589e-01 -1.81728571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90241403699999 meters 0.0934930307148132 Centerline is valid? [True, True] Translation: X:74.64, Y:-4.82, Z:-1.82 [[ 9.99869414e-01 -1.46739251e-02 6.76992166e-03 7.46442863e+01] [ 1.46780574e-02 9.99892114e-01 -5.61099090e-04 -4.81826960e+00] [-6.76095775e-03 6.60395117e-04 9.99976926e-01 -1.81696052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93241403699999 meters 0.09354443692457565 Centerline is valid? [True, True] Translation: X:74.68, Y:-4.82, Z:-1.82 [[ 9.99874024e-01 -1.40482490e-02 7.38796648e-03 7.46768779e+01] [ 1.40531555e-02 9.99901062e-01 -6.12620325e-04 -4.82006552e+00] [-7.37862928e-03 7.16367392e-04 9.99972521e-01 -1.81764949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96241403699999 meters 0.09388351538309254 Centerline is valid? [True, True] Translation: X:74.71, Y:-4.82, Z:-1.82 [[ 9.99896050e-01 -1.29323692e-02 6.37515339e-03 7.47070895e+01] [ 1.29360123e-02 9.99916186e-01 -5.30555757e-04 -4.82172508e+00] [-6.36775772e-03 6.12969668e-04 9.99979538e-01 -1.82021791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99241403699999 meters 0.09362507081854612 Centerline is valid? [True, True] Translation: X:74.74, Y:-4.82, Z:-1.82 [[ 9.99908644e-01 -1.21288346e-02 5.96617441e-03 7.47396965e+01] [ 1.21320010e-02 9.99926282e-01 -4.94828118e-04 -4.82302309e+00] [-5.95973291e-03 5.67164546e-04 9.99982080e-01 -1.82178712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02241403699999 meters 0.09334263803707969 Centerline is valid? [True, True] Translation: X:74.77, Y:-4.82, Z:-1.82 [[ 9.99931387e-01 -1.01431623e-02 5.85985838e-03 7.47705633e+01] [ 1.01461961e-02 9.99948407e-01 -4.88226014e-04 -4.82327441e+00] [-5.85460390e-03 5.47647788e-04 9.99982712e-01 -1.82296195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05241403699999 meters 0.09301563786021676 Centerline is valid? [True, True] Translation: X:74.80, Y:-4.82, Z:-1.82 [[ 9.99938891e-01 -8.92002926e-03 6.53049561e-03 7.48021278e+01] [ 8.92376966e-03 9.99960034e-01 -5.43843298e-04 -4.82451136e+00] [-6.52538352e-03 6.02086703e-04 9.99978528e-01 -1.82316367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08241403699999 meters 0.09080273534145539 Centerline is valid? [True, True] Translation: X:74.83, Y:-4.82, Z:-1.82 [[ 9.99955981e-01 -7.29760606e-03 5.89747796e-03 7.48337137e+01] [ 7.30062894e-03 9.99973229e-01 -4.91206776e-04 -4.82138817e+00] [-5.89373544e-03 5.34240452e-04 9.99982489e-01 -1.82363544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.112414037 meters 0.09382200115840143 Centerline is valid? [True, True] Translation: X:74.86, Y:-4.83, Z:-1.83 [[ 9.99965539e-01 -4.33100564e-03 7.08259957e-03 7.48630557e+01] [ 4.33530396e-03 9.99990428e-01 -5.91644192e-04 -4.82577545e+00] [-7.07996936e-03 6.22329026e-04 9.99974743e-01 -1.82653696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.142414037 meters 0.09053623895335582 Centerline is valid? [True, True] Translation: X:74.90, Y:-4.82, Z:-1.83 [[ 9.99973981e-01 -3.45989447e-03 6.32980624e-03 7.48958099e+01] [ 3.46329640e-03 9.99993864e-01 -5.26563175e-04 -4.82017556e+00] [-6.32794555e-03 5.48471470e-04 9.99979828e-01 -1.82589901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.172414037 meters 0.09338265423406494 Centerline is valid? [True, True] Translation: X:74.93, Y:-4.83, Z:-1.83 [[ 9.99966695e-01 -2.23408795e-03 7.84971108e-03 7.49258938e+01] [ 2.23929685e-03 9.99997278e-01 -6.54852690e-04 -4.82753884e+00] [-7.84822672e-03 6.72408714e-04 9.99968976e-01 -1.82835476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.202414037 meters 0.08824818680338327 Centerline is valid? [True, True] Translation: X:74.96, Y:-4.82, Z:-1.83 [[ 9.99964731e-01 -1.32280811e-03 8.29380192e-03 7.49586439e+01] [ 1.32858810e-03 9.99998878e-01 -6.91433284e-04 -4.81903635e+00] [-8.29287799e-03 7.02427945e-04 9.99965367e-01 -1.82675316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.232414037 meters 0.08824818680338327 Centerline is valid? [True, True] Translation: X:74.99, Y:-4.82, Z:-1.83 [[ 9.99964860e-01 -1.22086982e-03 8.29382519e-03 7.49911746e+01] [ 1.22664404e-03 9.99999009e-01 -6.91156533e-04 -4.82186011e+00] [-8.29297316e-03 7.01305817e-04 9.99965367e-01 -1.82780103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26241403699999 meters 0.0884889072469873 Centerline is valid? [True, True] Translation: X:75.02, Y:-4.82, Z:-1.83 [[ 9.99956757e-01 -1.96253374e-05 9.29967698e-03 7.50220011e+01] [ 2.68606139e-05 9.99999697e-01 -7.77889490e-04 -4.82357754e+00] [-9.29965889e-03 7.78105647e-04 9.99956454e-01 -1.82819496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29241403699999 meters 0.08868012589036316 Centerline is valid? [True, True] Translation: X:75.05, Y:-4.83, Z:-1.83 [[ 9.99957983e-01 2.57835664e-04 9.16323088e-03 7.50540216e+01] [-2.50826978e-04 9.99999675e-01 -7.66011632e-04 -4.82526487e+00] [-9.16342540e-03 7.63681061e-04 9.99957723e-01 -1.82882771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32241403699999 meters 0.09185080622230858 Centerline is valid? [True, True] Translation: X:75.08, Y:-4.83, Z:-1.83 [[ 9.99973653e-01 1.06134140e-03 7.18094809e-03 7.50841949e+01] [-1.05705456e-03 9.99999261e-01 -6.00742879e-04 -4.83176052e+00] [-7.18158038e-03 5.93136397e-04 9.99974036e-01 -1.83304573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35241403699999 meters 0.08766021076605211 Centerline is valid? [True, True] Translation: X:75.12, Y:-4.83, Z:-1.83 [[ 9.99982857e-01 1.95712940e-03 5.51867456e-03 7.51171963e+01] [-1.95461415e-03 9.99997983e-01 -4.61126607e-04 -4.82521447e+00] [-5.51956592e-03 4.50331823e-04 9.99984666e-01 -1.83228877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38241403699999 meters 0.08754605460191718 Centerline is valid? [True, True] Translation: X:75.15, Y:-4.83, Z:-1.83 [[ 9.99983534e-01 2.75588162e-03 5.03350929e-03 7.51493697e+01] [-2.75379846e-03 9.99996120e-01 -4.20742159e-04 -4.82682980e+00] [-5.03464927e-03 4.06873961e-04 9.99987243e-01 -1.83380845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41241403699999 meters 0.08807027381834945 Centerline is valid? [True, True] Translation: X:75.18, Y:-4.83, Z:-1.84 [[ 9.99983105e-01 4.33133553e-03 3.87678699e-03 7.51797631e+01] [-4.33010695e-03 9.99990572e-01 -3.25244378e-04 -4.82929770e+00] [-3.87815919e-03 3.08451981e-04 9.99992432e-01 -1.83796262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44241403699999 meters 0.08803297242365622 Centerline is valid? [True, True] Translation: X:75.21, Y:-4.83, Z:-1.84 [[ 9.99971632e-01 5.45678293e-03 5.19216397e-03 7.52106884e+01] [-5.45459287e-03 9.99985029e-01 -4.35868527e-04 -4.83137771e+00] [-5.19446468e-03 4.07535022e-04 9.99986426e-01 -1.83941941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.472414037 meters 0.08488575668633414 Centerline is valid? [True, True] Translation: X:75.24, Y:-4.83, Z:-1.84 [[ 9.99964628e-01 6.72809337e-03 5.04736484e-03 7.52422132e+01] [-6.72603960e-03 9.99977290e-01 -4.23763812e-04 -4.82608904e+00] [-5.05010134e-03 3.89800047e-04 9.99987172e-01 -1.83824435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.502414037 meters 0.08504208015276238 Centerline is valid? [True, True] Translation: X:75.27, Y:-4.83, Z:-1.84 [[ 9.99927490e-01 9.62401901e-03 7.23826242e-03 7.52721554e+01] [-9.61986213e-03 9.99953543e-01 -6.08890624e-04 -4.82686204e+00] [-7.24378613e-03 5.39215387e-04 9.99973618e-01 -1.83829072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.532414037 meters 0.0879119694086908 Centerline is valid? [True, True] Translation: X:75.30, Y:-4.84, Z:-1.84 [[ 9.99906710e-01 1.12262292e-02 7.78096844e-03 7.53013884e+01] [-1.12214781e-02 9.99936823e-01 -6.53994786e-04 -4.83513374e+00] [-7.78781876e-03 5.66619808e-04 9.99969514e-01 -1.84102719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.562414037 meters 0.08646130497259771 Centerline is valid? [True, True] Translation: X:75.33, Y:-4.83, Z:-1.84 [[ 9.99871165e-01 1.41752021e-02 7.53111448e-03 7.53321990e+01] [-1.41708321e-02 9.99899388e-01 -6.33305504e-04 -4.83268892e+00] [-7.53933399e-03 5.26501753e-04 9.99971440e-01 -1.84022194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.592414037 meters 0.083546425424624 Centerline is valid? [True, True] Translation: X:75.36, Y:-4.83, Z:-1.84 [[ 9.99858279e-01 1.56727943e-02 6.14694684e-03 7.53622533e+01] [-1.56699079e-02 9.99877086e-01 -5.17442337e-04 -4.82741884e+00] [-6.15430106e-03 4.21046913e-04 9.99980973e-01 -1.83922729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62241403699998 meters 0.08358873356648974 Centerline is valid? [True, True] Translation: X:75.39, Y:-4.83, Z:-1.84 [[ 9.99824785e-01 1.79160231e-02 5.42358175e-03 7.53906261e+01] [-1.79138069e-02 9.99839430e-01 -4.56930496e-04 -4.82864934e+00] [-5.43089726e-03 3.59693440e-04 9.99985188e-01 -1.84091639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65241403699999 meters 0.08145015961345116 Centerline is valid? [True, True] Translation: X:75.42, Y:-4.82, Z:-1.84 [[ 9.99811826e-01 1.86490655e-02 5.34085732e-03 7.54204764e+01] [-1.86469279e-02 9.99826030e-01 -4.49763545e-04 -4.82443357e+00] [-5.34831584e-03 3.50088330e-04 9.99985636e-01 -1.83981023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68241403699999 meters 0.08143404583810045 Centerline is valid? [True, True] Translation: X:75.45, Y:-4.83, Z:-1.84 [[ 9.99793340e-01 1.96521252e-02 5.20302106e-03 7.54486370e+01] [-1.96501089e-02 9.99806822e-01 -4.38377470e-04 -4.82622062e+00] [-5.21063100e-03 3.36046945e-04 9.99986368e-01 -1.84051221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71241403699999 meters 0.08090189593878153 Centerline is valid? [True, True] Translation: X:75.48, Y:-4.83, Z:-1.84 [[ 9.99753918e-01 2.16274008e-02 4.93543491e-03 7.54784124e+01] [-2.16256161e-02 9.99766053e-01 -4.14685912e-04 -4.82604612e+00] [-4.94324886e-03 3.07852045e-04 9.99987735e-01 -1.84123299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74241403699999 meters 0.0811326805384348 Centerline is valid? [True, True] Translation: X:75.51, Y:-4.83, Z:-1.84 [[ 9.99700345e-01 2.41858992e-02 3.77652574e-03 7.55072106e+01] [-2.41848720e-02 9.99707453e-01 -3.17433499e-04 -4.82964611e+00] [-3.78309834e-03 2.26003587e-04 9.99992819e-01 -1.84464978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77241403699999 meters 0.08018020021408385 Centerline is valid? [True, True] Translation: X:75.54, Y:-4.83, Z:-1.85 [[ 9.99647814e-01 2.60702856e-02 4.95870788e-03 7.55375659e+01] [-2.60685425e-02 9.99660071e-01 -4.15830138e-04 -4.82913592e+00] [-4.96786308e-03 2.86417401e-04 9.99987619e-01 -1.84500251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80241403699999 meters 0.07885652956147236 Centerline is valid? [True, True] Translation: X:75.57, Y:-4.83, Z:-1.85 [[ 9.99553787e-01 2.96197976e-02 3.85938548e-03 7.55680269e+01] [-2.96187679e-02 9.99561216e-01 -3.23702352e-04 -4.82699533e+00] [-3.86728004e-03 2.09247669e-04 9.99992500e-01 -1.84515704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83241403699999 meters 0.0784731631864549 Centerline is valid? [True, True] Translation: X:75.60, Y:-4.83, Z:-1.85 [[ 9.99433106e-01 3.31709429e-02 5.75813511e-03 7.55975369e+01] [-3.31687110e-02 9.99449650e-01 -4.82692870e-04 -4.82850386e+00] [-5.77097750e-03 2.91429315e-04 9.99983305e-01 -1.84563193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.862414037 meters 0.0784731631864549 Centerline is valid? [True, True] Translation: X:75.62, Y:-4.83, Z:-1.85 [[ 9.99436439e-01 3.30703958e-02 5.75797039e-03 7.56249337e+01] [-3.30681509e-02 9.99452982e-01 -4.84662164e-04 -4.83069533e+00] [-5.77084865e-03 2.93983593e-04 9.99983305e-01 -1.84651485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.892414037 meters 0.07750895735278805 Centerline is valid? [True, True] Translation: X:75.65, Y:-4.83, Z:-1.85 [[ 9.99413662e-01 3.37616157e-02 5.69953856e-03 7.56534657e+01] [-3.37594354e-02 9.99429873e-01 -4.78353575e-04 -4.83066194e+00] [-5.71243909e-03 2.85659895e-04 9.99983643e-01 -1.84561558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.922414037 meters 0.07737094877816122 Centerline is valid? [True, True] Translation: X:75.68, Y:-4.84, Z:-1.85 [[ 9.99317847e-01 3.61388565e-02 7.60416256e-03 7.56824134e+01] [-3.61350602e-02 9.99346713e-01 -6.36089630e-04 -4.83543980e+00] [-7.62218242e-03 3.60878847e-04 9.99970886e-01 -1.84641621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.952414037 meters 0.07737094877816122 Centerline is valid? [True, True] Translation: X:75.71, Y:-4.84, Z:-1.85 [[ 9.99321520e-01 3.60371742e-02 7.60404651e-03 7.57098044e+01] [-3.60333643e-02 9.99350384e-01 -6.37480960e-04 -4.83762715e+00] [-7.62207981e-03 3.63049064e-04 9.99970886e-01 -1.84729911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.982414037 meters 0.07700232244488014 Centerline is valid? [True, True] Translation: X:75.74, Y:-4.84, Z:-1.85 [[ 9.99300749e-01 3.67922067e-02 6.65925287e-03 7.57388022e+01] [-3.67893091e-02 9.99322889e-01 -5.57129448e-04 -4.84175784e+00] [-6.67524183e-03 3.11750562e-04 9.99977672e-01 -1.84776126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01241403699999 meters 0.07692217139248231 Centerline is valid? [True, True] Translation: X:75.77, Y:-4.85, Z:-1.85 [[ 9.99336907e-01 3.60088924e-02 5.39495522e-03 7.57668322e+01] [-3.60069764e-02 9.99351436e-01 -4.51877128e-04 -4.84560610e+00] [-5.40772784e-03 2.57321466e-04 9.99985345e-01 -1.84799075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04241403699999 meters 0.07707946892247274 Centerline is valid? [True, True] Translation: X:75.80, Y:-4.85, Z:-1.85 [[ 9.99329410e-01 3.62434952e-02 5.20961610e-03 7.57956318e+01] [-3.62417161e-02 9.99342958e-01 -4.35535327e-04 -4.84961028e+00] [-5.22197848e-03 2.46437834e-04 9.99986335e-01 -1.84933500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07241403699999 meters 0.07806614781086482 Centerline is valid? [True, True] Translation: X:75.82, Y:-4.86, Z:-1.85 [[ 9.99323809e-01 3.64073226e-02 5.14108581e-03 7.58229822e+01] [-3.64055915e-02 9.99337004e-01 -4.29925669e-04 -4.85674189e+00] [-5.15332973e-03 2.42470687e-04 9.99986692e-01 -1.85279776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10241403699999 meters 0.07752228446256347 Centerline is valid? [True, True] Translation: X:75.85, Y:-4.86, Z:-1.85 [[ 9.99333746e-01 3.64242466e-02 2.31061381e-03 7.58510881e+01] [-3.64238941e-02 9.99336411e-01 -1.94496272e-04 -4.86157773e+00] [-2.31616489e-03 1.10205135e-04 9.99997312e-01 -1.85370856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13241403699999 meters 0.07756127446339167 Centerline is valid? [True, True] Translation: X:75.88, Y:-4.87, Z:-1.86 [[ 9.99320934e-01 3.67318658e-02 2.90532162e-03 7.58794929e+01] [-3.67313138e-02 9.99325148e-01 -2.43141158e-04 -4.86539958e+00] [-2.91229199e-03 1.36259769e-04 9.99995750e-01 -1.85562678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16241403699999 meters 0.07768004006913905 Centerline is valid? [True, True] Translation: X:75.91, Y:-4.87, Z:-1.86 [[ 9.99303599e-01 3.72809090e-02 1.56534041e-03 7.59066008e+01] [-3.72807453e-02 9.99304822e-01 -1.33621399e-04 -4.87144285e+00] [-1.56923374e-03 7.51712878e-05 9.99998766e-01 -1.85773288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19241403699999 meters 0.07690337162757345 Centerline is valid? [True, True] Translation: X:75.94, Y:-4.87, Z:-1.86 [[ 9.99278409e-01 3.79764756e-02 6.69159418e-04 7.59357097e+01] [-3.79764456e-02 9.99278633e-01 -5.75769294e-05 -4.87263965e+00] [-6.70863278e-04 3.21230862e-05 9.99999774e-01 -1.85740347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.222414037 meters 0.07645464592985653 Centerline is valid? [True, True] Translation: X:75.96, Y:-4.88, Z:-1.86 [[ 9.99247014e-01 3.87661255e-02 1.60989161e-03 7.59646468e+01] [-3.87659577e-02 9.99248309e-01 -1.35325071e-04 -4.87576123e+00] [-1.61392750e-03 7.28141826e-05 9.99998695e-01 -1.85738090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.252414037 meters 0.07695046352153159 Centerline is valid? [True, True] Translation: X:75.99, Y:-4.88, Z:-1.86 [[ 9.99198110e-01 3.99445497e-02 2.75126419e-03 7.59924403e+01] [-3.99440690e-02 9.99201891e-01 -2.29487174e-04 -4.88314923e+00] [-2.75823515e-03 1.19406464e-04 9.99996189e-01 -1.85910202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.282414037 meters 0.07680370409326723 Centerline is valid? [True, True] Translation: X:76.02, Y:-4.89, Z:-1.86 [[ 9.99171120e-01 4.05766745e-02 3.25673685e-03 7.60215341e+01] [-4.05760080e-02 9.99176418e-01 -2.70486977e-04 -4.88751028e+00] [-3.26503012e-03 1.38117395e-04 9.99994660e-01 -1.85925505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.312414037 meters 0.07658081329917808 Centerline is valid? [True, True] Translation: X:76.05, Y:-4.89, Z:-1.86 [[ 9.99206595e-01 3.97098330e-02 3.05110492e-03 7.60502589e+01] [-3.97092426e-02 9.99211245e-01 -2.53867658e-04 -4.89410294e+00] [-3.05877939e-03 1.32509173e-04 9.99995313e-01 -1.85900030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.342414037 meters 0.07667569951671842 Centerline is valid? [True, True] Translation: X:76.08, Y:-4.90, Z:-1.86 [[ 9.99238488e-01 3.88767822e-02 3.32265960e-03 7.60791168e+01] [-3.88760788e-02 9.99244001e-01 -2.76048623e-04 -4.89882292e+00] [-3.33087956e-03 1.46666432e-04 9.99994442e-01 -1.85990313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37241403699998 meters 0.07665398960876836 Centerline is valid? [True, True] Translation: X:76.11, Y:-4.90, Z:-1.86 [[ 9.99267864e-01 3.81174001e-02 3.28632824e-03 7.61079547e+01] [-3.81167086e-02 9.99273257e-01 -2.72833479e-04 -4.90332528e+00] [-3.29433963e-03 1.47369712e-04 9.99994563e-01 -1.85981117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40241403699999 meters 0.07733735319564838 Centerline is valid? [True, True] Translation: X:76.14, Y:-4.91, Z:-1.86 [[ 9.99347340e-01 3.59840729e-02 3.16856162e-03 7.61355117e+01] [-3.59834198e-02 9.99352352e-01 -2.62896387e-04 -4.91188964e+00] [-3.17596959e-03 1.48709123e-04 9.99994946e-01 -1.86184178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43241403699999 meters 0.07747601882409536 Centerline is valid? [True, True] Translation: X:76.16, Y:-4.92, Z:-1.86 [[ 9.99389324e-01 3.48840167e-02 2.02111568e-03 7.61645343e+01] [-3.48837495e-02 9.99391363e-01 -1.67330845e-04 -4.91726061e+00] [-2.02572273e-03 9.67245672e-05 9.99997944e-01 -1.86382116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46241403699999 meters 0.07702893698218788 Centerline is valid? [True, True] Translation: X:76.19, Y:-4.92, Z:-1.86 [[ 9.99434645e-01 3.36166065e-02 5.60391154e-04 7.61942681e+01] [-3.36165853e-02 9.99434802e-01 -4.71907999e-05 -4.92080794e+00] [-5.61660816e-04 2.83256833e-05 9.99999842e-01 -1.86497553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49241403699999 meters 0.07852107461195319 Centerline is valid? [True, True] Translation: X:76.22, Y:-4.93, Z:-1.87 [[ 9.99495286e-01 3.17325733e-02 -1.48868771e-03 7.62220420e+01] [-3.17324286e-02 9.99496392e-01 1.20690342e-04 -4.93228464e+00] [ 1.49176782e-03 -7.33897511e-05 9.99998885e-01 -1.87053305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52241403699999 meters 0.07879639557243764 Centerline is valid? [True, True] Translation: X:76.25, Y:-4.94, Z:-1.87 [[ 9.99506664e-01 3.13526852e-02 -1.85417074e-03 7.62501820e+01] [-3.13524606e-02 9.99508379e-01 1.50093787e-04 -4.93720944e+00] [ 1.85796504e-03 -9.18869249e-05 9.99998270e-01 -1.87185234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55241403699999 meters 0.07810634289413419 Centerline is valid? [True, True] Translation: X:76.28, Y:-4.94, Z:-1.87 [[ 9.99511940e-01 3.12095327e-02 -1.35877790e-03 7.62787406e+01] [-3.12094129e-02 9.99512862e-01 1.09282656e-04 -4.94195941e+00] [ 1.36152665e-03 -6.68226592e-05 9.99999071e-01 -1.87087256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58241403699999 meters 0.07891321504695799 Centerline is valid? [True, True] Translation: X:76.31, Y:-4.95, Z:-1.87 [[ 9.99506811e-01 3.13995059e-02 -4.53781780e-04 7.63061417e+01] [-3.13994934e-02 9.99506914e-01 3.44806018e-05 -4.94910838e+00] [ 4.54640700e-04 -2.02150784e-05 9.99999896e-01 -1.87292695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.612414037 meters 0.07821647456557708 Centerline is valid? [True, True] Translation: X:76.34, Y:-4.95, Z:-1.87 [[ 9.99498984e-01 3.16461038e-02 -5.52509079e-04 7.63353137e+01] [-3.16460848e-02 9.99499136e-01 4.30847073e-05 -4.95120298e+00] [ 5.53595810e-04 -2.55783720e-05 9.99999846e-01 -1.87218964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.642414037 meters 0.07692231583206965 Centerline is valid? [True, True] Translation: X:76.36, Y:-4.95, Z:-1.87 [[ 9.99469972e-01 3.25136849e-02 -1.62340832e-03 7.63645065e+01] [-3.25135156e-02 9.99471287e-01 1.30555970e-04 -4.95156152e+00] [ 1.62679486e-03 -7.77040603e-05 9.99998674e-01 -1.87049997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.672414037 meters 0.07748782078873381 Centerline is valid? [True, True] Translation: X:76.39, Y:-4.96, Z:-1.87 [[ 9.99445552e-01 3.32018440e-02 -2.49537008e-03 7.63916532e+01] [-3.32014489e-02 9.99448660e-01 1.99618485e-04 -4.95765930e+00] [ 2.50062199e-03 -1.16657905e-04 9.99996867e-01 -1.87381621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.702414037 meters 0.07736577349804434 Centerline is valid? [True, True] Translation: X:76.42, Y:-4.96, Z:-1.87 [[ 9.99384683e-01 3.50622509e-02 -9.45634847e-04 7.64205466e+01] [-3.50621946e-02 9.99385129e-01 7.61204012e-05 -4.96340656e+00] [ 9.47722356e-04 -4.29175301e-05 9.99999550e-01 -1.87454232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.732414037 meters 0.07728125305247276 Centerline is valid? [True, True] Translation: X:76.45, Y:-4.97, Z:-1.88 [[ 9.99342400e-01 3.62591268e-02 -2.07562532e-04 7.64495377e+01] [-3.62591244e-02 9.99342422e-01 1.53200385e-05 -4.96680186e+00] [ 2.07981534e-04 -7.78392835e-06 9.99999978e-01 -1.87536066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76241403699999 meters 0.07634619902175098 Centerline is valid? [True, True] Translation: X:76.48, Y:-4.97, Z:-1.87 [[ 9.99328066e-01 3.66494707e-02 4.81962667e-04 7.64787861e+01] [-3.66494549e-02 9.99328182e-01 -4.15166557e-05 -4.96776436e+00] [-4.83160439e-04 2.38250902e-05 9.99999883e-01 -1.87377698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79241403699999 meters 0.0765791638737902 Centerline is valid? [True, True] Translation: X:76.51, Y:-4.97, Z:-1.88 [[ 9.99270331e-01 3.81843903e-02 8.70125159e-04 7.65064161e+01] [-3.81843406e-02 9.99270709e-01 -7.36216596e-05 -4.97398574e+00] [-8.72301784e-04 4.03427848e-05 9.99999619e-01 -1.87560471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82241403699999 meters 0.07591295008752597 Centerline is valid? [True, True] Translation: X:76.54, Y:-4.98, Z:-1.88 [[ 9.99237696e-01 3.90188931e-02 1.24651373e-03 7.65358031e+01] [-3.90187948e-02 9.99238472e-01 -1.03111982e-04 -4.97539722e+00] [-1.24958779e-03 5.43959157e-05 9.99999218e-01 -1.87548905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85241403699999 meters 0.07610676918054815 Centerline is valid? [True, True] Translation: X:76.56, Y:-4.98, Z:-1.88 [[ 9.99193791e-01 4.01357366e-02 -9.44023068e-04 7.65630140e+01] [-4.01356846e-02 9.99194236e-01 7.40020414e-05 -4.98040612e+00] [ 9.46232535e-04 -3.60533682e-05 9.99999552e-01 -1.87743760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88241403699999 meters 0.07626971223311313 Centerline is valid? [True, True] Translation: X:76.59, Y:-4.98, Z:-1.88 [[ 9.99193262e-01 4.01456107e-02 -1.07445442e-03 7.65899588e+01] [-4.01455441e-02 9.99193839e-01 8.34701780e-05 -4.98488140e+00] [ 1.07693920e-03 -4.02682822e-05 9.99999419e-01 -1.87916257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91241403699999 meters 0.07626670019851611 Centerline is valid? [True, True] Translation: X:76.62, Y:-4.99, Z:-1.88 [[ 9.99196937e-01 4.00607366e-02 -7.86557971e-04 7.66185137e+01] [-4.00607005e-02 9.99197246e-01 6.16531733e-05 -4.98922618e+00] [ 7.88396430e-04 -3.00935986e-05 9.99999689e-01 -1.87958390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94241403699999 meters 0.0755654082103918 Centerline is valid? [True, True] Translation: X:76.65, Y:-4.99, Z:-1.88 [[ 9.99223729e-01 3.93760161e-02 -1.21228033e-03 7.66466475e+01] [-3.93759309e-02 9.99224463e-01 9.40429548e-05 -4.99318910e+00] [ 1.21504320e-03 -4.62352854e-05 9.99999261e-01 -1.87731173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.972414037 meters 0.07596461582627943 Centerline is valid? [True, True] Translation: X:76.67, Y:-5.00, Z:-1.88 [[ 9.99244894e-01 3.88526531e-02 3.37182636e-04 7.66736214e+01] [-3.88526451e-02 9.99244950e-01 -3.00549093e-05 -5.00156354e+00] [-3.38095759e-04 1.69317774e-05 9.99999943e-01 -1.87849517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.002414037 meters 0.07588610214070299 Centerline is valid? [True, True] Translation: X:76.70, Y:-5.01, Z:-1.88 [[ 9.99253305e-01 3.86369687e-02 1.30525158e-04 7.67023381e+01] [-3.86369674e-02 9.99253314e-01 -1.27458540e-05 -5.00520835e+00] [-1.30920158e-04 7.69324045e-06 9.99999991e-01 -1.87863244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.032414037 meters 0.07710606249434152 Centerline is valid? [True, True] Translation: X:76.73, Y:-5.01, Z:-1.88 [[ 9.99272963e-01 3.81208780e-02 5.86156710e-04 7.67298227e+01] [-3.81208552e-02 9.99273135e-01 -5.00534481e-05 -5.01279974e+00] [-5.87638734e-04 2.76722624e-05 9.99999827e-01 -1.88191810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.062414037 meters 0.07797378086234469 Centerline is valid? [True, True] Translation: X:76.76, Y:-5.02, Z:-1.88 [[ 9.99334527e-01 3.64742826e-02 3.59669839e-04 7.67572477e+01] [-3.64742736e-02 9.99334592e-01 -3.16039174e-05 -5.01882418e+00] [-3.60583242e-04 1.84641897e-05 9.99999935e-01 -1.88475792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.092414037 meters 0.07744855110713814 Centerline is valid? [True, True] Translation: X:76.79, Y:-5.02, Z:-1.88 [[ 9.99402567e-01 3.45531718e-02 -7.66864061e-04 7.67867917e+01] [-3.45531353e-02 9.99402860e-01 6.07650975e-05 -5.02389158e+00] [ 7.68505762e-04 -3.42312368e-05 9.99999704e-01 -1.88450826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12241403699998 meters 0.07744855110713814 Centerline is valid? [True, True] Translation: X:76.81, Y:-5.03, Z:-1.89 [[ 9.99406003e-01 3.44536275e-02 -7.67041398e-04 7.68142046e+01] [-3.44535927e-02 9.99406297e-01 5.85637481e-05 -5.02599878e+00] [ 7.68603737e-04 -3.21016296e-05 9.99999704e-01 -1.88539154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15241403699999 meters 0.0777283838438256 Centerline is valid? [True, True] Translation: X:76.84, Y:-5.03, Z:-1.89 [[ 9.99463476e-01 3.27321478e-02 -1.16922852e-03 7.68431428e+01] [-3.27320620e-02 9.99464158e-01 9.24890515e-05 -5.03155368e+00] [ 1.17162936e-03 -5.41681685e-05 9.99999312e-01 -1.88708943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18241403699999 meters 0.07907948644081385 Centerline is valid? [True, True] Translation: X:76.87, Y:-5.04, Z:-1.89 [[ 9.99553450e-01 2.98258573e-02 -1.82180322e-03 7.68712895e+01] [-2.98256415e-02 9.99555106e-01 1.45492663e-04 -5.04258325e+00] [ 1.82533215e-03 -9.10912434e-05 9.99998330e-01 -1.89049867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21241403699999 meters 0.07950499228698216 Centerline is valid? [True, True] Translation: X:76.90, Y:-5.05, Z:-1.89 [[ 9.99580456e-01 2.89305111e-02 -1.39189601e-03 7.68992874e+01] [-2.89303862e-02 9.99581423e-01 1.09785275e-04 -5.04818342e+00] [ 1.39448954e-03 -6.94711266e-05 9.99999025e-01 -1.89174035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24241403699999 meters 0.07945467407607922 Centerline is valid? [True, True] Translation: X:76.93, Y:-5.05, Z:-1.89 [[ 9.99615561e-01 2.77209541e-02 -5.28755995e-04 7.69281001e+01] [-2.77209366e-02 9.99615700e-01 4.03583405e-05 -5.05294081e+00] [ 5.29671566e-04 -2.56852137e-05 9.99999859e-01 -1.89096031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27241403699999 meters 0.07924549722330834 Centerline is valid? [True, True] Translation: X:76.96, Y:-5.06, Z:-1.89 [[ 9.99611663e-01 2.78565063e-02 7.33666753e-04 7.69570787e+01] [-2.78564690e-02 9.99611931e-01 -6.09848470e-05 -5.05549140e+00] [-7.35080865e-04 4.05237991e-05 9.99999729e-01 -1.89092235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30241403699999 meters 0.07939479473483385 Centerline is valid? [True, True] Translation: X:76.98, Y:-5.06, Z:-1.89 [[ 9.99578961e-01 2.89687698e-02 1.64673613e-03 7.69842232e+01] [-2.89685872e-02 9.99580313e-01 -1.34634323e-04 -5.06058462e+00] [-1.64994521e-03 8.68740173e-05 9.99998635e-01 -1.89099423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33241403699999 meters 0.08005499076811365 Centerline is valid? [True, True] Translation: X:77.01, Y:-5.07, Z:-1.89 [[ 9.99553786e-01 2.97821243e-02 2.29207704e-03 7.70116724e+01] [-2.97817752e-02 9.99556407e-01 -1.86288632e-04 -5.06675621e+00] [-2.29660836e-03 1.17943384e-04 9.99997356e-01 -1.89349316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.362414037 meters 0.07913610326790983 Centerline is valid? [True, True] Translation: X:77.04, Y:-5.07, Z:-1.89 [[ 9.99554602e-01 2.98189281e-02 1.19512690e-03 7.70401798e+01] [-2.98188325e-02 9.99555315e-01 -9.77089344e-05 -5.06765381e+00] [-1.19750902e-03 6.20281263e-05 9.99999281e-01 -1.89306539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.392414037 meters 0.07967008560750204 Centerline is valid? [True, True] Translation: X:77.07, Y:-5.07, Z:-1.90 [[ 9.99544356e-01 3.01674420e-02 1.00262678e-03 7.70672178e+01] [-3.01673742e-02 9.99544858e-01 -8.27246737e-05 -5.07168576e+00] [-1.00466603e-03 5.24403636e-05 9.99999494e-01 -1.89521509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.422414037 meters 0.07997402698436644 Centerline is valid? [True, True] Translation: X:77.09, Y:-5.07, Z:-1.90 [[ 9.99529137e-01 3.06761606e-02 6.91093187e-04 7.70948186e+01] [-3.06761278e-02 9.99529375e-01 -5.80590097e-05 -5.07499932e+00] [-6.92548969e-04 3.68316089e-05 9.99999760e-01 -1.89601373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.452414037 meters 0.08033220425916664 Centerline is valid? [True, True] Translation: X:77.12, Y:-5.08, Z:-1.90 [[ 9.99545300e-01 3.01008202e-02 1.77047591e-03 7.71237928e+01] [-3.01006136e-02 9.99546864e-01 -1.43260194e-04 -5.07969990e+00] [-1.77398589e-03 8.99026424e-05 9.99998422e-01 -1.89676251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.482414037 meters 0.08084613869357699 Centerline is valid? [True, True] Translation: X:77.15, Y:-5.08, Z:-1.90 [[ 9.99562152e-01 2.95794363e-02 7.49268566e-04 7.71525531e+01] [-2.95793983e-02 9.99562432e-01 -6.17277187e-05 -5.08446557e+00] [-7.50766581e-04 3.95377780e-05 9.99999717e-01 -1.89860473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51241403699999 meters 0.0812104149220647 Centerline is valid? [True, True] Translation: X:77.18, Y:-5.09, Z:-1.90 [[ 9.99573744e-01 2.91897131e-02 5.38636271e-04 7.71807489e+01] [-2.91896931e-02 9.99573889e-01 -4.48911378e-05 -5.08969845e+00] [-5.39717112e-04 2.91493752e-05 9.99999854e-01 -1.90106876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54241403699999 meters 0.08085834283117932 Centerline is valid? [True, True] Translation: X:77.21, Y:-5.09, Z:-1.90 [[ 9.99601031e-01 2.82449880e-02 6.34597152e-06 7.72095190e+01] [-2.82449879e-02 9.99601031e-01 -2.52548740e-06 -5.09205554e+00] [-6.41477206e-06 2.34523792e-06 1.00000000e+00 -1.90110813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57241403699999 meters 0.0773115657144727 Centerline is valid? [True, True] Translation: X:77.24, Y:-5.09, Z:-1.89 [[ 9.99621570e-01 2.74847420e-02 -1.14309864e-03 7.72387190e+01] [-2.74846592e-02 9.99622222e-01 8.80708758e-05 -5.08552850e+00] [ 1.14508741e-03 -5.66198705e-05 9.99999343e-01 -1.89492671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60241403699999 meters 0.07790022052880809 Centerline is valid? [True, True] Translation: X:77.27, Y:-5.09, Z:-1.90 [[ 9.99622688e-01 2.74664057e-02 -2.80896541e-04 7.72659764e+01] [-2.74664012e-02 9.99622727e-01 1.95147951e-05 -5.09070062e+00] [ 2.81326568e-04 -1.17922148e-05 9.99999960e-01 -1.89743460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63241403699999 meters 0.07817299179015133 Centerline is valid? [True, True] Translation: X:77.29, Y:-5.10, Z:-1.90 [[ 9.99658766e-01 2.61162346e-02 5.42969267e-04 7.72947072e+01] [-2.61162139e-02 9.99658912e-01 -4.52846839e-05 -5.09550268e+00] [-5.43966732e-04 3.10889297e-05 9.99999852e-01 -1.89729557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66241403699999 meters 0.07834898583117797 Centerline is valid? [True, True] Translation: X:77.32, Y:-5.10, Z:-1.90 [[ 9.99659562e-01 2.60708146e-02 1.03560525e-03 7.73233057e+01] [-2.60707413e-02 9.99660097e-01 -8.42905709e-05 -5.09949678e+00] [-1.03745077e-03 5.72628788e-05 9.99999460e-01 -1.89802093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69241403699999 meters 0.07772523707343469 Centerline is valid? [True, True] Translation: X:77.35, Y:-5.10, Z:-1.90 [[ 9.99680406e-01 2.52703478e-02 7.04469365e-04 7.73521725e+01] [-2.52703131e-02 9.99680653e-01 -5.80553367e-05 -5.09980485e+00] [-7.05711474e-04 4.02346211e-05 9.99999750e-01 -1.89751960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.722414037 meters 0.07807746903276332 Centerline is valid? [True, True] Translation: X:77.38, Y:-5.11, Z:-1.90 [[ 9.99747540e-01 2.24617367e-02 5.71167018e-04 7.73815044e+01] [-2.24617139e-02 9.99747703e-01 -4.63339360e-05 -5.10715295e+00] [-5.72063655e-04 3.34928484e-05 9.99999836e-01 -1.89907172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.752414037 meters 0.07889551650092967 Centerline is valid? [True, True] Translation: X:77.41, Y:-5.11, Z:-1.90 [[ 9.99773036e-01 2.11866481e-02 2.23640408e-03 7.74088594e+01] [-2.11862984e-02 9.99775529e-01 -1.79950803e-04 -5.11382848e+00] [-2.23971463e-03 1.32528836e-04 9.99997483e-01 -1.90017807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.782414037 meters 0.079421394232651 Centerline is valid? [True, True] Translation: X:77.44, Y:-5.12, Z:-1.90 [[ 9.99836038e-01 1.77700346e-02 3.48178000e-03 7.74387123e+01] [-1.77691813e-02 9.99842078e-01 -2.75846088e-04 -5.12109903e+00] [-3.48613195e-03 2.13932480e-04 9.99993901e-01 -1.89993650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.812414037 meters 0.08185742975462634 Centerline is valid? [True, True] Translation: X:77.47, Y:-5.13, Z:-1.90 [[ 9.99868336e-01 1.58215756e-02 3.60393228e-03 7.74660025e+01] [-1.58206439e-02 9.99874805e-01 -2.86897080e-04 -5.12992090e+00] [-3.60802025e-03 2.29842777e-04 9.99993465e-01 -1.90258748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.842414037 meters 0.08271608210639277 Centerline is valid? [True, True] Translation: X:77.50, Y:-5.14, Z:-1.90 [[ 9.99935171e-01 1.11531408e-02 2.29383424e-03 7.74960239e+01] [-1.11527544e-02 9.99937790e-01 -1.81178081e-04 -5.13593281e+00] [-2.29571225e-03 1.55583766e-04 9.99997353e-01 -1.90414171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87241403699998 meters 0.08244457481714686 Centerline is valid? [True, True] Translation: X:77.53, Y:-5.14, Z:-1.91 [[ 9.99953340e-01 9.45807659e-03 1.96546862e-03 7.75259790e+01] [-9.45778857e-03 9.99955262e-01 -1.55783823e-04 -5.13945565e+00] [-1.96685410e-03 1.37187568e-04 9.99998056e-01 -1.90589164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90241403699999 meters 0.08238677757498129 Centerline is valid? [True, True] Translation: X:77.56, Y:-5.14, Z:-1.91 [[ 9.99970787e-01 7.60061652e-03 8.09482858e-04 7.75556738e+01] [-7.60056681e-03 9.99971113e-01 -6.44722700e-05 -5.14379001e+00] [-8.09949504e-04 5.83178580e-05 9.99999670e-01 -1.90732219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93241403699999 meters 0.08383837881037472 Centerline is valid? [True, True] Translation: X:77.58, Y:-5.15, Z:-1.91 [[ 9.99986076e-01 5.22109098e-03 7.67170791e-04 7.75841002e+01] [-5.22104626e-03 9.99986368e-01 -6.02800583e-05 -5.15080558e+00] [-7.67475061e-04 5.62737847e-05 9.99999704e-01 -1.90949636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96241403699999 meters 0.0838938844819193 Centerline is valid? [True, True] Translation: X:77.61, Y:-5.15, Z:-1.91 [[ 9.99988035e-01 4.43491135e-03 2.06425089e-03 7.76140850e+01] [-4.43458212e-03 9.99990154e-01 -1.64042906e-04 -5.15337302e+00] [-2.06495808e-03 1.54886853e-04 9.99997856e-01 -1.90890541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99241403699999 meters 0.08551950457827252 Centerline is valid? [True, True] Translation: X:77.64, Y:-5.16, Z:-1.91 [[ 9.99990487e-01 2.93245659e-03 3.22899063e-03 7.76436255e+01] [-2.93165655e-03 9.99995671e-01 -2.52471588e-04 -5.15955295e+00] [-3.22971701e-03 2.43002895e-04 9.99994755e-01 -1.91022381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02241403699999 meters 0.08568115970823491 Centerline is valid? [True, True] Translation: X:77.67, Y:-5.16, Z:-1.91 [[ 9.99994324e-01 2.17511247e-03 2.57305699e-03 7.76746033e+01] [-2.17459896e-03 9.99997615e-01 -2.02352732e-04 -5.16276533e+00] [-2.57349099e-03 1.96756217e-04 9.99996669e-01 -1.91046589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05241403699999 meters 0.08257471351753944 Centerline is valid? [True, True] Translation: X:77.71, Y:-5.16, Z:-1.91 [[ 9.99993566e-01 1.92499052e-03 3.02679863e-03 7.77060835e+01] [-1.92427806e-03 9.99998120e-01 -2.38279047e-04 -5.15904180e+00] [-3.02725163e-03 2.32453112e-04 9.99995391e-01 -1.90906278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08241403699999 meters 0.08725575267346518 Centerline is valid? [True, True] Translation: X:77.74, Y:-5.17, Z:-1.91 [[ 9.99987733e-01 1.87968492e-03 4.58275310e-03 7.77357586e+01] [-1.87804779e-03 9.99998171e-01 -3.61514798e-04 -5.17276312e+00] [-4.58342426e-03 3.52903734e-04 9.99989434e-01 -1.91343794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.112414037 meters 0.08333364687848768 Centerline is valid? [True, True] Translation: X:77.77, Y:-5.17, Z:-1.91 [[ 9.99984646e-01 2.16825626e-03 5.09964686e-03 7.77691903e+01] [-2.16625970e-03 9.99997575e-01 -3.96999744e-04 -5.16610344e+00] [-5.10049529e-03 3.85946489e-04 9.99986918e-01 -1.91051604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.142414037 meters 0.0847944445359541 Centerline is valid? [True, True] Translation: X:77.80, Y:-5.17, Z:-1.91 [[ 9.99980001e-01 2.80991736e-03 5.66581434e-03 7.77999282e+01] [-2.80744764e-03 9.99995961e-01 -4.43805364e-04 -5.17109143e+00] [-5.66703851e-03 4.27890012e-04 9.99983851e-01 -1.91181218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.172414037 meters 0.08390381618841557 Centerline is valid? [True, True] Translation: X:77.83, Y:-5.17, Z:-1.91 [[ 9.99975579e-01 3.97529784e-03 5.74788890e-03 7.78312621e+01] [-3.97273854e-03 9.99992004e-01 -4.56607257e-04 -5.16987459e+00] [-5.74965809e-03 4.33761247e-04 9.99983377e-01 -1.91323263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.202414037 meters 0.08339335070424024 Centerline is valid? [True, True] Translation: X:77.86, Y:-5.17, Z:-1.91 [[ 9.99979660e-01 4.17735686e-03 4.81977818e-03 7.78632357e+01] [-4.17558676e-03 9.99991211e-01 -3.77262112e-04 -5.16989727e+00] [-4.82131178e-03 3.57129037e-04 9.99988314e-01 -1.91452785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.232414037 meters 0.08404544031157764 Centerline is valid? [True, True] Translation: X:77.89, Y:-5.17, Z:-1.92 [[ 9.99984967e-01 3.84311363e-03 3.91098508e-03 7.78948579e+01] [-3.84194557e-03 9.99992573e-01 -3.06130699e-04 -5.17205311e+00] [-3.91213253e-03 2.91100305e-04 9.99992305e-01 -1.91769096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26241403699999 meters 0.08452036004248163 Centerline is valid? [True, True] Translation: X:77.93, Y:-5.18, Z:-1.92 [[ 9.99987987e-01 3.60295270e-03 3.32345174e-03 7.79257621e+01] [-3.60209106e-03 9.99993477e-01 -2.65212418e-04 -5.17545874e+00] [-3.32438561e-03 2.53237857e-04 9.99994442e-01 -1.91920691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29241403699999 meters 0.08548002475214196 Centerline is valid? [True, True] Translation: X:77.96, Y:-5.18, Z:-1.92 [[ 9.99991811e-01 2.02581330e-03 3.50338274e-03 7.79564374e+01] [-2.02484388e-03 9.99997911e-01 -2.80234092e-04 -5.17849670e+00] [-3.50394312e-03 2.73137994e-04 9.99993824e-01 -1.92118890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32241403699999 meters 0.08324577799735317 Centerline is valid? [True, True] Translation: X:77.99, Y:-5.17, Z:-1.92 [[ 9.99991842e-01 1.18450226e-03 3.86181825e-03 7.79885621e+01] [-1.18331961e-03 9.99999252e-01 -3.08512986e-04 -5.17482888e+00] [-3.86218080e-03 3.03940704e-04 9.99992496e-01 -1.92032419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35241403699999 meters 0.08507411136947637 Centerline is valid? [True, True] Translation: X:78.02, Y:-5.18, Z:-1.92 [[ 9.99993226e-01 5.84610781e-05 3.68020066e-03 7.80193337e+01] [-5.73882722e-05 9.99999956e-01 -2.91612388e-04 -5.18052082e+00] [-3.68021755e-03 2.91399212e-04 9.99993186e-01 -1.92166603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38241403699999 meters 0.0837081717274266 Centerline is valid? [True, True] Translation: X:78.05, Y:-5.18, Z:-1.92 [[ 9.99990919e-01 -2.22481995e-03 3.63495123e-03 7.80504259e+01] [ 2.22589375e-03 9.99997480e-01 -2.91389782e-04 -5.17666241e+00] [-3.63429378e-03 2.99478151e-04 9.99993351e-01 -1.92101054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41241403699999 meters 0.08398776823154845 Centerline is valid? [True, True] Translation: X:78.08, Y:-5.18, Z:-1.92 [[ 9.99986051e-01 -3.54592306e-03 3.91469042e-03 7.80825642e+01] [ 3.54717313e-03 9.99993660e-01 -3.12431861e-04 -5.17856706e+00] [-3.91355774e-03 3.26313587e-04 9.99992289e-01 -1.92190256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44241403699999 meters 0.08472707394783079 Centerline is valid? [True, True] Translation: X:78.11, Y:-5.18, Z:-1.92 [[ 9.99982341e-01 -4.03155866e-03 4.36631136e-03 7.81142088e+01] [ 4.03312096e-03 9.99991806e-01 -3.49060560e-04 -5.18150358e+00] [-4.36486832e-03 3.66664257e-04 9.99990407e-01 -1.92380624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.472414037 meters 0.08607103669713252 Centerline is valid? [True, True] Translation: X:78.15, Y:-5.19, Z:-1.93 [[ 9.99973079e-01 -5.35893917e-03 5.01234873e-03 7.81455032e+01] [ 5.36102040e-03 9.99985549e-01 -4.01877249e-04 -5.18528090e+00] [-5.01012266e-03 4.28737734e-04 9.99987357e-01 -1.92513051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.502414037 meters 0.0904496897996645 Centerline is valid? [True, True] Translation: X:78.18, Y:-5.19, Z:-1.93 [[ 9.99969690e-01 -5.84019827e-03 5.14898310e-03 7.81759966e+01] [ 5.84239512e-03 9.99982848e-01 -4.11718050e-04 -5.19442974e+00] [-5.14649027e-03 4.41787964e-04 9.99986659e-01 -1.92837775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.532414037 meters 0.0873282980707327 Centerline is valid? [True, True] Translation: X:78.21, Y:-5.18, Z:-1.93 [[ 9.99966541e-01 -6.63694429e-03 4.78208493e-03 7.82087534e+01] [ 6.63884957e-03 9.99977889e-01 -3.82656950e-04 -5.18471297e+00] [-4.77943952e-03 4.14391689e-04 9.99988493e-01 -1.92669310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.562414037 meters 0.08646142205760536 Centerline is valid? [True, True] Translation: X:78.24, Y:-5.18, Z:-1.93 [[ 9.99963602e-01 -7.22159576e-03 4.54354554e-03 7.82413743e+01] [ 7.22332751e-03 9.99973845e-01 -3.64850875e-04 -5.18216011e+00] [-4.54079190e-03 3.97657113e-04 9.99989611e-01 -1.92713445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.592414037 meters 0.08887370195957751 Centerline is valid? [True, True] Translation: X:78.27, Y:-5.19, Z:-1.93 [[ 9.99960940e-01 -8.02716670e-03 3.69895764e-03 7.82723571e+01] [ 8.02832122e-03 9.99967728e-01 -2.97377170e-04 -5.18713397e+00] [-3.69645117e-03 3.27061975e-04 9.99993115e-01 -1.93019416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62241403699998 meters 0.09124347610733212 Centerline is valid? [True, True] Translation: X:78.30, Y:-5.19, Z:-1.93 [[ 9.99948928e-01 -9.76720894e-03 2.59657296e-03 7.83022707e+01] [ 9.76778671e-03 9.99952272e-01 -2.09924579e-04 -5.18986869e+00] [-2.59439865e-03 2.35276629e-04 9.99996607e-01 -1.93313699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65241403699999 meters 0.09129959055733251 Centerline is valid? [True, True] Translation: X:78.33, Y:-5.19, Z:-1.93 [[ 9.99934043e-01 -1.12498042e-02 2.31342282e-03 7.83331554e+01] [ 1.12502656e-02 9.99936696e-01 -1.86533282e-04 -5.19049475e+00] [-2.31117790e-03 2.12547600e-04 9.99997307e-01 -1.93483529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68241403699999 meters 0.08906632989881698 Centerline is valid? [True, True] Translation: X:78.36, Y:-5.18, Z:-1.93 [[ 9.99892709e-01 -1.45183301e-02 1.94622345e-03 7.83640880e+01] [ 1.45186636e-02 9.99894586e-01 -1.57359546e-04 -5.18460554e+00] [-1.94373370e-03 1.85599227e-04 9.99998094e-01 -1.93374584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71241403699999 meters 0.08912677712753639 Centerline is valid? [True, True] Translation: X:78.39, Y:-5.18, Z:-1.93 [[ 9.99862649e-01 -1.62404505e-02 3.30629910e-03 7.83949065e+01] [ 1.62414208e-02 9.99868064e-01 -2.66855813e-04 -5.18455937e+00] [-3.30152902e-03 3.20518155e-04 9.99994499e-01 -1.93443207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74241403699999 meters 0.09357549561302901 Centerline is valid? [True, True] Translation: X:78.42, Y:-5.19, Z:-1.94 [[ 9.99808982e-01 -1.91033833e-02 4.13042044e-03 7.84237473e+01] [ 1.91049226e-02 9.99817429e-01 -3.33540971e-04 -5.19141115e+00] [-4.12329458e-03 4.12388621e-04 9.99991414e-01 -1.93615560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77241403699999 meters 0.09524947848238233 Centerline is valid? [True, True] Translation: X:78.45, Y:-5.20, Z:-1.94 [[ 9.99786921e-01 -1.99661191e-02 5.24089636e-03 7.84545305e+01] [ 1.99686061e-02 9.99800518e-01 -4.22633083e-04 -5.19500432e+00] [-5.23141255e-03 5.27196424e-04 9.99986177e-01 -1.93766969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80241403699999 meters 0.09069093762456669 Centerline is valid? [True, True] Translation: X:78.49, Y:-5.19, Z:-1.94 [[ 9.99768424e-01 -2.07568714e-02 5.67898643e-03 7.84875549e+01] [ 2.07598036e-02 9.99784387e-01 -4.57856967e-04 -5.18669804e+00] [-5.66825829e-03 5.75645581e-04 9.99983770e-01 -1.93588293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83241403699999 meters 0.0938444217747671 Centerline is valid? [True, True] Translation: X:78.52, Y:-5.19, Z:-1.94 [[ 9.99760656e-01 -2.13530663e-02 4.76201502e-03 7.85177541e+01] [ 2.13551392e-02 9.99771879e-01 -3.84870569e-04 -5.19110470e+00] [-4.75271054e-03 4.86471947e-04 9.99988587e-01 -1.93907412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.862414037 meters 0.09246563101667832 Centerline is valid? [True, True] Translation: X:78.55, Y:-5.19, Z:-1.94 [[ 9.99772428e-01 -2.07910523e-02 4.77742723e-03 7.85500754e+01] [ 2.07931287e-02 9.99783725e-01 -3.85355520e-04 -5.18897543e+00] [-4.76838204e-03 4.84605483e-04 9.99988514e-01 -1.94002025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.892414037 meters 0.09483259547800489 Centerline is valid? [True, True] Translation: X:78.58, Y:-5.19, Z:-1.94 [[ 9.99800674e-01 -1.97340553e-02 3.02964003e-03 7.85811221e+01] [ 1.97348852e-02 9.99805218e-01 -2.44284272e-04 -5.18934473e+00] [-3.02422919e-03 3.04025178e-04 9.99995381e-01 -1.94278392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.922414037 meters 0.09331491455626371 Centerline is valid? [True, True] Translation: X:78.61, Y:-5.19, Z:-1.94 [[ 9.99817888e-01 -1.89209682e-02 2.48734145e-03 7.86136394e+01] [ 1.89215235e-02 9.99820952e-01 -1.99895759e-04 -5.18632828e+00] [-2.48311388e-03 2.46923646e-04 9.99996887e-01 -1.94325717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.952414037 meters 0.09012029460956422 Centerline is valid? [True, True] Translation: X:78.65, Y:-5.18, Z:-1.94 [[ 9.99838138e-01 -1.79214827e-02 1.58681099e-03 7.86470197e+01] [ 1.79217054e-02 9.99839385e-01 -1.26233715e-04 -5.17999653e+00] [-1.58429383e-03 1.54651641e-04 9.99998733e-01 -1.94377734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.982414037 meters 0.09329935422903543 Centerline is valid? [True, True] Translation: X:78.68, Y:-5.18, Z:-1.95 [[ 9.99874054e-01 -1.57673725e-02 1.80728787e-03 7.86767086e+01] [ 1.57676637e-02 9.99875672e-01 -1.47000040e-04 -5.18454569e+00] [-1.80474536e-03 1.75478233e-04 9.99998356e-01 -1.94932761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01241403699999 meters 0.09277424320756966 Centerline is valid? [True, True] Translation: X:78.71, Y:-5.18, Z:-1.95 [[ 9.99886778e-01 -1.48893152e-02 2.17707381e-03 7.87082277e+01] [ 1.48897335e-02 9.99889126e-01 -1.76058219e-04 -5.18049686e+00] [-2.17421104e-03 2.08454334e-04 9.99997615e-01 -1.95047995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04241403699999 meters 0.09277424320756966 Centerline is valid? [True, True] Translation: X:78.74, Y:-5.18, Z:-1.95 [[ 9.99887782e-01 -1.48216960e-02 2.17714955e-03 7.87399533e+01] [ 1.48221122e-02 9.99890131e-01 -1.75128328e-04 -5.18314844e+00] [-2.17431465e-03 2.07378630e-04 9.99997615e-01 -1.95150204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07241403699999 meters 0.09286396219782941 Centerline is valid? [True, True] Translation: X:78.77, Y:-5.18, Z:-1.95 [[ 9.99888760e-01 -1.47515701e-02 2.20405912e-03 7.87720608e+01] [ 1.47519968e-02 9.99891168e-01 -1.77466511e-04 -5.18314966e+00] [-2.20120134e-03 2.09961043e-04 9.99997555e-01 -1.95260649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10241403699999 meters 0.08977176142697962 Centerline is valid? [True, True] Translation: X:78.80, Y:-5.17, Z:-1.95 [[ 9.99874256e-01 -1.53137036e-02 4.11857546e-03 7.88047122e+01] [ 1.53152070e-02 9.99882660e-01 -3.33726991e-04 -5.17455047e+00] [-4.11298159e-03 3.96761863e-04 9.99991463e-01 -1.95175271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13241403699999 meters 0.09061679457712024 Centerline is valid? [True, True] Translation: X:78.84, Y:-5.18, Z:-1.95 [[ 9.99866785e-01 -1.59082938e-02 3.65212376e-03 7.88364951e+01] [ 1.59094755e-02 9.99873393e-01 -2.94723475e-04 -5.17656789e+00] [-3.64697283e-03 3.52787587e-04 9.99993288e-01 -1.95272847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16241403699999 meters 0.09287995678702941 Centerline is valid? [True, True] Translation: X:78.87, Y:-5.18, Z:-1.95 [[ 9.99842913e-01 -1.70084100e-02 4.98627103e-03 7.88670583e+01] [ 1.70106461e-02 9.99855226e-01 -4.06391389e-04 -5.17986400e+00] [-4.97863708e-03 4.91147243e-04 9.99987486e-01 -1.95434956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19241403699999 meters 0.09616081760320301 Centerline is valid? [True, True] Translation: X:78.90, Y:-5.18, Z:-1.95 [[ 9.99819263e-01 -1.76800271e-02 6.98988627e-03 7.88979879e+01] [ 1.76844397e-02 9.99843456e-01 -5.69981160e-04 -5.18461536e+00] [-6.97871476e-03 6.93490365e-04 9.99975408e-01 -1.95494399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.222414037 meters 0.09421346920531272 Centerline is valid? [True, True] Translation: X:78.93, Y:-5.18, Z:-1.95 [[ 9.99807989e-01 -1.82513100e-02 7.13269040e-03 7.89305299e+01] [ 1.82559190e-02 9.99833178e-01 -5.81606467e-04 -5.18146770e+00] [-7.12088543e-03 7.11708610e-04 9.99974393e-01 -1.95411279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.252414037 meters 0.09549583734416231 Centerline is valid? [True, True] Translation: X:78.96, Y:-5.18, Z:-1.96 [[ 9.99804875e-01 -1.84219789e-02 7.13040633e-03 7.89614800e+01] [ 1.84265958e-02 9.99830046e-01 -5.82336718e-04 -5.18470247e+00] [-7.11846670e-03 7.13612205e-04 9.99974409e-01 -1.95535584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.282414037 meters 0.09449215329782583 Centerline is valid? [True, True] Translation: X:78.99, Y:-5.18, Z:-1.96 [[ 9.99817680e-01 -1.79893900e-02 6.40224167e-03 7.89936858e+01] [ 1.79931015e-02 9.99837974e-01 -5.22587459e-04 -5.18356559e+00] [-6.39180332e-03 6.37688365e-04 9.99979369e-01 -1.95600798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.312414037 meters 0.09272755047361238 Centerline is valid? [True, True] Translation: X:79.03, Y:-5.18, Z:-1.96 [[ 9.99821436e-01 -1.80619673e-02 5.55532174e-03 7.90257387e+01] [ 1.80647657e-02 9.99836716e-01 -4.53968352e-04 -5.18072304e+00] [-5.54621508e-03 5.54242875e-04 9.99984466e-01 -1.95638359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.342414037 meters 0.09383108724726114 Centerline is valid? [True, True] Translation: X:79.06, Y:-5.18, Z:-1.96 [[ 9.99844787e-01 -1.72088445e-02 3.77579331e-03 7.90569915e+01] [ 1.72101300e-02 9.99851847e-01 -3.08223034e-04 -5.18207431e+00] [-3.76992976e-03 3.73157087e-04 9.99992824e-01 -1.95997091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37241403699998 meters 0.0914268688777029 Centerline is valid? [True, True] Translation: X:79.09, Y:-5.18, Z:-1.96 [[ 9.99852634e-01 -1.68447970e-02 3.31111677e-03 7.90891808e+01] [ 1.68457817e-02 9.99858063e-01 -2.69726639e-04 -5.17864149e+00] [-3.30610331e-03 3.25465240e-04 9.99994482e-01 -1.96066699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40241403699999 meters 0.095362941902554 Centerline is valid? [True, True] Translation: X:79.12, Y:-5.19, Z:-1.96 [[ 9.99866490e-01 -1.61548450e-02 2.45436219e-03 7.91196521e+01] [ 1.61553842e-02 9.99869473e-01 -2.00050350e-04 -5.18808897e+00] [-2.45081005e-03 2.39674805e-04 9.99996968e-01 -1.96439489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43241403699999 meters 0.09315227276413221 Centerline is valid? [True, True] Translation: X:79.15, Y:-5.18, Z:-1.96 [[ 9.99883486e-01 -1.50220463e-02 2.71166351e-03 7.91521496e+01] [ 1.50226999e-02 9.99887128e-01 -2.20828483e-04 -5.18294926e+00] [-2.70804014e-03 2.61539260e-04 9.99996299e-01 -1.96373736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46241403699999 meters 0.09376338740539972 Centerline is valid? [True, True] Translation: X:79.18, Y:-5.18, Z:-1.96 [[ 9.99894553e-01 -1.40462669e-02 3.68593056e-03 7.91829399e+01] [ 1.40474757e-02 9.99901284e-01 -3.02245617e-04 -5.18487146e+00] [-3.68132128e-03 3.53991766e-04 9.99993161e-01 -1.96451291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49241403699999 meters 0.09133054731701093 Centerline is valid? [True, True] Translation: X:79.22, Y:-5.18, Z:-1.96 [[ 9.99900002e-01 -1.36373739e-02 3.74271715e-03 7.92151423e+01] [ 1.36386142e-02 9.99906943e-01 -3.06054941e-04 -5.18182736e+00] [-3.73819508e-03 3.57069811e-04 9.99992949e-01 -1.96364664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52241403699999 meters 0.0934612825981272 Centerline is valid? [True, True] Translation: X:79.25, Y:-5.19, Z:-1.97 [[ 9.99908267e-01 -1.25813593e-02 5.01673759e-03 7.92454188e+01] [ 1.25835847e-02 9.99920739e-01 -4.12274196e-04 -5.18731853e+00] [-5.01115298e-03 4.75364919e-04 9.99987331e-01 -1.96638963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55241403699999 meters 0.09335412283407778 Centerline is valid? [True, True] Translation: X:79.28, Y:-5.19, Z:-1.97 [[ 9.99905610e-01 -1.26909997e-02 5.26405252e-03 7.92776525e+01] [ 1.26934480e-02 9.99919342e-01 -4.31947825e-04 -5.18922492e+00] [-5.25814608e-03 4.98726030e-04 9.99986051e-01 -1.96706588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58241403699999 meters 0.08998079024063768 Centerline is valid? [True, True] Translation: X:79.31, Y:-5.18, Z:-1.97 [[ 9.99906462e-01 -1.18383356e-02 6.84993923e-03 7.93101466e+01] [ 1.18424717e-02 9.99929717e-01 -5.63576640e-04 -5.18444674e+00] [-6.84278598e-03 6.44644136e-04 9.99976380e-01 -1.96568705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.612414037 meters 0.09279146970184105 Centerline is valid? [True, True] Translation: X:79.34, Y:-5.19, Z:-1.97 [[ 9.99912136e-01 -1.11756993e-02 7.12903724e-03 7.93406757e+01] [ 1.11801506e-02 9.99937329e-01 -5.84833681e-04 -5.19187430e+00] [-7.12205453e-03 6.64486005e-04 9.99974417e-01 -1.96754679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.642414037 meters 0.08924280951222913 Centerline is valid? [True, True] Translation: X:79.37, Y:-5.18, Z:-1.97 [[ 9.99928571e-01 -1.00618423e-02 6.45080145e-03 7.93735128e+01] [ 1.00654784e-02 9.99949201e-01 -5.31445478e-04 -5.18491279e+00] [-6.44512643e-03 5.96337920e-04 9.99979052e-01 -1.96650690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.672414037 meters 0.09278093685372042 Centerline is valid? [True, True] Translation: X:79.40, Y:-5.19, Z:-1.97 [[ 9.99938641e-01 -9.18781617e-03 6.18862785e-03 7.94041736e+01] [ 9.19115093e-03 9.99957630e-01 -5.10626344e-04 -5.19380647e+00] [-6.18367410e-03 5.67475625e-04 9.99980720e-01 -1.97006813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.702414037 meters 0.09003991806370551 Centerline is valid? [True, True] Translation: X:79.44, Y:-5.19, Z:-1.97 [[ 9.99951189e-01 -8.95292585e-03 4.17913336e-03 7.94368671e+01] [ 8.95444120e-03 9.99959849e-01 -3.44027116e-04 -5.19029731e+00] [-4.17588551e-03 3.81432128e-04 9.99991208e-01 -1.96997704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.732414037 meters 0.09419989140297828 Centerline is valid? [True, True] Translation: X:79.47, Y:-5.20, Z:-1.98 [[ 9.99955916e-01 -8.54415218e-03 3.89391798e-03 7.94670981e+01] [ 8.54546704e-03 9.99963435e-01 -3.21158463e-04 -5.20090438e+00] [-3.89103157e-03 3.54419653e-04 9.99992367e-01 -1.97614709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76241403699999 meters 0.09087642203255274 Centerline is valid? [True, True] Translation: X:79.50, Y:-5.20, Z:-1.98 [[ 9.99960119e-01 -8.26868336e-03 3.37488713e-03 7.94998161e+01] [ 8.26966774e-03 9.99965767e-01 -2.77826434e-04 -5.19697377e+00] [-3.37247434e-03 3.05724549e-04 9.99994266e-01 -1.97511793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79241403699999 meters 0.0916084197039152 Centerline is valid? [True, True] Translation: X:79.53, Y:-5.20, Z:-1.98 [[ 9.99955762e-01 -7.67201349e-03 5.44195594e-03 7.95297630e+01] [ 7.67458091e-03 9.99970448e-01 -4.51055593e-04 -5.20023285e+00] [-5.43833461e-03 4.92800370e-04 9.99985091e-01 -1.97561232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82241403699999 meters 0.08953878099400953 Centerline is valid? [True, True] Translation: X:79.56, Y:-5.20, Z:-1.97 [[ 9.99956351e-01 -7.18432796e-03 5.97334318e-03 7.95619300e+01] [ 7.18740550e-03 9.99974048e-01 -4.93904992e-04 -5.19810904e+00] [-5.96963978e-03 5.36816274e-04 9.99982037e-01 -1.97463098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85241403699999 meters 0.09101316673463467 Centerline is valid? [True, True] Translation: X:79.59, Y:-5.20, Z:-1.98 [[ 9.99963751e-01 -5.80534278e-03 6.22849248e-03 7.95921305e+01] [ 5.80867113e-03 9.99982996e-01 -5.16417939e-04 -5.20322135e+00] [-6.22538859e-03 5.52578484e-04 9.99980469e-01 -1.97665710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88241403699999 meters 0.08985984704104862 Centerline is valid? [True, True] Translation: X:79.62, Y:-5.20, Z:-1.98 [[ 9.99973933e-01 -4.94659604e-03 5.25979924e-03 7.96244455e+01] [ 4.94895313e-03 9.99987659e-01 -4.35211904e-04 -5.20298040e+00] [-5.25758151e-03 4.61231059e-04 9.99986072e-01 -1.97727157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91241403699999 meters 0.09095061252629884 Centerline is valid? [True, True] Translation: X:79.65, Y:-5.21, Z:-1.98 [[ 9.99989727e-01 -2.11163700e-03 4.01090362e-03 7.96539438e+01] [ 2.11299164e-03 9.99997712e-01 -3.33533568e-04 -5.20732778e+00] [-4.01019014e-03 3.42005147e-04 9.99991901e-01 -1.98094951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94241403699999 meters 0.08923014661196045 Centerline is valid? [True, True] Translation: X:79.69, Y:-5.21, Z:-1.98 [[ 9.99992170e-01 -5.11527796e-04 3.92412904e-03 7.96856936e+01] [ 5.12808504e-04 9.99999816e-01 -3.25368345e-04 -5.20625177e+00] [-3.92396188e-03 3.27378124e-04 9.99992248e-01 -1.98097268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.972414037 meters 0.08762360123947896 Centerline is valid? [True, True] Translation: X:79.72, Y:-5.20, Z:-1.98 [[ 9.99985416e-01 2.74747713e-03 4.64968256e-03 7.97168728e+01] [-2.74570813e-03 9.99996156e-01 -3.86798584e-04 -5.20461027e+00] [-4.65072740e-03 3.74026272e-04 9.99989115e-01 -1.98151319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.002414037 meters 0.08761115411325007 Centerline is valid? [True, True] Translation: X:79.75, Y:-5.21, Z:-1.98 [[ 9.99977552e-01 4.72675091e-03 4.74898289e-03 7.97464775e+01] [-4.72492765e-03 9.99988759e-01 -3.95072464e-04 -5.20658063e+00] [-4.75079691e-03 3.72624995e-04 9.99988645e-01 -1.98273724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.032414037 meters 0.0872651445675756 Centerline is valid? [True, True] Translation: X:79.78, Y:-5.21, Z:-1.98 [[ 9.99968155e-01 6.38973722e-03 4.78119273e-03 7.97769330e+01] [-6.38790804e-03 9.99979518e-01 -3.97752032e-04 -5.20722917e+00] [-4.78363634e-03 3.67197546e-04 9.99988491e-01 -1.98336040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.062414037 meters 0.10153540320022346 Centerline is valid? [True, False] Translation: X:79.87, Y:-5.21, Z:-1.98 [[ 9.99981404e-01 5.88669858e-03 1.59355323e-03 7.98737044e+01] [-5.89236128e-03 9.99976259e-01 3.57244123e-03 -5.21273086e+00] [-1.57248551e-03 -3.58176458e-03 9.99992349e-01 -1.98192835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.092414037 meters 0.08377122981414765 Centerline is valid? [False, True] Translation: X:79.82, Y:-5.21, Z:-1.98 [[ 9.99965312e-01 8.08035293e-03 2.02042785e-03 7.98192924e+01] [-8.09304012e-03 9.99947075e-01 6.35217431e-03 -5.20913863e+00] [-1.96899311e-03 -6.36830537e-03 9.99977784e-01 -1.98130064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12241403699998 meters 0.0828406066303837 Centerline is valid? [True, True] Translation: X:79.85, Y:-5.21, Z:-1.98 [[ 9.99918467e-01 1.27436292e-02 8.11829329e-04 7.98505682e+01] [-1.27435812e-02 9.99918795e-01 -6.43543420e-05 -5.20666815e+00] [-8.12583513e-04 5.40034821e-05 9.99999668e-01 -1.98091763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15241403699999 meters 0.08219253556104364 Centerline is valid? [True, True] Translation: X:79.88, Y:-5.21, Z:-1.98 [[ 9.99892774e-01 1.45310499e-02 1.81384917e-03 7.98800047e+01] [-1.45308095e-02 9.99894412e-01 -1.45673779e-04 -5.20745534e+00] [-1.81577444e-03 1.19301462e-04 9.99998344e-01 -1.98142640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18241403699999 meters 0.0821214705156987 Centerline is valid? [True, True] Translation: X:79.91, Y:-5.21, Z:-1.98 [[ 9.99869596e-01 1.60377568e-02 1.89250063e-03 7.99076541e+01] [-1.60374953e-02 9.99871379e-01 -1.53283929e-04 -5.20936277e+00] [-1.89471555e-03 1.22912971e-04 9.99998197e-01 -1.98217255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21241403699999 meters 0.08162007043799105 Centerline is valid? [True, True] Translation: X:79.94, Y:-5.21, Z:-1.98 [[ 9.99796482e-01 2.00473136e-02 2.25817765e-03 7.99371916e+01] [-2.00469570e-02 9.99799023e-01 -1.80451115e-04 -5.21035710e+00] [-2.26134136e-03 1.35144800e-04 9.99997434e-01 -1.98178793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24241403699999 meters 0.07945023864630117 Centerline is valid? [True, True] Translation: X:79.97, Y:-5.21, Z:-1.98 [[ 9.99744395e-01 2.24441433e-02 2.72127554e-03 7.99677614e+01] [-2.24436349e-02 9.99748086e-01 -2.17214665e-04 -5.20660900e+00] [-2.72546521e-03 1.56083829e-04 9.99996274e-01 -1.98028644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27241403699999 meters 0.0787645978192293 Centerline is valid? [True, True] Translation: X:80.00, Y:-5.21, Z:-1.98 [[ 9.99656324e-01 2.61592649e-02 1.71064026e-03 7.99975705e+01] [-2.61590692e-02 9.99657784e-01 -1.36702907e-04 -5.20772566e+00] [-1.71363090e-03 9.19071682e-05 9.99998528e-01 -1.98135950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30241403699999 meters 0.07877339539929487 Centerline is valid? [True, True] Translation: X:80.03, Y:-5.21, Z:-1.98 [[ 9.99621115e-01 2.75180485e-02 6.19034537e-04 8.00265080e+01] [-2.75180220e-02 9.99621306e-01 -5.12705098e-05 -5.21003659e+00] [-6.20210976e-04 3.42164782e-05 9.99999807e-01 -1.98284830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33241403699999 meters 0.07862342550828288 Centerline is valid? [True, True] Translation: X:80.05, Y:-5.21, Z:-1.98 [[ 9.99574549e-01 2.91557151e-02 8.15286280e-04 8.00548803e+01] [-2.91556703e-02 9.99574881e-01 -6.68177211e-05 -5.21272027e+00] [-8.16887804e-04 4.30190756e-05 9.99999665e-01 -1.98456602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.362414037 meters 0.0789303435261528 Centerline is valid? [True, True] Translation: X:80.08, Y:-5.22, Z:-1.99 [[ 9.99550810e-01 2.99554141e-02 9.22331913e-04 8.00824930e+01] [-2.99553569e-02 9.99551235e-01 -7.57326850e-05 -5.21696214e+00] [-9.24186606e-04 4.80698850e-05 9.99999572e-01 -1.98640217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.392414037 meters 0.07891152083722026 Centerline is valid? [True, True] Translation: X:80.11, Y:-5.22, Z:-1.99 [[ 9.99557910e-01 2.96508048e-02 2.19400400e-03 8.01111150e+01] [-2.96504896e-02 9.99560312e-01 -1.76033955e-04 -5.21981782e+00] [-2.19825887e-03 1.10902840e-04 9.99997578e-01 -1.98716627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.422414037 meters 0.07840003829143374 Centerline is valid? [True, True] Translation: X:80.14, Y:-5.22, Z:-1.99 [[ 9.99576515e-01 2.90642958e-02 1.43448630e-03 8.01398624e+01] [-2.90641596e-02 9.99577541e-01 -1.15733787e-04 -5.22071305e+00] [-1.43724401e-03 7.39926373e-05 9.99998964e-01 -1.98525323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.452414037 meters 0.07911402150047982 Centerline is valid? [True, True] Translation: X:80.17, Y:-5.23, Z:-1.99 [[ 9.99610275e-01 2.79153746e-02 -1.71273020e-04 8.01676582e+01] [-2.79153730e-02 9.99610290e-01 1.13704718e-05 -5.22556509e+00] [ 1.71523685e-04 -6.58489019e-06 9.99999985e-01 -1.98807007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48241403699998 meters 0.07966996551651512 Centerline is valid? [True, True] Translation: X:80.20, Y:-5.23, Z:-1.99 [[ 9.99651429e-01 2.63669496e-02 -1.34329023e-03 8.01965004e+01] [-2.63668325e-02 9.99652329e-01 1.04803947e-04 -5.23200514e+00] [ 1.34558657e-03 -6.93491065e-05 9.99999092e-01 -1.98976021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51241403699999 meters 0.08021500106743239 Centerline is valid? [True, True] Translation: X:80.22, Y:-5.24, Z:-1.99 [[ 9.99678674e-01 2.53321811e-02 -9.11004924e-04 8.02240404e+01] [-2.53321282e-02 9.99679088e-01 6.95444571e-05 -5.23753961e+00] [ 9.12474284e-04 -4.64444171e-05 9.99999583e-01 -1.99046019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54241403699999 meters 0.07953735222934424 Centerline is valid? [True, True] Translation: X:80.25, Y:-5.24, Z:-1.99 [[ 9.99735625e-01 2.29881651e-02 4.73555863e-04 8.02530874e+01] [-2.29881492e-02 9.99735737e-01 -3.89412044e-05 -5.24144741e+00] [-4.74325907e-04 2.80447365e-05 9.99999887e-01 -1.98805884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57241403699999 meters 0.08063881029134279 Centerline is valid? [True, True] Translation: X:80.28, Y:-5.25, Z:-1.99 [[ 9.99765451e-01 2.16367274e-02 9.45711512e-04 8.02799975e+01] [-2.16366638e-02 9.99765897e-01 -7.74476574e-05 -5.24840944e+00] [-9.47165832e-04 5.69674502e-05 9.99999550e-01 -1.98985863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60241403699999 meters 0.08010970322694112 Centerline is valid? [True, True] Translation: X:80.31, Y:-5.25, Z:-1.99 [[ 9.99787142e-01 2.06151298e-02 8.29392262e-04 8.03084407e+01] [-2.06150809e-02 9.99787484e-01 -6.74173557e-05 -5.25050885e+00] [-8.30605820e-04 5.03050168e-05 9.99999654e-01 -1.98912085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63241403699999 meters 0.07972707703402128 Centerline is valid? [True, True] Translation: X:80.34, Y:-5.25, Z:-1.99 [[ 9.99786785e-01 2.06466929e-02 3.12934712e-04 8.03376156e+01] [-2.06466855e-02 9.99786834e-01 -2.67041497e-05 -5.25197335e+00] [-3.13419357e-04 2.02373914e-05 9.99999951e-01 -1.98938874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66241403699999 meters 0.07889984937086517 Centerline is valid? [True, True] Translation: X:80.37, Y:-5.25, Z:-1.99 [[ 9.99795992e-01 2.01439096e-02 -1.48231992e-03 8.03660354e+01] [-2.01437626e-02 9.99797087e-01 1.13976319e-04 -5.25214509e+00] [ 1.48431507e-03 -8.40935661e-05 9.99998895e-01 -1.98977781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69241403699999 meters 0.08010502273190671 Centerline is valid? [True, True] Translation: X:80.39, Y:-5.26, Z:-2.00 [[ 9.99763892e-01 2.12932979e-02 -4.33070507e-03 8.03927289e+01] [-2.12920341e-02 9.99773242e-01 3.37724161e-04 -5.26214436e+00] [ 4.33691431e-03 -2.45434902e-04 9.99990565e-01 -1.99589746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.722414037 meters 0.08080084943463288 Centerline is valid? [True, True] Translation: X:80.42, Y:-5.27, Z:-2.00 [[ 9.99742507e-01 2.24034147e-02 -3.60657402e-03 8.04205345e+01] [-2.24025457e-02 9.99748992e-01 2.81172530e-04 -5.26860099e+00] [ 3.61196797e-03 -2.00303690e-04 9.99993457e-01 -1.99892598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.752414037 meters 0.08025059257926775 Centerline is valid? [True, True] Translation: X:80.45, Y:-5.27, Z:-2.00 [[ 9.99717183e-01 2.36619953e-02 -2.38001382e-03 8.04508064e+01] [-2.36616185e-02 9.99720007e-01 1.86346592e-04 -5.27071055e+00] [ 2.38375677e-03 -1.29978911e-04 9.99997150e-01 -1.99886829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.782414037 meters 0.07920197371569884 Centerline is valid? [True, True] Translation: X:80.48, Y:-5.27, Z:-2.00 [[ 9.99611225e-01 2.78464621e-02 -1.40483233e-03 8.04814416e+01] [-2.78463347e-02 9.99612210e-01 1.10192197e-04 -5.27083988e+00] [ 1.40735602e-03 -7.10299261e-05 9.99999007e-01 -1.99870126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.812414037 meters 0.07760416335965742 Centerline is valid? [True, True] Translation: X:80.51, Y:-5.27, Z:-2.00 [[ 9.99559265e-01 2.96392051e-02 -1.67156709e-03 8.05108741e+01] [-2.96390307e-02 9.99560659e-01 1.29045293e-04 -5.26796489e+00] [ 1.67465750e-03 -7.94447899e-05 9.99998595e-01 -1.99688002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.842414037 meters 0.07721055466384932 Centerline is valid? [True, True] Translation: X:80.54, Y:-5.27, Z:-2.00 [[ 9.99462555e-01 3.27735092e-02 -7.06299842e-04 8.05401137e+01] [-3.27734790e-02 9.99462804e-01 5.43514965e-05 -5.27004648e+00] [ 7.07701710e-04 -3.11743825e-05 9.99999749e-01 -1.99825583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87241403699998 meters 0.07781657705598781 Centerline is valid? [True, True] Translation: X:80.57, Y:-5.28, Z:-2.00 [[ 9.99448751e-01 3.31627719e-02 -1.55693947e-03 8.05677007e+01] [-3.31626260e-02 9.99449962e-01 1.19399854e-04 -5.27619677e+00] [ 1.56004272e-03 -6.77018336e-05 9.99998781e-01 -2.00113340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90241403699999 meters 0.07771197014155878 Centerline is valid? [True, True] Translation: X:80.60, Y:-5.28, Z:-2.00 [[ 9.99447828e-01 3.32249981e-02 -3.71275450e-04 8.05959720e+01] [-3.32249904e-02 9.99447897e-01 2.70542530e-05 -5.27996436e+00] [ 3.71969345e-04 -1.47036911e-05 9.99999931e-01 -2.00316021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93241403699999 meters 0.07771197014155878 Centerline is valid? [True, True] Translation: X:80.62, Y:-5.28, Z:-2.00 [[ 9.99451142e-01 3.31251641e-02 -3.71355500e-04 8.06233825e+01] [-3.31251567e-02 9.99451211e-01 2.60292828e-05 -5.28200711e+00] [ 3.72013928e-04 -1.37137873e-05 9.99999931e-01 -2.00398193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96241403699999 meters 0.07753200462686996 Centerline is valid? [True, True] Translation: X:80.65, Y:-5.29, Z:-2.01 [[ 9.99483744e-01 3.20607319e-02 -2.08699939e-03 8.06522492e+01] [-3.20604645e-02 9.99485918e-01 1.61463620e-04 -5.28722802e+00] [ 2.09110314e-03 -9.44700933e-05 9.99997809e-01 -2.00571028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99241403699999 meters 0.07790337208485232 Centerline is valid? [True, True] Translation: X:80.68, Y:-5.29, Z:-2.01 [[ 9.99538133e-01 3.03373781e-02 -1.77891006e-03 8.06798306e+01] [-3.03371858e-02 9.99539713e-01 1.34951209e-04 -5.29061668e+00] [ 1.78218532e-03 -8.09217539e-05 9.99998409e-01 -2.00742253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02241403699999 meters 0.07851925247658624 Centerline is valid? [True, True] Translation: X:80.71, Y:-5.30, Z:-2.01 [[ 9.99617851e-01 2.76303640e-02 -8.46101183e-04 8.07075756e+01] [-2.76303197e-02 9.99618208e-01 6.39125829e-05 -5.29571064e+00] [ 8.47544076e-04 -4.05101125e-05 9.99999640e-01 -2.00686005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05241403699999 meters 0.07822721063116307 Centerline is valid? [True, True] Translation: X:80.74, Y:-5.30, Z:-2.01 [[ 9.99667930e-01 2.57676514e-02 2.42266501e-04 8.07362075e+01] [-2.57676471e-02 9.99667959e-01 -2.08881886e-05 -5.29724742e+00] [-2.42724298e-04 1.46386145e-05 9.99999970e-01 -2.00630782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08241403699999 meters 0.0793898896761983 Centerline is valid? [True, True] Translation: X:80.76, Y:-5.30, Z:-2.01 [[ 9.99707311e-01 2.41805677e-02 -7.69806730e-04 8.07637050e+01] [-2.41805303e-02 9.99707607e-01 5.78481049e-05 -5.30396199e+00] [ 7.70980443e-04 -3.92168385e-05 9.99999702e-01 -2.00815563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.112414037 meters 0.0793570046038295 Centerline is valid? [True, True] Translation: X:80.79, Y:-5.31, Z:-2.01 [[ 9.99789970e-01 2.04835405e-02 -6.64233702e-04 8.07933114e+01] [-2.04835111e-02 9.99790190e-01 5.11325528e-05 -5.30893689e+00] [ 6.65141715e-04 -3.75159751e-05 9.99999778e-01 -2.00921431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.142414037 meters 0.0791118391158723 Centerline is valid? [True, True] Translation: X:80.82, Y:-5.31, Z:-2.01 [[ 9.99820760e-01 1.88840102e-02 -1.35753429e-03 8.08228204e+01] [-1.88838857e-02 9.99821678e-01 1.04458547e-04 -5.31158868e+00] [ 1.35926481e-03 -7.88043014e-05 9.99999073e-01 -2.01000820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.172414037 meters 0.07999641224318361 Centerline is valid? [True, True] Translation: X:80.85, Y:-5.32, Z:-2.01 [[ 9.99852982e-01 1.70570215e-02 -1.75267878e-03 8.08512598e+01] [-1.70568117e-02 9.99854513e-01 1.34565174e-04 -5.31705057e+00] [ 1.75471907e-03 -1.04650278e-04 9.99998455e-01 -2.01166200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.202414037 meters 0.08102381442496841 Centerline is valid? [True, True] Translation: X:80.88, Y:-5.32, Z:-2.01 [[ 9.99896068e-01 1.43327485e-02 -1.55761992e-03 8.08799705e+01] [-1.43325791e-02 9.99897276e-01 1.19896515e-04 -5.32242391e+00] [ 1.55917837e-03 -9.75593433e-05 9.99998780e-01 -2.01250344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23241403699998 meters 0.08139125859264223 Centerline is valid? [True, True] Translation: X:80.91, Y:-5.32, Z:-2.01 [[ 9.99907864e-01 1.34601513e-02 -1.75717483e-03 8.09083666e+01] [-1.34599360e-02 9.99909402e-01 1.34267827e-04 -5.32491359e+00] [ 1.75882290e-03 -1.10603996e-04 9.99998447e-01 -2.01286572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26241403699999 meters 0.08228518758357543 Centerline is valid? [True, True] Translation: X:80.94, Y:-5.33, Z:-2.01 [[ 9.99937245e-01 1.07832477e-02 -3.03772616e-03 8.09379040e+01] [-1.07825832e-02 9.99941839e-01 2.35050437e-04 -5.32861012e+00] [ 3.04008409e-03 -2.02281151e-04 9.99995358e-01 -2.01370970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29241403699999 meters 0.08307016829204236 Centerline is valid? [True, True] Translation: X:80.97, Y:-5.33, Z:-2.02 [[ 9.99948089e-01 9.93051534e-03 -2.28123347e-03 8.09652951e+01] [-9.93014366e-03 9.99950680e-01 1.74198822e-04 -5.33404590e+00] [ 2.28285085e-03 -1.51536803e-04 9.99997383e-01 -2.01621016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32241403699999 meters 0.0831044552683618 Centerline is valid? [True, True] Translation: X:80.99, Y:-5.34, Z:-2.02 [[ 9.99956990e-01 9.00573173e-03 -2.21699873e-03 8.09935929e+01] [-9.00537783e-03 9.99959436e-01 1.69563747e-04 -5.33713095e+00] [ 2.21843584e-03 -1.49591543e-04 9.99997528e-01 -2.01777212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35241403699999 meters 0.08386592591759288 Centerline is valid? [True, True] Translation: X:81.02, Y:-5.34, Z:-2.02 [[ 9.99976669e-01 6.60846565e-03 -1.72896157e-03 8.10228157e+01] [-6.60824594e-03 9.99978156e-01 1.32753814e-04 -5.34235914e+00] [ 1.72980111e-03 -1.21325314e-04 9.99998497e-01 -2.01820123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38241403699999 meters 0.08361498601633074 Centerline is valid? [True, True] Translation: X:81.05, Y:-5.34, Z:-2.02 [[ 9.99979583e-01 6.16887776e-03 -1.66682065e-03 8.10515477e+01] [-6.16867491e-03 9.99980966e-01 1.26815505e-04 -5.34413787e+00] [ 1.66757124e-03 -1.16530841e-04 9.99998603e-01 -2.01915908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41241403699999 meters 0.08492058963205296 Centerline is valid? [True, True] Translation: X:81.08, Y:-5.35, Z:-2.02 [[ 9.99981093e-01 5.90864773e-03 -1.70345961e-03 8.10787860e+01] [-5.90843648e-03 9.99982537e-01 1.29021176e-04 -5.34922013e+00] [ 1.70419221e-03 -1.18953954e-04 9.99998541e-01 -2.02145678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44241403699999 meters 0.08486723839704867 Centerline is valid? [True, True] Translation: X:81.11, Y:-5.35, Z:-2.02 [[ 9.99978804e-01 6.34871818e-03 -1.44434799e-03 8.11071840e+01] [-6.34856668e-03 9.99979842e-01 1.09449363e-04 -5.35107134e+00] [ 1.44501374e-03 -1.00277503e-04 9.99998951e-01 -2.02182729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.472414037 meters 0.08308404326855516 Centerline is valid? [True, True] Translation: X:81.14, Y:-5.35, Z:-2.02 [[ 9.99978407e-01 6.39306428e-03 -1.52102005e-03 8.11364378e+01] [-6.39289642e-03 9.99979559e-01 1.15197981e-04 -5.34811598e+00] [ 1.52172543e-03 -1.05471770e-04 9.99998837e-01 -2.01996601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.502414037 meters 0.08575377082962947 Centerline is valid? [True, True] Translation: X:81.16, Y:-5.36, Z:-2.02 [[ 9.99978224e-01 6.57585781e-03 -5.56670189e-04 8.11634956e+01] [-6.57583633e-03 9.99978378e-01 4.04077278e-05 -5.35566684e+00] [ 5.56923869e-04 -3.67462758e-05 9.99999844e-01 -2.02249576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.532414037 meters 0.0848478057608106 Centerline is valid? [True, True] Translation: X:81.19, Y:-5.36, Z:-2.02 [[ 9.99980449e-01 6.14871579e-03 -1.13753639e-03 8.11919667e+01] [-6.14862245e-03 9.99981093e-01 8.55336535e-05 -5.35607648e+00] [ 1.13804080e-03 -7.85376995e-05 9.99999349e-01 -2.02246097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.562414037 meters 0.08322326482543226 Centerline is valid? [True, True] Translation: X:81.22, Y:-5.35, Z:-2.02 [[ 9.99981216e-01 5.86883141e-03 -1.76779664e-03 8.12204462e+01] [-5.86860489e-03 9.99982771e-01 1.33292303e-04 -5.35439814e+00] [ 1.76854845e-03 -1.22915299e-04 9.99998429e-01 -2.02204235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.592414037 meters 0.08346184792044262 Centerline is valid? [True, True] Translation: X:81.25, Y:-5.36, Z:-2.02 [[ 9.99987069e-01 5.00604164e-03 -8.95494517e-04 8.12490712e+01] [-5.00598389e-03 9.99987468e-01 6.67163902e-05 -5.35749915e+00] [ 8.95817280e-04 -6.22326964e-05 9.99999597e-01 -2.02387074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62241403699998 meters 0.08518257746924449 Centerline is valid? [True, True] Translation: X:81.28, Y:-5.36, Z:-2.03 [[ 9.99989033e-01 4.64212333e-03 -6.20790140e-04 8.12766053e+01] [-4.64209623e-03 9.99989224e-01 4.50866825e-05 -5.36413106e+00] [ 6.20992748e-04 -4.22044204e-05 9.99999806e-01 -2.02614115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65241403699999 meters 0.08532988236319615 Centerline is valid? [True, True] Translation: X:81.31, Y:-5.37, Z:-2.03 [[ 9.99994290e-01 2.42356811e-03 -2.35500640e-03 8.13066770e+01] [-2.42315077e-03 9.99997048e-01 1.80054160e-04 -5.36610353e+00] [ 2.35543582e-03 -1.74346597e-04 9.99997211e-01 -2.02626435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68241403699999 meters 0.08624739538292502 Centerline is valid? [True, True] Translation: X:81.34, Y:-5.37, Z:-2.03 [[ 9.99998864e-01 9.46858436e-04 -1.17278492e-03 8.13360420e+01] [-9.46754842e-04 9.99999548e-01 8.88836685e-05 -5.36991390e+00] [ 1.17286855e-03 -8.77732277e-05 9.99999308e-01 -2.02741004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71241403699999 meters 0.0844541118224755 Centerline is valid? [True, True] Translation: X:81.37, Y:-5.37, Z:-2.03 [[ 9.99996570e-01 -1.30607254e-03 -2.27031614e-03 8.13665909e+01] [ 1.30646963e-03 9.99999132e-01 1.73429803e-04 -5.36692095e+00] [ 2.27008766e-03 -1.76395307e-04 9.99997408e-01 -2.02564771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74241403699999 meters 0.08645228124300498 Centerline is valid? [True, True] Translation: X:81.40, Y:-5.37, Z:-2.03 [[ 9.99995354e-01 -1.95361520e-03 -2.34014894e-03 8.13953711e+01] [ 1.95403880e-03 9.99998075e-01 1.78743992e-04 -5.37369527e+00] [ 2.33979524e-03 -1.83315903e-04 9.99997246e-01 -2.02870603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77241403699999 meters 0.08722334511081598 Centerline is valid? [True, True] Translation: X:81.43, Y:-5.38, Z:-2.03 [[ 9.99992880e-01 -3.17014114e-03 -2.04690068e-03 8.14254776e+01] [ 3.17046868e-03 9.99994962e-01 1.56793124e-04 -5.37752795e+00] [ 2.04639331e-03 -1.63281642e-04 9.99997893e-01 -2.03043415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80241403699999 meters 0.08457273441081407 Centerline is valid? [True, True] Translation: X:81.46, Y:-5.37, Z:-2.03 [[ 9.99987164e-01 -4.88250874e-03 -1.35376281e-03 8.14565499e+01] [ 4.88265375e-03 9.99988074e-01 1.03829931e-04 -5.37371548e+00] [ 1.35323972e-03 -1.10438554e-04 9.99999078e-01 -2.02794278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83241403699999 meters 0.08653119187070603 Centerline is valid? [True, True] Translation: X:81.49, Y:-5.38, Z:-2.03 [[ 9.99984083e-01 -5.49452267e-03 -1.28252361e-03 8.14868785e+01] [ 5.49465456e-03 9.99984899e-01 9.93396733e-05 -5.37968036e+00] [ 1.28195842e-03 -1.06385116e-04 9.99999173e-01 -2.03002444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.862414037 meters 0.08941121311784085 Centerline is valid? [True, True] Translation: X:81.52, Y:-5.39, Z:-2.03 [[ 9.99974129e-01 -6.64716373e-03 -2.74884762e-03 8.15168488e+01] [ 6.64777039e-03 9.99977881e-01 2.11619364e-04 -5.38641600e+00] [ 2.74738015e-03 -2.29887597e-04 9.99996200e-01 -2.03253971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.892414037 meters 0.08794990627230616 Centerline is valid? [True, True] Translation: X:81.55, Y:-5.38, Z:-2.03 [[ 9.99972207e-01 -6.99437220e-03 -2.58153825e-03 8.15485749e+01] [ 6.99490913e-03 9.99975516e-01 1.99017580e-04 -5.38479859e+00] [ 2.58008304e-03 -2.17069674e-04 9.99996648e-01 -2.03291302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.922414037 meters 0.08867083902658723 Centerline is valid? [True, True] Translation: X:81.58, Y:-5.39, Z:-2.03 [[ 9.99966343e-01 -7.80052496e-03 -2.54252980e-03 8.15791355e+01] [ 7.80104947e-03 9.99969552e-01 1.96440690e-04 -5.38821413e+00] [ 2.54092004e-03 -2.16268479e-04 9.99996748e-01 -2.03436011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.952414037 meters 0.09010899853135775 Centerline is valid? [True, True] Translation: X:81.61, Y:-5.39, Z:-2.04 [[ 9.99952047e-01 -9.23256306e-03 -3.26563741e-03 8.16089539e+01] [ 9.23343042e-03 9.99957340e-01 2.50626980e-04 -5.39236459e+00] [ 3.26318417e-03 -2.80767997e-04 9.99994636e-01 -2.03608067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98241403699998 meters 0.08997590575773835 Centerline is valid? [True, True] Translation: X:81.64, Y:-5.39, Z:-2.04 [[ 9.99940439e-01 -1.04008087e-02 -3.30770655e-03 8.16398915e+01] [ 1.04017087e-02 9.99945868e-01 2.54994022e-04 -5.39224518e+00] [ 3.30487535e-03 -2.89384634e-04 9.99994497e-01 -2.03655449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01241403699999 meters 0.08659472794883086 Centerline is valid? [True, True] Translation: X:81.67, Y:-5.39, Z:-2.03 [[ 9.99933215e-01 -1.10508403e-02 -3.38307854e-03 8.16724526e+01] [ 1.10517899e-02 9.99938893e-01 2.62097072e-04 -5.38633406e+00] [ 3.37997541e-03 -2.99468640e-04 9.99994243e-01 -2.03392239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04241403699999 meters 0.08689377869780257 Centerline is valid? [True, True] Translation: X:81.70, Y:-5.39, Z:-2.03 [[ 9.99925417e-01 -1.17910722e-02 -3.18294217e-03 8.17040156e+01] [ 1.17919157e-02 9.99930443e-01 2.46360534e-04 -5.38875439e+00] [ 3.17981592e-03 -2.83875145e-04 9.99994904e-01 -2.03410224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07241403699999 meters 0.09139654193287834 Centerline is valid? [True, True] Translation: X:81.73, Y:-5.40, Z:-2.04 [[ 9.99908120e-01 -1.32890708e-02 -2.67427271e-03 8.17338108e+01] [ 1.32896695e-02 9.99911667e-01 2.06230779e-04 -5.39834787e+00] [ 2.67129587e-03 -2.41752031e-04 9.99996403e-01 -2.03761092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10241403699999 meters 0.08920336377028257 Centerline is valid? [True, True] Translation: X:81.77, Y:-5.40, Z:-2.04 [[ 9.99895309e-01 -1.42690283e-02 -2.40134848e-03 8.17660898e+01] [ 1.42695181e-02 9.99898168e-01 1.86946452e-04 -5.39558618e+00] [ 2.39843640e-03 -2.21192966e-04 9.99997099e-01 -2.03726107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13241403699999 meters 0.0910200975828589 Centerline is valid? [True, True] Translation: X:81.80, Y:-5.40, Z:-2.04 [[ 9.99864690e-01 -1.61808819e-02 -2.96328997e-03 8.17953974e+01] [ 1.61816345e-02 9.99869042e-01 2.30179677e-04 -5.39945087e+00] [ 2.95917740e-03 -2.78099407e-04 9.99995583e-01 -2.03875990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16241403699999 meters 0.08756275352629131 Centerline is valid? [True, True] Translation: X:81.83, Y:-5.39, Z:-2.04 [[ 9.99863734e-01 -1.63479335e-02 -2.29329576e-03 8.18282661e+01] [ 1.63483866e-02 9.99866340e-01 1.78996151e-04 -5.39369740e+00] [ 2.29006302e-03 -2.16463445e-04 9.99997354e-01 -2.03672587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19241403699999 meters 0.09045808160503643 Centerline is valid? [True, True] Translation: X:81.86, Y:-5.40, Z:-2.04 [[ 9.99864057e-01 -1.64073850e-02 -1.63259733e-03 8.18588320e+01] [ 1.64076150e-02 9.99865378e-01 1.27583095e-04 -5.40079732e+00] [ 1.63028424e-03 -1.54352779e-04 9.99998659e-01 -2.03910064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.222414037 meters 0.09163087643507091 Centerline is valid? [True, True] Translation: X:81.89, Y:-5.40, Z:-2.04 [[ 9.99871270e-01 -1.59049469e-02 -2.11552768e-03 8.18896098e+01] [ 1.59053311e-02 9.99873489e-01 1.64912988e-04 -5.40269225e+00] [ 2.11263711e-03 -1.98539927e-04 9.99997749e-01 -2.04192150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.252414037 meters 0.09216953221171977 Centerline is valid? [True, True] Translation: X:81.92, Y:-5.40, Z:-2.04 [[ 9.99864633e-01 -1.61193287e-02 -3.29903849e-03 8.19215574e+01] [ 1.61202637e-02 9.99870027e-01 2.57018932e-04 -5.40411785e+00] [ 3.29446673e-03 -3.10165510e-04 9.99994525e-01 -2.04368106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.282414037 meters 0.09178473583995664 Centerline is valid? [True, True] Translation: X:81.95, Y:-5.40, Z:-2.04 [[ 9.99867697e-01 -1.56307377e-02 -4.50200668e-03 8.19538038e+01] [ 1.56324721e-02 9.99877744e-01 3.50313492e-04 -5.40459904e+00] [ 4.49598063e-03 -4.20644638e-04 9.99989805e-01 -2.04447597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.312414037 meters 0.0924541256165006 Centerline is valid? [True, True] Translation: X:81.99, Y:-5.41, Z:-2.05 [[ 9.99875093e-01 -1.51346006e-02 -4.55446858e-03 8.19859911e+01] [ 1.51363718e-02 9.99885376e-01 3.54663852e-04 -5.40514495e+00] [ 4.54857883e-03 -4.23557682e-04 9.99989565e-01 -2.04754019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.342414037 meters 0.09260636282368469 Centerline is valid? [True, True] Translation: X:82.02, Y:-5.41, Z:-2.05 [[ 9.99874952e-01 -1.51348684e-02 -4.58436953e-03 8.20182409e+01] [ 1.51366642e-02 9.99885370e-01 3.57288586e-04 -5.40640139e+00] [ 4.57843650e-03 -4.26635969e-04 9.99989428e-01 -2.04908213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37241403699998 meters 0.09249665135990723 Centerline is valid? [True, True] Translation: X:82.05, Y:-5.41, Z:-2.05 [[ 9.99875261e-01 -1.53107950e-02 -3.87837880e-03 8.20505403e+01] [ 1.53120839e-02 9.99882717e-01 3.02840226e-04 -5.40508284e+00] [ 3.87328721e-03 -3.62188512e-04 9.99992433e-01 -2.04984720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40241403699999 meters 0.09195396833697574 Centerline is valid? [True, True] Translation: X:82.08, Y:-5.40, Z:-2.05 [[ 9.99881088e-01 -1.49567183e-02 -3.75589036e-03 8.20828394e+01] [ 1.49579258e-02 9.99888081e-01 2.93599982e-04 -5.40490980e+00] [ 3.75107871e-03 -3.49745398e-04 9.99992904e-01 -2.04994005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43241403699999 meters 0.0916609961456032 Centerline is valid? [True, True] Translation: X:82.11, Y:-5.41, Z:-2.05 [[ 9.99894458e-01 -1.42602304e-02 -2.77810929e-03 8.21144282e+01] [ 1.42608873e-02 9.99898285e-01 2.16781487e-04 -5.40517338e+00] [ 2.77473536e-03 -2.56376912e-04 9.99996118e-01 -2.05063177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46241403699999 meters 0.09183294724254709 Centerline is valid? [True, True] Translation: X:82.14, Y:-5.40, Z:-2.05 [[ 9.99915916e-01 -1.26482926e-02 -2.86022783e-03 8.21448613e+01] [ 1.26489883e-02 9.99919973e-01 2.25270815e-04 -5.40419275e+00] [ 2.85714964e-03 -2.61430861e-04 9.99995884e-01 -2.05086354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49241403699999 meters 0.0884389637864284 Centerline is valid? [True, True] Translation: X:82.18, Y:-5.40, Z:-2.05 [[ 9.99928038e-01 -1.18102406e-02 -2.10635680e-03 8.21768516e+01] [ 1.18106140e-02 9.99930239e-01 1.64909486e-04 -5.39800805e+00] [ 2.10426224e-03 -1.89774986e-04 9.99997768e-01 -2.04937560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52241403699999 meters 0.09024723802642709 Centerline is valid? [True, True] Translation: X:82.21, Y:-5.40, Z:-2.05 [[ 9.99936704e-01 -1.11603933e-02 -1.42586704e-03 8.22081064e+01] [ 1.11605650e-02 9.99937713e-01 1.12534000e-04 -5.39966732e+00] [ 1.42452231e-03 -1.28440358e-04 9.99998977e-01 -2.05060946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55241403699999 meters 0.08911056829980364 Centerline is valid? [True, True] Translation: X:82.24, Y:-5.40, Z:-2.05 [[ 9.99935162e-01 -1.12042560e-02 -2.03368409e-03 8.22404287e+01] [ 1.12046054e-02 9.99937214e-01 1.60506746e-04 -5.39814333e+00] [ 2.03175804e-03 -1.83282966e-04 9.99997919e-01 -2.05038477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58241403699999 meters 0.09005047904273475 Centerline is valid? [True, True] Translation: X:82.27, Y:-5.40, Z:-2.05 [[ 9.99931637e-01 -1.16162296e-02 -1.33602654e-03 8.22727321e+01] [ 1.16163818e-02 9.99932522e-01 1.06223554e-04 -5.40188541e+00] [ 1.33470247e-03 -1.21736086e-04 9.99999102e-01 -2.05238319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.612414037 meters 0.09686273412168545 Centerline is valid? [True, True] Translation: X:82.30, Y:-5.42, Z:-2.06 [[ 9.99914776e-01 -1.28531605e-02 -2.28826213e-03 8.23016188e+01] [ 1.28536023e-02 9.99917373e-01 1.78455888e-04 -5.41661326e+00] [ 2.28577934e-03 -2.07853091e-04 9.99997366e-01 -2.05828159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.642414037 meters 0.09197230943247371 Centerline is valid? [True, True] Translation: X:82.33, Y:-5.41, Z:-2.06 [[ 9.99902940e-01 -1.36867629e-02 -2.60453830e-03 8.23345995e+01] [ 1.36873437e-02 9.99906303e-01 2.05301929e-04 -5.40914066e+00] [ 2.60148434e-03 -2.40931213e-04 9.99996587e-01 -2.05568592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.672414037 meters 0.09336217333029379 Centerline is valid? [True, True] Translation: X:82.37, Y:-5.41, Z:-2.06 [[ 9.99870745e-01 -1.57719966e-02 -3.12062844e-03 8.23650975e+01] [ 1.57728363e-02 9.99875571e-01 2.44643636e-04 -5.41226711e+00] [ 3.11638162e-03 -2.93833176e-04 9.99995101e-01 -2.05689674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.702414037 meters 0.09427063013897789 Centerline is valid? [True, True] Translation: X:82.40, Y:-5.42, Z:-2.06 [[ 9.99862154e-01 -1.62004269e-02 -3.63587755e-03 8.23970263e+01] [ 1.62015735e-02 9.99868705e-01 2.86140235e-04 -5.41552812e+00] [ 3.63076458e-03 -3.45007729e-04 9.99993349e-01 -2.05860564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73241403699998 meters 0.09440679589963508 Centerline is valid? [True, True] Translation: X:82.43, Y:-5.42, Z:-2.06 [[ 9.99860810e-01 -1.63364443e-02 -3.38842194e-03 8.24287007e+01] [ 1.63374470e-02 9.99866499e-01 2.68443507e-04 -5.41758847e+00] [ 3.38358417e-03 -3.23764306e-04 9.99994223e-01 -2.05946693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76241403699999 meters 0.09411785282088055 Centerline is valid? [True, True] Translation: X:82.46, Y:-5.42, Z:-2.06 [[ 9.99850398e-01 -1.72562776e-02 -1.18438924e-03 8.24607079e+01] [ 1.72564018e-02 9.99851093e-01 9.47729415e-05 -5.41981462e+00] [ 1.18257744e-03 -1.15197060e-04 9.99999294e-01 -2.05846652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79241403699999 meters 0.09412621032442799 Centerline is valid? [True, True] Translation: X:82.49, Y:-5.42, Z:-2.06 [[ 9.99841434e-01 -1.77935931e-02 -7.02813721e-04 8.24925766e+01] [ 1.77936376e-02 9.99841679e-01 5.71033968e-05 -5.42259143e+00] [ 7.01686376e-04 -6.95999549e-05 9.99999751e-01 -2.05849665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82241403699999 meters 0.0937534167639878 Centerline is valid? [True, True] Translation: X:82.53, Y:-5.43, Z:-2.06 [[ 9.99842624e-01 -1.77366072e-02 -3.74755009e-04 8.25251002e+01] [ 1.77366202e-02 9.99842693e-01 3.14173886e-05 -5.42508983e+00] [ 3.74138819e-04 -3.80593315e-05 9.99999929e-01 -2.05859413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85241403699999 meters 0.0937534167639878 Centerline is valid? [True, True] Translation: X:82.56, Y:-5.43, Z:-2.06 [[ 9.99843813e-01 -1.76694548e-02 -3.74753089e-04 8.25568397e+01] [ 1.76694679e-02 9.99843882e-01 3.14409887e-05 -5.42765026e+00] [ 3.74139038e-04 -3.80577657e-05 9.99999929e-01 -2.05954452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88241403699999 meters 0.09965874608050473 Centerline is valid? [True, True] Translation: X:82.59, Y:-5.44, Z:-2.06 [[ 9.99849737e-01 -1.73082573e-02 9.63501301e-04 8.25869679e+01] [ 1.73083367e-02 9.99850197e-01 -7.42162408e-05 -5.44059985e+00] [-9.62072412e-04 9.08816938e-05 9.99999533e-01 -2.06333484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91241403699999 meters 0.09400516575293444 Centerline is valid? [True, True] Translation: X:82.62, Y:-5.43, Z:-2.06 [[ 9.99860093e-01 -1.67155613e-02 -6.20312702e-04 8.26205650e+01] [ 1.67155967e-02 9.99860283e-01 5.18187782e-05 -5.43182197e+00] [ 6.19359854e-04 -6.21804253e-05 9.99999806e-01 -2.06138082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94241403699999 meters 0.0920923799078421 Centerline is valid? [True, True] Translation: X:82.65, Y:-5.43, Z:-2.06 [[ 9.99891058e-01 -1.47600432e-02 -1.12724450e-04 8.26516109e+01] [ 1.47600443e-02 9.99891065e-01 9.53093364e-06 -5.42940676e+00] [ 1.12571493e-04 -1.11937132e-05 9.99999994e-01 -2.06066877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.972414037 meters 0.09583974025610453 Centerline is valid? [True, True] Translation: X:82.68, Y:-5.44, Z:-2.07 [[ 9.99909098e-01 -1.34327897e-02 -1.16412461e-03 8.26814289e+01] [ 1.34329060e-02 9.99909770e-01 9.21416793e-05 -5.43856750e+00] [ 1.16278185e-03 -1.07770880e-04 9.99999318e-01 -2.06512801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.002414037 meters 0.09005093269651125 Centerline is valid? [True, True] Translation: X:82.71, Y:-5.43, Z:-2.07 [[ 9.99934838e-01 -1.09452219e-02 -3.24375348e-03 8.27140156e+01] [ 1.09461141e-02 9.99940056e-01 2.57421527e-04 -5.42837781e+00] [ 3.24074150e-03 -2.92911249e-04 9.99994706e-01 -2.06544001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.032414037 meters 0.09336782701315992 Centerline is valid? [True, True] Translation: X:82.74, Y:-5.44, Z:-2.07 [[ 9.99947754e-01 -9.48135772e-03 -3.82014485e-03 8.27434643e+01] [ 9.48258699e-03 9.99954993e-01 3.03800607e-04 -5.43673483e+00] [ 3.81709247e-03 -3.40009591e-04 9.99992657e-01 -2.06947590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.062414037 meters 0.08935060748760712 Centerline is valid? [True, True] Translation: X:82.78, Y:-5.43, Z:-2.07 [[ 9.99959638e-01 -7.99837888e-03 -4.09239851e-03 8.27756781e+01] [ 7.99977103e-03 9.99967949e-01 3.23922976e-04 -5.43063258e+00] [ 4.08967648e-03 -3.56648153e-04 9.99991574e-01 -2.06775813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.092414037 meters 0.08864387066521177 Centerline is valid? [True, True] Translation: X:82.81, Y:-5.43, Z:-2.07 [[ 9.99977396e-01 -5.90840587e-03 -3.20915942e-03 8.28066137e+01] [ 5.90925050e-03 9.99982508e-01 2.53774893e-04 -5.42943156e+00] [ 3.20760388e-03 -2.72732883e-04 9.99994818e-01 -2.06890394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12241403699998 meters 0.09292606210110237 Centerline is valid? [True, True] Translation: X:82.84, Y:-5.44, Z:-2.07 [[ 9.99986994e-01 -4.66807652e-03 -2.05448950e-03 8.28359445e+01] [ 4.66841943e-03 9.99989090e-01 1.62142898e-04 -5.43992849e+00] [ 2.05371019e-03 -1.71732008e-04 9.99997876e-01 -2.07253087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15241403699999 meters 0.08811723033551686 Centerline is valid? [True, True] Translation: X:82.87, Y:-5.43, Z:-2.07 [[ 9.99995505e-01 -2.88718398e-03 -8.08802416e-04 8.28677683e+01] [ 2.88723696e-03 9.99995830e-01 6.43467405e-05 -5.43195157e+00] [ 8.08613262e-04 -6.66816555e-05 9.99999671e-01 -2.06900582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18241403699999 meters 0.08754873582702513 Centerline is valid? [True, True] Translation: X:82.90, Y:-5.43, Z:-2.07 [[ 9.99996674e-01 -2.17804721e-03 -1.38165751e-03 8.28986675e+01] [ 2.17820142e-03 9.99997622e-01 1.10117682e-04 -5.43368273e+00] [ 1.38141438e-03 -1.13126844e-04 9.99999039e-01 -2.06916662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21241403699999 meters 0.08747766735983414 Centerline is valid? [True, True] Translation: X:82.93, Y:-5.44, Z:-2.07 [[ 9.99998522e-01 -1.37761196e-03 -1.02880260e-03 8.29292393e+01] [ 1.37769627e-03 9.99999048e-01 8.12465104e-05 -5.43575042e+00] [ 1.02868969e-03 -8.26637678e-05 9.99999467e-01 -2.07049187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24241403699999 meters 0.08710619441557473 Centerline is valid? [True, True] Translation: X:82.96, Y:-5.44, Z:-2.07 [[ 9.99998610e-01 -3.09236006e-04 -1.63831041e-03 8.29602481e+01] [ 3.09449253e-04 9.99999944e-01 1.29910871e-04 -5.43649123e+00] [ 1.63827014e-03 -1.30417664e-04 9.99998650e-01 -2.07160573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27241403699999 meters 0.08935560413809863 Centerline is valid? [True, True] Translation: X:82.99, Y:-5.44, Z:-2.07 [[ 9.99998359e-01 4.16031695e-04 -1.76316599e-03 8.29890240e+01] [-4.15787713e-04 9.99999904e-01 1.38741461e-04 -5.44387007e+00] [ 1.76322354e-03 -1.38008131e-04 9.99998436e-01 -2.07497244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30241403699999 meters 0.08624333554391847 Centerline is valid? [True, True] Translation: X:83.02, Y:-5.44, Z:-2.07 [[ 9.99995364e-01 2.84475832e-03 -1.08587543e-03 8.30198522e+01] [-2.84466741e-03 9.99995950e-01 8.52548934e-05 -5.43991370e+00] [ 1.08611357e-03 -8.21655437e-05 9.99999407e-01 -2.07404731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33241403699999 meters 0.08587553133053229 Centerline is valid? [True, True] Translation: X:83.05, Y:-5.44, Z:-2.08 [[ 9.99988544e-01 4.44837921e-03 -1.76764901e-03 8.30495966e+01] [-4.44814128e-03 9.99990097e-01 1.38509248e-04 -5.44079770e+00] [ 1.76824764e-03 -1.30644908e-04 9.99998428e-01 -2.07537673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.362414037 meters 0.0856068995170497 Centerline is valid? [True, True] Translation: X:83.08, Y:-5.44, Z:-2.08 [[ 9.99978771e-01 6.06513572e-03 -2.38173732e-03 8.30786350e+01] [-6.06471024e-03 9.99981592e-01 1.85824434e-04 -5.44187041e+00] [ 2.38282053e-03 -1.71375943e-04 9.99997146e-01 -2.07630208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.392414037 meters 0.08796088525155726 Centerline is valid? [True, True] Translation: X:83.11, Y:-5.45, Z:-2.08 [[ 9.99963690e-01 8.15533591e-03 -2.47172996e-03 8.31068520e+01] [-8.15488156e-03 9.99966730e-01 1.93839743e-04 -5.44926055e+00] [ 2.47322855e-03 -1.73676039e-04 9.99996926e-01 -2.08020635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.422414037 meters 0.08568204132977651 Centerline is valid? [True, True] Translation: X:83.14, Y:-5.45, Z:-2.08 [[ 9.99926643e-01 1.18512315e-02 -2.50148999e-03 8.31381220e+01] [-1.18507753e-02 9.99929758e-01 1.97086031e-04 -5.44549732e+00] [ 2.50364999e-03 -1.67426978e-04 9.99996852e-01 -2.07979258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.452414037 meters 0.08328074285235812 Centerline is valid? [True, True] Translation: X:83.17, Y:-5.44, Z:-2.08 [[ 9.99898714e-01 1.41200927e-02 -1.78430340e-03 8.31681601e+01] [-1.41198660e-02 9.99900300e-01 1.39591656e-04 -5.44273272e+00] [ 1.78609656e-03 -1.14383393e-04 9.99998398e-01 -2.07862589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48241403699998 meters 0.08251322210042089 Centerline is valid? [True, True] Translation: X:83.20, Y:-5.44, Z:-2.08 [[ 9.99855276e-01 1.70060439e-02 4.70448079e-04 8.31984821e+01] [-1.70060283e-02 9.99855386e-01 -3.72345762e-05 -5.44423618e+00] [-4.71013259e-04 2.92287341e-05 9.99999889e-01 -2.07721127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51241403699999 meters 0.08188245711939106 Centerline is valid? [True, True] Translation: X:83.23, Y:-5.45, Z:-2.08 [[ 9.99827424e-01 1.85698686e-02 5.31131729e-04 8.32277457e+01] [-1.85698482e-02 9.99827565e-01 -4.32996775e-05 -5.44504059e+00] [-5.31844213e-04 3.34291694e-05 9.99999858e-01 -2.07760687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54241403699999 meters 0.08045384430572709 Centerline is valid? [True, True] Translation: X:83.26, Y:-5.44, Z:-2.08 [[ 9.99804848e-01 1.97371157e-02 8.43552527e-04 8.32570841e+01] [-1.97370650e-02 9.99805203e-01 -6.83841565e-05 -5.44359347e+00] [-8.44737911e-04 5.17215601e-05 9.99999642e-01 -2.07621717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57241403699999 meters 0.07948619188059475 Centerline is valid? [True, True] Translation: X:83.29, Y:-5.44, Z:-2.08 [[ 9.99709001e-01 2.41210283e-02 2.98106319e-04 8.32875523e+01] [-2.41210224e-02 9.99709046e-01 -2.35814689e-05 -5.44368598e+00] [-2.98588393e-04 1.63839775e-05 9.99999955e-01 -2.07684816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60241403699999 meters 0.07886335122483538 Centerline is valid? [True, True] Translation: X:83.32, Y:-5.44, Z:-2.08 [[ 9.99640983e-01 2.67937665e-02 1.39609438e-06 8.33179492e+01] [-2.67937665e-02 9.99640983e-01 -6.16464235e-07 -5.44438927e+00] [-1.41211057e-06 5.78836289e-07 1.00000000e+00 -2.07779631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63241403699999 meters 0.07876812921700964 Centerline is valid? [True, True] Translation: X:83.35, Y:-5.45, Z:-2.08 [[ 9.99558543e-01 2.96886486e-02 -1.14116890e-03 8.33462794e+01] [-2.96885672e-02 9.99559193e-01 8.81767109e-05 -5.44670963e+00] [ 1.14328371e-03 -5.42581152e-05 9.99999345e-01 -2.08064133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66241403699999 meters 0.07785485207396271 Centerline is valid? [True, True] Translation: X:83.38, Y:-5.45, Z:-2.08 [[ 9.99392527e-01 3.47712945e-02 -2.35227100e-03 8.33767886e+01] [-3.47709567e-02 9.99395290e-01 1.84330639e-04 -5.44663040e+00] [ 2.35725797e-03 -1.02427950e-04 9.99997216e-01 -2.08146043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69241403699999 meters 0.07731666806988019 Centerline is valid? [True, True] Translation: X:83.41, Y:-5.45, Z:-2.08 [[ 9.99313865e-01 3.70270799e-02 -8.91595832e-04 8.34068917e+01] [-3.70270325e-02 9.99314262e-01 6.95434118e-05 -5.44720784e+00] [ 8.93559421e-04 -3.64825477e-05 9.99999600e-01 -2.08169764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.722414037 meters 0.07642919131515322 Centerline is valid? [True, True] Translation: X:83.44, Y:-5.45, Z:-2.08 [[ 9.99222112e-01 3.94128821e-02 -1.33964529e-03 8.34360083e+01] [-3.94127792e-02 9.99223009e-01 1.03117258e-04 -5.44658439e+00] [ 1.34266855e-03 -5.02379006e-05 9.99999097e-01 -2.08033061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.752414037 meters 0.07591439781589841 Centerline is valid? [True, True] Translation: X:83.47, Y:-5.45, Z:-2.08 [[ 9.99084705e-01 4.27755776e-02 4.68207209e-05 8.34654189e+01] [-4.27755774e-02 9.99084706e-01 -4.69124313e-06 -5.44850467e+00] [-4.69785368e-05 2.68416589e-06 9.99999999e-01 -2.08052259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.782414037 meters 0.07666766740767599 Centerline is valid? [True, True] Translation: X:83.49, Y:-5.46, Z:-2.08 [[ 9.99026035e-01 4.41195154e-02 6.70128279e-04 8.34928469e+01] [-4.41194876e-02 9.99026260e-01 -5.61924611e-05 -5.45548319e+00] [-6.71954933e-04 2.65720154e-05 9.99999774e-01 -2.08434560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.812414037 meters 0.07555556210652964 Centerline is valid? [True, True] Translation: X:83.52, Y:-5.46, Z:-2.08 [[ 9.98985570e-01 4.50213687e-02 9.52502328e-04 8.35218880e+01] [-4.50213161e-02 9.98986024e-01 -7.65551757e-05 -5.45667508e+00] [-9.54983132e-04 3.35946075e-05 9.99999543e-01 -2.08110505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.842414037 meters 0.0755793733210992 Centerline is valid? [True, True] Translation: X:83.55, Y:-5.46, Z:-2.08 [[ 9.98982012e-01 4.50863023e-02 1.47137453e-03 8.35500107e+01] [-4.50861787e-02 9.98983094e-01 -1.17052081e-04 -5.46113627e+00] [-1.47515573e-03 5.05942685e-05 9.99998911e-01 -2.08294086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87241403699998 meters 0.07575037470889028 Centerline is valid? [True, True] Translation: X:83.58, Y:-5.47, Z:-2.08 [[ 9.98992504e-01 4.48726705e-02 6.48840097e-04 8.35778868e+01] [-4.48726454e-02 9.98992714e-01 -5.31671936e-05 -5.46775932e+00] [-6.50572284e-04 2.39984562e-05 9.99999788e-01 -2.08429819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90241403699999 meters 0.07581246533609522 Centerline is valid? [True, True] Translation: X:83.61, Y:-5.47, Z:-2.09 [[ 9.99004390e-01 4.45994631e-02 1.05652712e-03 8.36059168e+01] [-4.45993987e-02 9.99004948e-01 -8.44366683e-05 -5.47228916e+00] [-1.05924165e-03 3.72321279e-05 9.99999438e-01 -2.08565550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93241403699999 meters 0.07564927745642705 Centerline is valid? [True, True] Translation: X:83.63, Y:-5.48, Z:-2.09 [[ 9.99022181e-01 4.41947852e-02 1.22592113e-03 8.36349172e+01] [-4.41946987e-02 9.99022932e-01 -9.75965802e-05 -5.47599779e+00] [-1.22903658e-03 4.33219336e-05 9.99999244e-01 -2.08574031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96241403699999 meters 0.07506581494270137 Centerline is valid? [True, True] Translation: X:83.66, Y:-5.48, Z:-2.08 [[ 9.99041429e-01 4.37694408e-02 6.77031226e-04 8.36631734e+01] [-4.37694137e-02 9.99041658e-01 -5.48501693e-05 -5.47964037e+00] [-6.78783160e-04 2.51643317e-05 9.99999769e-01 -2.08487765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99241403699999 meters 0.07590521761560483 Centerline is valid? [True, True] Translation: X:83.69, Y:-5.49, Z:-2.09 [[ 9.99079754e-01 4.28773879e-02 1.08396794e-03 8.36908181e+01] [-4.28773187e-02 9.99080341e-01 -8.69648035e-05 -5.48745376e+00] [-1.08669989e-03 4.04071354e-05 9.99999409e-01 -2.08819328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02241403699999 meters 0.07639341676478985 Centerline is valid? [True, True] Translation: X:83.72, Y:-5.50, Z:-2.09 [[ 9.99166023e-01 4.08147825e-02 1.18803295e-03 8.37174947e+01] [-4.08146980e-02 9.99166729e-01 -9.53201254e-05 -5.49660638e+00] [-1.19093347e-03 4.67514245e-05 9.99999290e-01 -2.09079297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05241403699999 meters 0.07603029733066029 Centerline is valid? [True, True] Translation: X:83.75, Y:-5.50, Z:-2.09 [[ 9.99232684e-01 3.91319683e-02 1.65291511e-03 8.37464765e+01] [-3.91318061e-02 9.99234049e-01 -1.30391148e-04 -5.49975126e+00] [-1.65675152e-03 6.56095429e-05 9.99998625e-01 -2.09002872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08241403699999 meters 0.07627835248429395 Centerline is valid? [True, True] Translation: X:83.78, Y:-5.51, Z:-2.09 [[ 9.99286040e-01 3.77032280e-02 2.42428363e-03 8.37751315e+01] [-3.77028775e-02 9.99288976e-01 -1.90118184e-04 -5.50581962e+00] [-2.42972797e-03 9.85799787e-05 9.99997043e-01 -2.09092265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.112414037 meters 0.07756818112980848 Centerline is valid? [True, True] Translation: X:83.80, Y:-5.52, Z:-2.09 [[ 9.99430191e-01 3.36936760e-02 2.00755043e-03 8.38035548e+01] [-3.36934305e-02 9.99432203e-01 -1.56010378e-04 -5.51810713e+00] [-2.01166711e-03 8.82802206e-05 9.99997973e-01 -2.09452989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.142414037 meters 0.07779120924109718 Centerline is valid? [True, True] Translation: X:83.83, Y:-5.53, Z:-2.10 [[ 9.99502592e-01 3.15246926e-02 8.73486980e-04 8.38324731e+01] [-3.15246442e-02 9.99502972e-01 -6.92219713e-05 -5.52529911e+00] [-8.75235034e-04 4.16511735e-05 9.99999616e-01 -2.09536053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.172414037 meters 0.07707132413451404 Centerline is valid? [True, True] Translation: X:83.86, Y:-5.53, Z:-2.09 [[ 9.99522690e-01 3.08658553e-02 1.30080239e-03 8.38615935e+01] [-3.08657475e-02 9.99523534e-01 -1.02821293e-04 -5.52670015e+00] [-1.30335627e-03 6.26219770e-05 9.99999149e-01 -2.09445458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.202414037 meters 0.07831317316468292 Centerline is valid? [True, True] Translation: X:83.89, Y:-5.54, Z:-2.10 [[ 9.99542410e-01 3.01868393e-02 1.93004737e-03 8.38883873e+01] [-3.01866022e-02 9.99544269e-01 -1.51891071e-04 -5.53604881e+00] [-1.93375290e-03 9.35599955e-05 9.99998126e-01 -2.09713496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23241403699998 meters 0.07831317316468292 Centerline is valid? [True, True] Translation: X:83.92, Y:-5.54, Z:-2.10 [[ 9.99545441e-01 3.00863098e-02 1.93002867e-03 8.39158007e+01] [-3.00860720e-02 9.99547300e-01 -1.52134534e-04 -5.53806750e+00] [-1.93373211e-03 9.39983987e-05 9.99998126e-01 -2.09795692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26241403699999 meters 0.07815385360328374 Centerline is valid? [True, True] Translation: X:83.94, Y:-5.54, Z:-2.10 [[ 9.99548782e-01 2.98723404e-02 3.14261945e-03 8.39446008e+01] [-2.98717186e-02 9.99553711e-01 -2.44621201e-04 -5.54399948e+00] [-3.14852434e-03 1.50635379e-04 9.99995032e-01 -2.09868792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29241403699999 meters 0.07725188442362375 Centerline is valid? [True, True] Translation: X:83.97, Y:-5.55, Z:-2.10 [[ 9.99534637e-01 3.02262624e-02 4.10885974e-03 8.39730638e+01] [-3.02252059e-02 9.99543063e-01 -3.18980896e-04 -5.54697415e+00] [-4.11662386e-03 1.94641322e-04 9.99991508e-01 -2.09844040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32241403699999 meters 0.07725188442362375 Centerline is valid? [True, True] Translation: X:84.00, Y:-5.55, Z:-2.10 [[ 9.99537772e-01 3.01224263e-02 4.10881345e-03 8.40004746e+01] [-3.01213665e-02 9.99546198e-01 -3.19582878e-04 -5.54899118e+00] [-4.11657548e-03 1.95672082e-04 9.99991508e-01 -2.09926209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35241403699999 meters 0.07841447334808949 Centerline is valid? [True, True] Translation: X:84.03, Y:-5.56, Z:-2.10 [[ 9.99517464e-01 3.07972472e-02 4.04579653e-03 8.40276385e+01] [-3.07962272e-02 9.99525634e-01 -3.14169015e-04 -5.55786186e+00] [-4.05355289e-03 1.89422148e-04 9.99991766e-01 -2.10260288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38241403699999 meters 0.07850919246453969 Centerline is valid? [True, True] Translation: X:84.06, Y:-5.56, Z:-2.10 [[ 9.99526786e-01 3.04319451e-02 4.48336302e-03 8.40564049e+01] [-3.04306962e-02 9.99536819e-01 -3.46545087e-04 -5.56155032e+00] [-4.49183246e-03 2.09949239e-04 9.99989890e-01 -2.10353404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41241403699999 meters 0.07716060573819236 Centerline is valid? [True, True] Translation: X:84.09, Y:-5.56, Z:-2.10 [[ 9.99466492e-01 3.21699529e-02 5.64133039e-03 8.40855478e+01] [-3.21680077e-02 9.99482381e-01 -4.35232935e-04 -5.56180910e+00] [-5.65241176e-03 2.53530375e-04 9.99983993e-01 -2.10200074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44241403699999 meters 0.07723856458996889 Centerline is valid? [True, True] Translation: X:84.11, Y:-5.57, Z:-2.10 [[ 9.99463364e-01 3.24500587e-02 4.46958237e-03 8.41137356e+01] [-3.24488399e-02 9.99473338e-01 -3.44957034e-04 -5.56537993e+00] [-4.47842229e-03 1.99739154e-04 9.99989952e-01 -2.10328241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.472414037 meters 0.07703587652714425 Centerline is valid? [True, True] Translation: X:84.14, Y:-5.57, Z:-2.10 [[ 9.99446519e-01 3.30244774e-02 4.00487876e-03 8.41426798e+01] [-3.30235037e-02 9.99454528e-01 -3.09025776e-04 -5.56914734e+00] [-4.01289962e-03 1.76599608e-04 9.99991933e-01 -2.10469543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.502414037 meters 0.0775535508059605 Centerline is valid? [True, True] Translation: X:84.17, Y:-5.57, Z:-2.11 [[ 9.99476381e-01 3.22067658e-02 3.11255606e-03 8.41705901e+01] [-3.22061716e-02 9.99481218e-01 -2.40861464e-04 -5.57443355e+00] [-3.11869869e-03 1.40491830e-04 9.99995127e-01 -2.10692235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.532414037 meters 0.07765079425030386 Centerline is valid? [True, True] Translation: X:84.20, Y:-5.58, Z:-2.11 [[ 9.99493833e-01 3.16601393e-02 3.11649190e-03 8.41988063e+01] [-3.16595432e-02 9.99498682e-01 -2.40437723e-04 -5.57857392e+00] [-3.12254184e-03 1.41649312e-04 9.99995115e-01 -2.10760354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.562414037 meters 0.07817138399999815 Centerline is valid? [True, True] Translation: X:84.23, Y:-5.59, Z:-2.11 [[ 9.99510861e-01 3.08674037e-02 5.02424430e-03 8.42259930e+01] [-3.08658503e-02 9.99523461e-01 -3.86440866e-04 -5.58648331e+00] [-5.03377848e-03 2.31174270e-04 9.99987304e-01 -2.10791156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.592414037 meters 0.0780814046608465 Centerline is valid? [True, True] Translation: X:84.25, Y:-5.59, Z:-2.11 [[ 9.99529904e-01 3.01063218e-02 5.79494378e-03 8.42547476e+01] [-3.01042500e-02 9.99546666e-01 -4.44426880e-04 -5.58907132e+00] [-5.80569679e-03 2.69765520e-04 9.99983110e-01 -2.10781584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62241403699998 meters 0.07868581064349581 Centerline is valid? [True, True] Translation: X:84.28, Y:-5.59, Z:-2.11 [[ 9.99545575e-01 2.95716969e-02 5.84456237e-03 8.42825089e+01] [-2.95695806e-02 9.99562624e-01 -4.48208790e-04 -5.59460311e+00] [-5.85526040e-03 2.75183855e-04 9.99982820e-01 -2.10935662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65241403699999 meters 0.07916195282698553 Centerline is valid? [True, True] Translation: X:84.31, Y:-5.60, Z:-2.11 [[ 9.99607553e-01 2.77134143e-02 4.08728649e-03 8.43117446e+01] [-2.77123674e-02 9.99615890e-01 -3.12555169e-04 -5.60088632e+00] [-4.09437849e-03 1.99164123e-04 9.99991598e-01 -2.11129349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68241403699999 meters 0.07925045748931761 Centerline is valid? [True, True] Translation: X:84.34, Y:-5.61, Z:-2.11 [[ 9.99623953e-01 2.71214877e-02 4.04703100e-03 8.43398559e+01] [-2.71204535e-02 9.99632125e-01 -3.10210476e-04 -5.60526780e+00] [-4.05395557e-03 2.00336506e-04 9.99991763e-01 -2.11294424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71241403699999 meters 0.07991334918004188 Centerline is valid? [True, True] Translation: X:84.37, Y:-5.61, Z:-2.11 [[ 9.99669150e-01 2.55027354e-02 3.34670370e-03 8.43677998e+01] [-2.55020189e-02 9.99674738e-01 -2.56618310e-04 -5.61289218e+00] [-3.35215961e-03 1.71185707e-04 9.99994367e-01 -2.11464706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74241403699999 meters 0.07991334918004188 Centerline is valid? [True, True] Translation: X:84.40, Y:-5.61, Z:-2.12 [[ 9.99671660e-01 2.54041807e-02 3.34665307e-03 8.43952239e+01] [-2.54034613e-02 9.99677247e-01 -2.57285289e-04 -5.61487462e+00] [-3.35210905e-03 1.72184240e-04 9.99994367e-01 -2.11546895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77241403699999 meters 0.0803565916040776 Centerline is valid? [True, True] Translation: X:84.42, Y:-5.62, Z:-2.12 [[ 9.99700146e-01 2.41305695e-02 4.16330568e-03 8.44234287e+01] [-2.41294535e-02 9.99708792e-01 -3.18088025e-04 -5.61974205e+00] [-4.16976894e-03 2.17534355e-04 9.99991283e-01 -2.11692230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80241403699999 meters 0.078885269769838 Centerline is valid? [True, True] Translation: X:84.45, Y:-5.62, Z:-2.11 [[ 9.99743639e-01 2.23027253e-02 3.90434944e-03 8.44532135e+01] [-2.23017336e-02 9.99751241e-01 -2.97362365e-04 -5.62027832e+00] [-3.91001019e-03 2.10212372e-04 9.99992334e-01 -2.11452256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83241403699999 meters 0.08176345573894638 Centerline is valid? [True, True] Translation: X:84.48, Y:-5.63, Z:-2.12 [[ 9.99758687e-01 2.16853025e-02 3.50923483e-03 8.44801424e+01] [-2.16844928e-02 9.99764828e-01 -2.68608843e-04 -5.63169376e+00] [-3.51423442e-03 1.92448047e-04 9.99993807e-01 -2.11970635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.862414037 meters 0.08199077108650037 Centerline is valid? [True, True] Translation: X:84.51, Y:-5.64, Z:-2.12 [[ 9.99766899e-01 2.12671558e-02 3.72227699e-03 8.45089333e+01] [-2.12662459e-02 9.99773808e-01 -2.83861670e-04 -5.63560840e+00] [-3.72747197e-03 2.04636644e-04 9.99993032e-01 -2.12060335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.892414037 meters 0.08282084320451094 Centerline is valid? [True, True] Translation: X:84.54, Y:-5.64, Z:-2.12 [[ 9.99798126e-01 1.98983110e-02 2.78661130e-03 8.45373955e+01] [-1.98977958e-02 9.99801997e-01 -2.12473021e-04 -5.64196870e+00] [-2.79028739e-03 1.56982706e-04 9.99996095e-01 -2.12276266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.922414037 meters 0.08033877305789675 Centerline is valid? [True, True] Translation: X:84.57, Y:-5.64, Z:-2.12 [[ 9.99802789e-01 1.96907362e-02 2.58032064e-03 8.45665807e+01] [-1.96902927e-02 9.99806108e-01 -1.97169067e-04 -5.63737531e+00] [-2.58370274e-03 1.46322914e-04 9.99996652e-01 -2.11986418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.952414037 meters 0.08088939260380425 Centerline is valid? [True, True] Translation: X:84.59, Y:-5.64, Z:-2.12 [[ 9.99808447e-01 1.93200777e-02 3.13101204e-03 8.45940416e+01] [-1.93194236e-02 9.99813334e-01 -2.39036383e-04 -5.64309795e+00] [-3.13504579e-03 1.78501247e-04 9.99995070e-01 -2.12078499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98241403699998 meters 0.08102932810074735 Centerline is valid? [True, True] Translation: X:84.62, Y:-5.65, Z:-2.12 [[ 9.99802688e-01 1.94176619e-02 4.18798743e-03 8.46231091e+01] [-1.94165011e-02 9.99811432e-01 -3.17644532e-04 -5.64700045e+00] [-4.19336563e-03 2.36265795e-04 9.99991180e-01 -2.12145440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01241403699999 meters 0.08080514045766328 Centerline is valid? [True, True] Translation: X:84.65, Y:-5.65, Z:-2.12 [[ 9.99809316e-01 1.90756564e-02 4.17752221e-03 8.46514945e+01] [-1.90744975e-02 9.99818015e-01 -3.17081211e-04 -5.64919079e+00] [-4.18281050e-03 2.37336612e-04 9.99991224e-01 -2.12174225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04241403699999 meters 0.08176291952522004 Centerline is valid? [True, True] Translation: X:84.68, Y:-5.65, Z:-2.12 [[ 9.99822171e-01 1.87732328e-02 1.78656074e-03 8.46791854e+01] [-1.87730211e-02 9.99823762e-01 -1.35226844e-04 -5.65451510e+00] [-1.78878452e-03 1.01663655e-04 9.99998395e-01 -2.12446778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07241403699999 meters 0.08149803863401653 Centerline is valid? [True, True] Translation: X:84.71, Y:-5.66, Z:-2.13 [[ 9.99840610e-01 1.78227619e-02 1.05085217e-03 8.47080129e+01] [-1.78226864e-02 9.99841160e-01 -8.11653521e-05 -5.65577254e+00] [-1.05213184e-03 6.24234065e-05 9.99999445e-01 -2.12562680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10241403699999 meters 0.08143978717144737 Centerline is valid? [True, True] Translation: X:84.74, Y:-5.66, Z:-2.13 [[ 9.99845223e-01 1.75748826e-02 8.08928371e-04 8.47364397e+01] [-1.75748375e-02 9.99845549e-01 -6.28994879e-05 -5.65781300e+00] [-8.09908882e-04 4.86729678e-05 9.99999671e-01 -2.12647255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13241403699999 meters 0.08246479592995805 Centerline is valid? [True, True] Translation: X:84.76, Y:-5.66, Z:-2.13 [[ 9.99874048e-01 1.58569303e-02 6.68013964e-04 8.47644365e+01] [-1.58568993e-02 9.99874270e-01 -5.17454134e-05 -5.66402624e+00] [-6.68750499e-04 4.11462658e-05 9.99999776e-01 -2.12853640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16241403699999 meters 0.08316558741120618 Centerline is valid? [True, True] Translation: X:84.79, Y:-5.67, Z:-2.13 [[ 9.99887983e-01 1.48181941e-02 2.10761914e-03 8.47921239e+01] [-1.48178880e-02 9.99890196e-01 -1.60822524e-04 -5.67000405e+00] [-2.10977082e-03 1.29574045e-04 9.99997766e-01 -2.12916160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19241403699999 meters 0.08182993883769435 Centerline is valid? [True, True] Translation: X:84.82, Y:-5.67, Z:-2.13 [[ 9.99897615e-01 1.38675769e-02 3.52847944e-03 8.48207974e+01] [-1.38667210e-02 9.99903817e-01 -2.66914659e-04 -5.66924627e+00] [-3.53184152e-03 2.17958891e-04 9.99993739e-01 -2.12710928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.222414037 meters 0.081677609877639 Centerline is valid? [True, True] Translation: X:84.85, Y:-5.67, Z:-2.13 [[ 9.99908695e-01 1.29484021e-02 3.86520387e-03 8.48497074e+01] [-1.29473700e-02 9.99916137e-01 -2.91932661e-04 -5.67203296e+00] [-3.86865979e-03 2.41861782e-04 9.99992487e-01 -2.12684014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.252414037 meters 0.0812443629146227 Centerline is valid? [True, True] Translation: X:84.88, Y:-5.67, Z:-2.13 [[ 9.99915604e-01 1.25177596e-02 3.47717591e-03 8.48788414e+01] [-1.25169234e-02 9.99921626e-01 -2.62159463e-04 -5.67327272e+00] [-3.48018504e-03 2.18613794e-04 9.99993920e-01 -2.12654991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.282414037 meters 0.08103156107749485 Centerline is valid? [True, True] Translation: X:84.91, Y:-5.68, Z:-2.13 [[ 9.99931323e-01 1.16537687e-02 1.24051758e-03 8.49079189e+01] [-1.16536605e-02 9.99932089e-01 -9.44176468e-05 -5.67561818e+00] [-1.24153366e-03 7.99545918e-05 9.99999226e-01 -2.12849454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.312414037 meters 0.08155983986060379 Centerline is valid? [True, True] Translation: X:84.94, Y:-5.68, Z:-2.13 [[ 9.99940283e-01 1.09204513e-02 -4.17588430e-04 8.49369169e+01] [-1.09204399e-02 9.99940370e-01 2.96861766e-05 -5.67993074e+00] [ 4.17887715e-04 -2.51241545e-05 9.99999912e-01 -2.13022100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.342414037 meters 0.08850163135898248 Centerline is valid? [True, True] Translation: X:84.96, Y:-5.70, Z:-2.14 [[ 9.99950100e-01 9.91531446e-03 -1.21818020e-03 8.49637496e+01] [-9.91521297e-03 9.99950839e-01 8.93225184e-05 -5.69964432e+00] [ 1.21900598e-03 -7.72395451e-05 9.99999254e-01 -2.13990354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37241403699998 meters 0.08148308793352843 Centerline is valid? [True, True] Translation: X:84.99, Y:-5.69, Z:-2.13 [[ 9.99947708e-01 1.01572678e-02 -1.18758085e-03 8.49943220e+01] [-1.01571721e-02 9.99948411e-01 8.66272387e-05 -5.68523231e+00] [ 1.18839948e-03 -7.45602458e-05 9.99999291e-01 -2.13300480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40241403699999 meters 0.08317390329257081 Centerline is valid? [True, True] Translation: X:85.02, Y:-5.69, Z:-2.14 [[ 9.99942684e-01 1.07060278e-02 -1.02418425e-04 8.50218720e+01] [-1.07060273e-02 9.99942689e-01 5.04088921e-06 -5.69217288e+00] [ 1.02466523e-04 -3.94410582e-06 9.99999995e-01 -2.13571648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43241403699999 meters 0.08205367263054668 Centerline is valid? [True, True] Translation: X:85.05, Y:-5.69, Z:-2.14 [[ 9.99921645e-01 1.24888348e-02 8.56284316e-04 8.50518923e+01] [-1.24887842e-02 9.99922010e-01 -6.43950468e-05 -5.69202986e+00] [-8.57021754e-04 5.36960511e-05 9.99999631e-01 -2.13536640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46241403699999 meters 0.08249370580724232 Centerline is valid? [True, True] Translation: X:85.08, Y:-5.69, Z:-2.14 [[ 9.99917483e-01 1.28274929e-02 6.94632389e-04 8.50794363e+01] [-1.28274583e-02 9.99917723e-01 -5.42921657e-05 -5.69474207e+00] [-6.95271669e-04 4.53773177e-05 9.99999757e-01 -2.13688245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49241403699999 meters 0.0805122706015678 Centerline is valid? [True, True] Translation: X:85.11, Y:-5.69, Z:-2.13 [[ 9.99908013e-01 1.34997013e-02 1.31313913e-03 8.51089620e+01] [-1.34995817e-02 9.99908872e-01 -9.98738219e-05 -5.69153013e+00] [-1.31436773e-03 8.21378058e-05 9.99999133e-01 -2.13482485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52241403699999 meters 0.08029995236972802 Centerline is valid? [True, True] Translation: X:85.14, Y:-5.69, Z:-2.13 [[ 9.99901416e-01 1.38094179e-02 2.54139544e-03 8.51379333e+01] [-1.38089765e-02 9.99904633e-01 -1.91141181e-04 -5.69352764e+00] [-2.54379262e-03 1.56028268e-04 9.99996752e-01 -2.13493557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55241403699999 meters 0.08154240621835189 Centerline is valid? [True, True] Translation: X:85.17, Y:-5.70, Z:-2.14 [[ 9.99907530e-01 1.33937860e-02 2.35320234e-03 8.51652809e+01] [-1.33934048e-02 9.99910289e-01 -1.77686195e-04 -5.69953458e+00] [-2.35537112e-03 1.46152373e-04 9.99997215e-01 -2.13739626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58241403699999 meters 0.08085810590762557 Centerline is valid? [True, True] Translation: X:85.19, Y:-5.70, Z:-2.14 [[ 9.99909382e-01 1.34082134e-02 1.20355085e-03 8.51945156e+01] [-1.34081131e-02 9.99910103e-01 -9.13990925e-05 -5.69862199e+00] [-1.20466815e-03 7.52534641e-05 9.99999272e-01 -2.13618614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.612414037 meters 0.08209596242681484 Centerline is valid? [True, True] Translation: X:85.22, Y:-5.70, Z:-2.14 [[ 9.99910915e-01 1.33415179e-02 -4.06580918e-04 8.52219879e+01] [-1.33415078e-02 9.99910998e-01 2.75613761e-05 -5.70416159e+00] [ 4.06912442e-04 -2.21345183e-05 9.99999917e-01 -2.14064496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.642414037 meters 0.0818890933327387 Centerline is valid? [True, True] Translation: X:85.25, Y:-5.71, Z:-2.14 [[ 9.99917993e-01 1.27781418e-02 -8.52072585e-04 8.52502995e+01] [-1.27780948e-02 9.99918355e-01 6.05466251e-05 -5.70602280e+00] [ 8.52776691e-04 -4.96537956e-05 9.99999635e-01 -2.14164014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.672414037 meters 0.08088711115984303 Centerline is valid? [True, True] Translation: X:85.28, Y:-5.71, Z:-2.14 [[ 9.99929536e-01 1.16783158e-02 -2.13092000e-03 8.52795490e+01] [-1.16780096e-02 9.99931798e-01 1.56095454e-04 -5.70614017e+00] [ 2.13259760e-03 -1.31199551e-04 9.99997717e-01 -2.14131004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.702414037 meters 0.08163911818935762 Centerline is valid? [True, True] Translation: X:85.31, Y:-5.71, Z:-2.14 [[ 9.99940423e-01 1.07981992e-02 -1.59671998e-03 8.53073774e+01] [-1.07980292e-02 9.99941693e-01 1.15061203e-04 -5.70971196e+00] [ 1.59786934e-03 -9.78129191e-05 9.99998719e-01 -2.14276235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73241403699998 meters 0.08173225856955293 Centerline is valid? [True, True] Translation: X:85.34, Y:-5.71, Z:-2.14 [[ 9.99941892e-01 1.06614211e-02 -1.59560158e-03 8.53360042e+01] [-1.06612500e-02 9.99943161e-01 1.15736798e-04 -5.71151121e+00] [ 1.59674480e-03 -9.87189657e-05 9.99998720e-01 -2.14296166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76241403699999 meters 0.08344706749926778 Centerline is valid? [True, True] Translation: X:85.36, Y:-5.72, Z:-2.15 [[ 9.99946924e-01 1.02343438e-02 -1.18607973e-03 8.53631822e+01] [-1.02342503e-02 9.99947625e-01 8.49072046e-05 -5.71748235e+00] [ 1.18688658e-03 -7.27640612e-05 9.99999293e-01 -2.14553664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79241403699999 meters 0.08355082557888675 Centerline is valid? [True, True] Translation: X:85.39, Y:-5.72, Z:-2.15 [[ 9.99948808e-01 1.00211860e-02 -1.39871551e-03 8.53920369e+01] [-1.00210545e-02 9.99949783e-01 1.01060245e-04 -5.72046252e+00] [ 1.39965802e-03 -8.70384677e-05 9.99999017e-01 -2.14670681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82241403699999 meters 0.08344873448146939 Centerline is valid? [True, True] Translation: X:85.42, Y:-5.72, Z:-2.15 [[ 9.99955288e-01 9.35089762e-03 -1.40834719e-03 8.54209587e+01] [-9.35076367e-03 9.99956275e-01 1.01666009e-04 -5.72277234e+00] [ 1.40923628e-03 -8.84923413e-05 9.99999003e-01 -2.14737227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85241403699999 meters 0.08415008947425986 Centerline is valid? [True, True] Translation: X:85.45, Y:-5.73, Z:-2.15 [[ 9.99970074e-01 7.64185274e-03 -1.20546243e-03 8.54506714e+01] [-7.64175255e-03 9.99970798e-01 8.76941750e-05 -5.72712619e+00] [ 1.20609737e-03 -7.84797051e-05 9.99999270e-01 -2.14881724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88241403699999 meters 0.08242219021042209 Centerline is valid? [True, True] Translation: X:85.48, Y:-5.72, Z:-2.15 [[ 9.99975278e-01 6.94239606e-03 -1.11676625e-03 8.54796776e+01] [-6.94231100e-03 9.99975899e-01 8.00258245e-05 -5.72496380e+00] [ 1.11729490e-03 -7.22709074e-05 9.99999373e-01 -2.14688723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91241403699999 meters 0.08245833610261054 Centerline is valid? [True, True] Translation: X:85.51, Y:-5.73, Z:-2.15 [[ 9.99982664e-01 5.67974531e-03 -1.55303765e-03 8.55090771e+01] [-5.67957654e-03 9.99983865e-01 1.13061168e-04 -5.72722003e+00] [ 1.55365475e-03 -1.04238611e-04 9.99998788e-01 -2.14741613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94241403699999 meters 0.08626183814174064 Centerline is valid? [True, True] Translation: X:85.54, Y:-5.74, Z:-2.15 [[ 9.99992491e-01 3.08871839e-03 -2.34038128e-03 8.55375450e+01] [-3.08832700e-03 9.99995217e-01 1.70829741e-04 -5.73935694e+00] [ 2.34089773e-03 -1.63600596e-04 9.99997247e-01 -2.15219975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.972414037 meters 0.0842573169458575 Centerline is valid? [True, True] Translation: X:85.57, Y:-5.74, Z:-2.15 [[ 9.99992086e-01 1.84777282e-03 -3.52332181e-03 8.55669197e+01] [-1.84687871e-03 9.99998261e-01 2.57006469e-04 -5.73762391e+00] [ 3.52379057e-03 -2.50497287e-04 9.99993760e-01 -2.15064199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.002414037 meters 0.08364726322614349 Centerline is valid? [True, True] Translation: X:85.60, Y:-5.74, Z:-2.15 [[ 9.99993200e-01 7.04634228e-04 -3.61986820e-03 8.55964620e+01] [-7.03681500e-04 9.99999717e-01 2.64461141e-04 -5.73857680e+00] [ 3.62005353e-03 -2.61912108e-04 9.99993413e-01 -2.15036431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.032414037 meters 0.08400216772069688 Centerline is valid? [True, True] Translation: X:85.62, Y:-5.74, Z:-2.15 [[ 9.99993681e-01 -2.39152540e-04 -3.54691888e-03 8.56248514e+01] [ 2.40068550e-04 9.99999938e-01 2.57831499e-04 -5.74136061e+00] [ 3.54685700e-03 -2.58681373e-04 9.99993676e-01 -2.15110522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.062414037 meters 0.08495392174176386 Centerline is valid? [True, True] Translation: X:85.65, Y:-5.75, Z:-2.15 [[ 9.99991774e-01 -1.97230858e-04 -4.05119999e-03 8.56534035e+01] [ 1.98427994e-04 9.99999937e-01 2.95101694e-04 -5.74502865e+00] [ 4.05114153e-03 -2.95903138e-04 9.99991750e-01 -2.15345113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.092414037 meters 0.08572719307497861 Centerline is valid? [True, True] Translation: X:85.68, Y:-5.75, Z:-2.16 [[ 9.99985049e-01 1.57492795e-03 -5.23647784e-03 8.56814782e+01] [-1.57295090e-03 9.99998690e-01 3.81649671e-04 -5.74847893e+00] [ 5.23707205e-03 -3.73407243e-04 9.99986217e-01 -2.15675156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12241403699998 meters 0.08497132548312364 Centerline is valid? [True, True] Translation: X:85.71, Y:-5.75, Z:-2.16 [[ 9.99985305e-01 2.61959456e-03 -4.74633368e-03 8.57107956e+01] [-2.61801143e-03 9.99996515e-01 3.39730817e-04 -5.74827071e+00] [ 4.74720709e-03 -3.27299869e-04 9.99988678e-01 -2.15715461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15241403699999 meters 0.08368560833290777 Centerline is valid? [True, True] Translation: X:85.74, Y:-5.75, Z:-2.16 [[ 9.99982785e-01 4.26132944e-03 -4.03382727e-03 8.57409276e+01] [-4.26017918e-03 9.99990882e-01 2.93703217e-04 -5.74679671e+00] [ 4.03504206e-03 -2.76513333e-04 9.99991821e-01 -2.15613867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18241403699999 meters 0.08316240441602431 Centerline is valid? [True, True] Translation: X:85.77, Y:-5.75, Z:-2.16 [[ 9.99963061e-01 8.24601131e-03 -2.42484579e-03 8.57702834e+01] [-8.24560814e-03 9.99965989e-01 1.76219533e-04 -5.74557174e+00] [ 2.42621643e-03 -1.56218695e-04 9.99997045e-01 -2.15596601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21241403699999 meters 0.081462529841496 Centerline is valid? [True, True] Translation: X:85.80, Y:-5.74, Z:-2.15 [[ 9.99935536e-01 1.09826233e-02 -2.88199218e-03 8.58000751e+01] [-1.09820663e-02 9.99939673e-01 2.09015610e-04 -5.74260318e+00] [ 2.88411386e-03 -1.77351907e-04 9.99995825e-01 -2.15466533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24241403699999 meters 0.0815231832796386 Centerline is valid? [True, True] Translation: X:85.83, Y:-5.74, Z:-2.16 [[ 9.99900784e-01 1.37565366e-02 -3.02992411e-03 8.58285650e+01] [-1.37559355e-02 9.99905359e-01 2.19137133e-04 -5.74355638e+00] [ 3.03265192e-03 -1.77435951e-04 9.99995386e-01 -2.15677468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27241403699999 meters 0.08111112261056218 Centerline is valid? [True, True] Translation: X:85.86, Y:-5.74, Z:-2.16 [[ 9.99853503e-01 1.67662937e-02 -3.44452419e-03 8.58572786e+01] [-1.67655344e-02 9.99859417e-01 2.49187318e-04 -5.74444279e+00] [ 3.44821790e-03 -1.91401524e-04 9.99994037e-01 -2.15879570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30241403699999 meters 0.07887591548230134 Centerline is valid? [True, True] Translation: X:85.89, Y:-5.74, Z:-2.16 [[ 9.99736444e-01 2.27585437e-02 -3.01509731e-03 8.58883440e+01] [-2.27579854e-02 9.99740979e-01 2.19335041e-04 -5.73923450e+00] [ 3.01930809e-03 -1.50659693e-04 9.99995431e-01 -2.15738814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33241403699999 meters 0.07793088817742826 Centerline is valid? [True, True] Translation: X:85.92, Y:-5.74, Z:-2.16 [[ 9.99662596e-01 2.58977544e-02 -2.00010850e-03 8.59184032e+01] [-2.58975160e-02 9.99664593e-01 1.45001036e-04 -5.73779164e+00] [ 2.00319285e-03 -9.31542703e-05 9.99997989e-01 -2.15680831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.362414037 meters 0.0773817573613783 Centerline is valid? [True, True] Translation: X:85.95, Y:-5.74, Z:-2.16 [[ 9.99496151e-01 3.16957432e-02 -1.68036279e-03 8.59492887e+01] [-3.16955826e-02 9.99497561e-01 1.22149623e-04 -5.73631717e+00] [ 1.68339013e-03 -6.88280002e-05 9.99998581e-01 -2.15761367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.392414037 meters 0.077102653415069 Centerline is valid? [True, True] Translation: X:85.98, Y:-5.74, Z:-2.16 [[ 9.99407018e-01 3.43790000e-02 -1.92268045e-03 8.59770294e+01] [-3.43787997e-02 9.99408865e-01 1.37138989e-04 -5.73707367e+00] [ 1.92625859e-03 -7.09582223e-05 9.99998142e-01 -2.15926984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.422414037 meters 0.07669822462133341 Centerline is valid? [True, True] Translation: X:86.01, Y:-5.74, Z:-2.16 [[ 9.99320163e-01 3.67843192e-02 -2.47510565e-03 8.60058436e+01] [-3.67839920e-02 9.99323224e-01 1.77620726e-04 -5.73691907e+00] [ 2.47996421e-03 -8.64557070e-05 9.99996921e-01 -2.15955315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.452414037 meters 0.07676548462216362 Centerline is valid? [True, True] Translation: X:86.03, Y:-5.74, Z:-2.16 [[ 9.99250570e-01 3.85876656e-02 -3.04807091e-03 8.60334333e+01] [-3.85871785e-02 9.99255214e-01 2.18457362e-04 -5.73911915e+00] [ 3.05423051e-03 -1.00677187e-04 9.99995331e-01 -2.16189929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48241403699998 meters 0.07662839023549249 Centerline is valid? [True, True] Translation: X:86.06, Y:-5.74, Z:-2.16 [[ 9.99195783e-01 3.98904799e-02 -4.06648022e-03 8.60618294e+01] [-3.98896192e-02 9.99204050e-01 2.92574384e-04 -5.74140492e+00] [ 4.07491444e-03 -1.30128743e-04 9.99991689e-01 -2.16330254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51241403699999 meters 0.07637872241956373 Centerline is valid? [True, True] Translation: X:86.09, Y:-5.74, Z:-2.16 [[ 9.99179881e-01 4.02659165e-02 -4.26858091e-03 8.60903966e+01] [-4.02649726e-02 9.99188990e-01 3.06889274e-04 -5.74290939e+00] [ 4.27747623e-03 -1.34763295e-04 9.99990842e-01 -2.16354926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54241403699999 meters 0.0761482970648604 Centerline is valid? [True, True] Translation: X:86.12, Y:-5.75, Z:-2.16 [[ 9.99212125e-01 3.94115207e-02 -4.67568681e-03 8.61190940e+01] [-3.94103795e-02 9.99223053e-01 3.35984512e-04 -5.74685175e+00] [ 4.68529571e-03 -1.51449207e-04 9.99989012e-01 -2.16314355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57241403699999 meters 0.07708673934148552 Centerline is valid? [True, True] Translation: X:86.15, Y:-5.76, Z:-2.17 [[ 9.99263176e-01 3.81692296e-02 -4.02669395e-03 8.61457729e+01] [-3.81683834e-02 9.99271281e-01 2.86818213e-04 -5.75504590e+00] [ 4.03470725e-03 -1.32914480e-04 9.99991852e-01 -2.16816498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60241403699999 meters 0.07741550637584321 Centerline is valid? [True, True] Translation: X:86.17, Y:-5.76, Z:-2.17 [[ 9.99326696e-01 3.65469156e-02 -3.23688000e-03 8.61745238e+01] [-3.65463574e-02 9.99331932e-01 2.31446754e-04 -5.76070775e+00] [ 3.24317621e-03 -1.12994746e-04 9.99994735e-01 -2.16926021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63241403699999 meters 0.07754546824762898 Centerline is valid? [True, True] Translation: X:86.20, Y:-5.77, Z:-2.17 [[ 9.99398017e-01 3.46374913e-02 -1.96168639e-03 8.62032588e+01] [-3.46372844e-02 9.99399940e-01 1.39355915e-04 -5.76593732e+00] [ 1.96533620e-03 -7.13245361e-05 9.99998066e-01 -2.16980033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66241403699999 meters 0.07754546824762898 Centerline is valid? [True, True] Translation: X:86.23, Y:-5.77, Z:-2.17 [[ 9.99401433e-01 3.45387917e-02 -1.96177058e-03 8.62306807e+01] [-3.45385869e-02 9.99403355e-01 1.38185174e-04 -5.76780957e+00] [ 1.96537285e-03 -7.03456776e-05 9.99998066e-01 -2.17062190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69241403699999 meters 0.07707877964747419 Centerline is valid? [True, True] Translation: X:86.26, Y:-5.77, Z:-2.17 [[ 9.99568035e-01 2.93379249e-02 -1.74031370e-03 8.62602221e+01] [-2.93377523e-02 9.99569548e-01 1.24656968e-04 -5.77292112e+00] [ 1.74322175e-03 -7.35462285e-05 9.99998478e-01 -2.16736378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.722414037 meters 0.07749797572384078 Centerline is valid? [True, True] Translation: X:86.29, Y:-5.78, Z:-2.17 [[ 9.99650411e-01 2.64082811e-02 -1.28817496e-03 8.62893413e+01] [-2.64081850e-02 9.99651239e-01 9.15729071e-05 -5.77883760e+00] [ 1.29014398e-03 -5.75225314e-05 9.99999166e-01 -2.16836617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.752414037 meters 0.07787077194150087 Centerline is valid? [True, True] Translation: X:86.32, Y:-5.78, Z:-2.17 [[ 9.99714082e-01 2.39074729e-02 -4.33289541e-04 8.63181226e+01] [-2.39074626e-02 9.99714175e-01 2.90358516e-05 -5.78408027e+00] [ 4.33859870e-04 -1.86686962e-05 9.99999906e-01 -2.16871671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.782414037 meters 0.0797384881222119 Centerline is valid? [True, True] Translation: X:86.35, Y:-5.79, Z:-2.17 [[ 9.99775117e-01 2.11928575e-02 -7.60315438e-04 8.63455257e+01] [-2.11928236e-02 9.99775406e-01 5.25873481e-05 -5.79395381e+00] [ 7.61259151e-04 -3.64622912e-05 9.99999710e-01 -2.17255031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.812414037 meters 0.07885637474962848 Centerline is valid? [True, True] Translation: X:86.37, Y:-5.80, Z:-2.17 [[ 9.99819660e-01 1.89859193e-02 -4.26983124e-04 8.63748364e+01] [-1.89859086e-02 9.99819751e-01 2.90663726e-05 -5.79529245e+00] [ 4.27458012e-04 -2.09544682e-05 9.99999908e-01 -2.17099113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.842414037 meters 0.07999428787884191 Centerline is valid? [True, True] Translation: X:86.40, Y:-5.80, Z:-2.17 [[ 9.99897223e-01 1.43108142e-02 -8.62616815e-04 8.64045862e+01] [-1.43107662e-02 9.99897594e-01 6.17909410e-05 -5.80469941e+00] [ 8.63412757e-04 -4.94398827e-05 9.99999626e-01 -2.17224496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87241403699998 meters 0.07998173850273398 Centerline is valid? [True, True] Translation: X:86.43, Y:-5.81, Z:-2.17 [[ 9.99932299e-01 1.16030736e-02 -8.75173496e-04 8.64339721e+01] [-1.16030240e-02 9.99932681e-01 6.16967882e-05 -5.80875138e+00] [ 8.75830452e-04 -5.15379522e-05 9.99999615e-01 -2.17223953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90241403699999 meters 0.08092876112421381 Centerline is valid? [True, True] Translation: X:86.46, Y:-5.82, Z:-2.17 [[ 9.99961159e-01 8.72703568e-03 -1.23243965e-03 8.64629045e+01] [-8.72693475e-03 9.99961916e-01 8.72477576e-05 -5.81511624e+00] [ 1.23315413e-03 -7.64889484e-05 9.99999237e-01 -2.17417027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93241403699999 meters 0.08097158462700804 Centerline is valid? [True, True] Translation: X:86.49, Y:-5.82, Z:-2.17 [[ 9.99978507e-01 6.14852346e-03 -2.27608912e-03 8.64924504e+01] [-6.14816949e-03 9.99981087e-01 1.62479123e-04 -5.81898033e+00] [ 2.27704508e-03 -1.48481849e-04 9.99997397e-01 -2.17474173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96241403699999 meters 0.08232605128319642 Centerline is valid? [True, True] Translation: X:86.52, Y:-5.83, Z:-2.18 [[ 9.99989670e-01 3.88507371e-03 -2.35929478e-03 8.65210701e+01] [-3.88468602e-03 9.99992440e-01 1.68884972e-04 -5.82619862e+00] [ 2.35993308e-03 -1.59718108e-04 9.99997203e-01 -2.17771964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99241403699999 meters 0.08397750787801274 Centerline is valid? [True, True] Translation: X:86.55, Y:-5.83, Z:-2.18 [[ 9.99996855e-01 -9.45978331e-04 -2.32268990e-03 8.65512491e+01] [ 9.46367272e-04 9.99999538e-01 1.66359482e-04 -5.83408626e+00] [ 2.32253145e-03 -1.68557076e-04 9.99997289e-01 -2.17942468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02241403699999 meters 0.08402556454552393 Centerline is valid? [True, True] Translation: X:86.58, Y:-5.84, Z:-2.18 [[ 9.99996259e-01 -2.11923903e-03 -1.72950068e-03 8.65810465e+01] [ 2.11945451e-03 9.99997746e-01 1.22767116e-04 -5.83787792e+00] [ 1.72923660e-03 -1.26432255e-04 9.99998497e-01 -2.17966263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05241403699999 meters 0.0846318374205653 Centerline is valid? [True, True] Translation: X:86.61, Y:-5.84, Z:-2.18 [[ 9.99989946e-01 -4.25995504e-03 -1.40002002e-03 8.66107846e+01] [ 4.26009874e-03 9.99990921e-01 9.96739667e-05 -5.84297433e+00] [ 1.39958270e-03 -1.05637188e-04 9.99999015e-01 -2.17955299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08241403699999 meters 0.08357906706748139 Centerline is valid? [True, True] Translation: X:86.64, Y:-5.85, Z:-2.18 [[ 9.99978886e-01 -6.44596718e-03 8.22389333e-04 8.66415801e+01] [ 6.44601733e-03 9.99979223e-01 -5.83397254e-05 -5.84608830e+00] [-8.21996189e-04 6.36396295e-05 9.99999660e-01 -2.17706222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.112414037 meters 0.08711809437297414 Centerline is valid? [True, True] Translation: X:86.67, Y:-5.86, Z:-2.18 [[ 9.99965791e-01 -8.25438798e-03 5.31125643e-04 8.66712258e+01] [ 8.25440906e-03 9.99965931e-01 -3.75050789e-05 -5.85636865e+00] [-5.30797967e-04 4.18879242e-05 9.99999858e-01 -2.18059191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.142414037 meters 0.08750314783145687 Centerline is valid? [True, True] Translation: X:86.70, Y:-5.86, Z:-2.18 [[ 9.99962924e-01 -8.61034409e-03 -1.13244654e-04 8.67029557e+01] [ 8.61034529e-03 9.99962930e-01 1.01301361e-05 -5.86029127e+00] [ 1.13153232e-04 -1.11048361e-05 9.99999994e-01 -2.18175328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.172414037 meters 0.08793267048522489 Centerline is valid? [True, True] Translation: X:86.73, Y:-5.86, Z:-2.18 [[ 9.99942806e-01 -1.02414606e-02 -3.08187104e-03 8.67331068e+01] [ 1.02421901e-02 9.99947523e-01 2.21023849e-04 -5.86269379e+00] [ 3.07944571e-03 -2.52576316e-04 9.99995227e-01 -2.18408134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.202414037 meters 0.08837013995092849 Centerline is valid? [True, True] Translation: X:86.76, Y:-5.87, Z:-2.19 [[ 9.99940777e-01 -1.04044025e-02 -3.19219839e-03 8.67643993e+01] [ 1.04051891e-02 9.99945838e-01 2.29895675e-04 -5.86621623e+00] [ 3.18963357e-03 -2.63097487e-04 9.99994878e-01 -2.18586215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23241403699998 meters 0.08569089274872137 Centerline is valid? [True, True] Translation: X:86.80, Y:-5.86, Z:-2.18 [[ 9.99928423e-01 -1.14783767e-02 -3.37580028e-03 8.67961895e+01] [ 1.14792628e-02 9.99934082e-01 2.43221452e-04 -5.86244264e+00] [ 3.37278596e-03 -2.81955741e-04 9.99994272e-01 -2.18482365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26241403699999 meters 0.0872523390814069 Centerline is valid? [True, True] Translation: X:86.83, Y:-5.87, Z:-2.19 [[ 9.99924697e-01 -1.18583684e-02 -3.15908639e-03 8.68269437e+01] [ 1.18591487e-02 9.99929652e-01 2.28356394e-04 -5.86835433e+00] [ 3.15615622e-03 -2.65803274e-04 9.99994984e-01 -2.18748194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29241403699999 meters 0.08793458493206809 Centerline is valid? [True, True] Translation: X:86.86, Y:-5.87, Z:-2.19 [[ 9.99914823e-01 -1.25719741e-02 -3.50607058e-03 8.68576486e+01] [ 1.25729354e-02 9.99920926e-01 2.52274065e-04 -5.87143336e+00] [ 3.50262176e-03 -2.96334176e-04 9.99993822e-01 -2.18904296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32241403699999 meters 0.0862762704534397 Centerline is valid? [True, True] Translation: X:86.89, Y:-5.87, Z:-2.19 [[ 9.99896827e-01 -1.37740285e-02 -4.07567461e-03 8.68890758e+01] [ 1.37753375e-02 9.99905073e-01 2.93264915e-04 -5.86685129e+00] [ 4.07124828e-03 -3.49378451e-04 9.99991651e-01 -2.18860114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35241403699999 meters 0.08994636568341273 Centerline is valid? [True, True] Translation: X:86.92, Y:-5.88, Z:-2.19 [[ 9.99889317e-01 -1.42886286e-02 -4.14600195e-03 8.69192154e+01] [ 1.42899927e-02 9.99897848e-01 2.99580063e-04 -5.87582689e+00] [ 4.14129784e-03 -3.58793242e-04 9.99991360e-01 -2.19249704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38241403699999 meters 0.0864924535881068 Centerline is valid? [True, True] Translation: X:86.95, Y:-5.87, Z:-2.19 [[ 9.99881543e-01 -1.47160808e-02 -4.50956725e-03 8.69508461e+01] [ 1.47176967e-02 9.99891636e-01 3.25350989e-04 -5.86918393e+00] [ 4.50429068e-03 -3.91682892e-04 9.99989779e-01 -2.18992002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41241403699999 meters 0.08912350714197252 Centerline is valid? [True, True] Translation: X:86.98, Y:-5.87, Z:-2.19 [[ 9.99873608e-01 -1.54628133e-02 -3.69713129e-03 8.69818502e+01] [ 1.54639078e-02 9.99880391e-01 2.67638089e-04 -5.87467812e+00] [ 3.69255064e-03 -3.24776359e-04 9.99993130e-01 -2.19293738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44241403699999 meters 0.08609057823278965 Centerline is valid? [True, True] Translation: X:87.01, Y:-5.87, Z:-2.19 [[ 9.99859937e-01 -1.62830167e-02 -3.86895276e-03 8.70138831e+01] [ 1.62842197e-02 9.99867364e-01 2.79637911e-04 -5.86859202e+00] [ 3.86388625e-03 -3.42601621e-04 9.99992476e-01 -2.19111588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.472414037 meters 0.08761358351658571 Centerline is valid? [True, True] Translation: X:87.04, Y:-5.87, Z:-2.19 [[ 9.99837862e-01 -1.75552033e-02 -4.00797611e-03 8.70439257e+01] [ 1.75565050e-02 9.99845831e-01 2.89815520e-04 -5.87251509e+00] [ 4.00227043e-03 -3.60134582e-04 9.99991926e-01 -2.19325522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.502414037 meters 0.0910938523978948 Centerline is valid? [True, True] Translation: X:87.07, Y:-5.88, Z:-2.20 [[ 9.99829122e-01 -1.83448606e-02 -2.27883536e-03 8.70743586e+01] [ 1.83452859e-02 9.99831697e-01 1.65850902e-04 -5.87845480e+00] [ 2.27540931e-03 -2.07628448e-04 9.99997390e-01 -2.19566191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.532414037 meters 0.0913509055854023 Centerline is valid? [True, True] Translation: X:87.11, Y:-5.88, Z:-2.20 [[ 9.99823440e-01 -1.86166095e-02 -2.55162603e-03 8.71064930e+01] [ 1.86171447e-02 9.99826669e-01 1.86141762e-04 -5.87920096e+00] [ 2.54771842e-03 -2.33612888e-04 9.99996727e-01 -2.19686066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.562414037 meters 0.08932717330097684 Centerline is valid? [True, True] Translation: X:87.14, Y:-5.88, Z:-2.20 [[ 9.99831033e-01 -1.81537265e-02 -2.88909600e-03 8.71394939e+01] [ 1.81544122e-02 9.99835173e-01 2.11299435e-04 -5.87608057e+00] [ 2.88478393e-03 -2.63713572e-04 9.99995804e-01 -2.19677025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.592414037 meters 0.08739454843353896 Centerline is valid? [True, True] Translation: X:87.17, Y:-5.87, Z:-2.20 [[ 9.99832097e-01 -1.80803919e-02 -2.97935804e-03 8.71719538e+01] [ 1.80811198e-02 9.99836500e-01 2.17574237e-04 -5.87212716e+00] [ 2.97493709e-03 -2.71407836e-04 9.99995538e-01 -2.19593383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62241403699998 meters 0.08813160096576576 Centerline is valid? [True, True] Translation: X:87.20, Y:-5.87, Z:-2.20 [[ 9.99868560e-01 -1.60020141e-02 -2.60720707e-03 8.72016216e+01] [ 1.60025597e-02 9.99871933e-01 1.88545372e-04 -5.87280297e+00] [ 2.60385607e-03 -2.30242576e-04 9.99996583e-01 -2.19713545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65241403699999 meters 0.086264744077184 Centerline is valid? [True, True] Translation: X:87.23, Y:-5.87, Z:-2.20 [[ 9.99891416e-01 -1.45875449e-02 -2.08803617e-03 8.72334876e+01] [ 1.45878942e-02 9.99893579e-01 1.52134437e-04 -5.86846006e+00] [ 2.08559469e-03 -1.82577968e-04 9.99997808e-01 -2.19587799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68241403699999 meters 0.0881372299299648 Centerline is valid? [True, True] Translation: X:87.26, Y:-5.87, Z:-2.20 [[ 9.99908948e-01 -1.33219653e-02 -2.14967614e-03 8.72636132e+01] [ 1.33223315e-02 9.99911242e-01 1.56102627e-04 -5.87238813e+00] [ 2.14740574e-03 -1.84727112e-04 9.99997677e-01 -2.19793460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71241403699999 meters 0.08708312982425283 Centerline is valid? [True, True] Translation: X:87.30, Y:-5.87, Z:-2.20 [[ 9.99925618e-01 -1.19771842e-02 -2.30340720e-03 8.72950697e+01] [ 1.19776024e-02 9.99928252e-01 1.67817267e-04 -5.87016317e+00] [ 2.30123196e-03 -1.95394080e-04 9.99997333e-01 -2.19827663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74241403699999 meters 0.08821390867335495 Centerline is valid? [True, True] Translation: X:87.32, Y:-5.87, Z:-2.20 [[ 9.99948191e-01 -9.96142313e-03 -2.09434535e-03 8.73247101e+01] [ 9.96176244e-03 9.99950369e-01 1.51641662e-04 -5.87167831e+00] [ 2.09273083e-03 -1.72497177e-04 9.99997795e-01 -2.20108399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77241403699999 meters 0.08712901261610795 Centerline is valid? [True, True] Translation: X:87.36, Y:-5.87, Z:-2.20 [[ 9.99947223e-01 -9.94600366e-03 -2.57441264e-03 8.73571954e+01] [ 9.94652202e-03 9.99950514e-01 1.88628018e-04 -5.87024693e+00] [ 2.57240915e-03 -2.14224514e-04 9.99996668e-01 -2.20156207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80241403699999 meters 0.08738684985800273 Centerline is valid? [True, True] Translation: X:87.39, Y:-5.87, Z:-2.20 [[ 9.99948759e-01 -9.76996459e-03 -2.65078659e-03 8.73881670e+01] [ 9.77051089e-03 9.99952249e-01 1.93220256e-04 -5.87237838e+00] [ 2.64877225e-03 -2.19109895e-04 9.99996468e-01 -2.20387662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83241403699999 meters 0.08500600998223551 Centerline is valid? [True, True] Translation: X:87.42, Y:-5.87, Z:-2.20 [[ 9.99946670e-01 -9.87428897e-03 -3.02595890e-03 8.74202857e+01] [ 9.87500311e-03 9.99951217e-01 2.21152564e-04 -5.86750434e+00] [ 3.02362756e-03 -2.51022123e-04 9.99995397e-01 -2.20373848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.862414037 meters 0.0866520632155944 Centerline is valid? [True, True] Translation: X:87.45, Y:-5.87, Z:-2.21 [[ 9.99941878e-01 -1.03623271e-02 -2.97705425e-03 8.74511321e+01] [ 1.03630260e-02 9.99946278e-01 2.19447766e-04 -5.87197988e+00] [ 2.97462033e-03 -2.50286302e-04 9.99995544e-01 -2.20579600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.892414037 meters 0.08732443686797228 Centerline is valid? [True, True] Translation: X:87.48, Y:-5.87, Z:-2.21 [[ 9.99946447e-01 -1.01835956e-02 -1.84302648e-03 8.74809302e+01] [ 1.01838635e-02 9.99948134e-01 1.36077252e-04 -5.87473221e+00] [ 1.84154514e-03 -1.54839095e-04 9.99998292e-01 -2.20683583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.922414037 meters 0.08812965736163345 Centerline is valid? [True, True] Translation: X:87.51, Y:-5.88, Z:-2.21 [[ 9.99947391e-01 -1.01730941e-02 -1.31314002e-03 8.75118351e+01] [ 1.01732303e-02 9.99948247e-01 9.71016799e-05 -5.87607685e+00] [ 1.31208423e-03 -1.10455447e-04 9.99999133e-01 -2.20678458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.952414037 meters 0.08885129352995118 Centerline is valid? [True, True] Translation: X:87.54, Y:-5.88, Z:-2.21 [[ 9.99952236e-01 -9.73175585e-03 -9.04462905e-04 8.75430668e+01] [ 9.73182275e-03 9.99952642e-01 6.95897684e-05 -5.87847507e+00] [ 9.03742841e-04 -7.83885172e-05 9.99999589e-01 -2.20770546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98241403699998 meters 0.08923076176829048 Centerline is valid? [True, True] Translation: X:87.57, Y:-5.88, Z:-2.21 [[ 9.99957478e-01 -9.18913917e-03 -7.75693329e-04 8.75740020e+01] [ 9.18918657e-03 9.99957777e-01 5.75661262e-05 -5.88038487e+00] [ 7.75131593e-04 -6.46916691e-05 9.99999697e-01 -2.20838606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01241403699999 meters 0.08837054685738248 Centerline is valid? [True, True] Translation: X:87.61, Y:-5.88, Z:-2.21 [[ 9.99955412e-01 -9.31544117e-03 -1.54832539e-03 8.76060822e+01] [ 9.31563039e-03 9.99956602e-01 1.15041672e-04 -5.87982051e+00] [ 1.54718653e-03 -1.29460169e-04 9.99998795e-01 -2.20965426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04241403699999 meters 0.08815769423192504 Centerline is valid? [True, True] Translation: X:87.64, Y:-5.88, Z:-2.21 [[ 9.99950494e-01 -9.53307841e-03 -2.85118742e-03 8.76382698e+01] [ 9.53371672e-03 9.99954531e-01 2.10367262e-04 -5.88022425e+00] [ 2.84905233e-03 -2.37539261e-04 9.99995913e-01 -2.21064030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07241403699999 meters 0.0888240209473373 Centerline is valid? [True, True] Translation: X:87.67, Y:-5.88, Z:-2.21 [[ 9.99953246e-01 -9.39397024e-03 -2.29329198e-03 8.76695173e+01] [ 9.39438283e-03 9.99955857e-01 1.69201802e-04 -5.88126455e+00] [ 2.29160127e-03 -1.90737953e-04 9.99997356e-01 -2.21267896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10241403699999 meters 0.08820123978202075 Centerline is valid? [True, True] Translation: X:87.70, Y:-5.88, Z:-2.21 [[ 9.99948197e-01 -9.99537595e-03 -1.92258902e-03 8.77021412e+01] [ 9.99566873e-03 9.99950032e-01 1.42735237e-04 -5.88115942e+00] [ 1.92106626e-03 -1.61945406e-04 9.99998142e-01 -2.21230629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13241403699999 meters 0.08856658248790775 Centerline is valid? [True, True] Translation: X:87.73, Y:-5.88, Z:-2.21 [[ 9.99941920e-01 -1.06035212e-02 -1.92898471e-03 8.77345988e+01] [ 1.06038173e-02 9.99943768e-01 1.43332153e-04 -5.88143499e+00] [ 1.92735641e-03 -1.63778430e-04 9.99998129e-01 -2.21303313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16241403699999 meters 0.0892905469729815 Centerline is valid? [True, True] Translation: X:87.77, Y:-5.88, Z:-2.21 [[ 9.99936440e-01 -1.10389822e-02 -2.29272326e-03 8.77660840e+01] [ 1.10393999e-02 9.99939050e-01 1.69585280e-04 -5.88379810e+00] [ 2.29071147e-03 -1.94884790e-04 9.99997357e-01 -2.21494690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19241403699999 meters 0.0864645867684194 Centerline is valid? [True, True] Translation: X:87.80, Y:-5.88, Z:-2.21 [[ 9.99934317e-01 -1.13668684e-02 -1.46855544e-03 8.77990084e+01] [ 1.13670419e-02 9.99935387e-01 1.09843619e-04 -5.87919146e+00] [ 1.46721198e-03 -1.26529536e-04 9.99998916e-01 -2.21437546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.222414037 meters 0.08618924382106909 Centerline is valid? [True, True] Translation: X:87.83, Y:-5.88, Z:-2.21 [[ 9.99921608e-01 -1.23960908e-02 -1.76489636e-03 8.78315277e+01] [ 1.23963424e-02 9.99923154e-01 1.31731261e-04 -5.87988329e+00] [ 1.76312778e-03 -1.53599194e-04 9.99998434e-01 -2.21453395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.252414037 meters 0.09122180159855708 Centerline is valid? [True, True] Translation: X:87.86, Y:-5.89, Z:-2.22 [[ 9.99885595e-01 -1.51094430e-02 -7.08173693e-04 8.78612018e+01] [ 1.51094840e-02 9.99885844e-01 5.25473152e-05 -5.89086153e+00] [ 7.07298890e-04 -6.32414426e-05 9.99999748e-01 -2.21858514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.282414037 meters 0.08924790631164956 Centerline is valid? [True, True] Translation: X:87.89, Y:-5.89, Z:-2.22 [[ 9.99861907e-01 -1.66180285e-02 -9.44426796e-05 8.78922655e+01] [ 1.66180294e-02 9.99861911e-01 8.46430163e-06 -5.88825706e+00] [ 9.42889781e-05 -1.00325840e-05 9.99999996e-01 -2.21758907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.312414037 meters 0.0922767633335907 Centerline is valid? [True, True] Translation: X:87.92, Y:-5.90, Z:-2.22 [[ 9.99842390e-01 -1.77122980e-02 1.21211004e-03 8.79231584e+01] [ 1.77124172e-02 9.99843119e-01 -8.76488080e-05 -5.89598988e+00] [-1.21036742e-03 1.09104392e-04 9.99999262e-01 -2.21985837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.342414037 meters 0.08957157380767405 Centerline is valid? [True, True] Translation: X:87.96, Y:-5.89, Z:-2.22 [[ 9.99827498e-01 -1.85382982e-02 1.14250065e-03 8.79552144e+01] [ 1.85384046e-02 9.99828146e-01 -8.25654377e-05 -5.89199896e+00] [-1.14077368e-03 1.03731334e-04 9.99999344e-01 -2.21837662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37241403699998 meters 0.09157571889755144 Centerline is valid? [True, True] Translation: X:87.99, Y:-5.90, Z:-2.22 [[ 9.99786470e-01 -2.06334300e-02 1.12943704e-03 8.79853616e+01] [ 2.06335365e-02 9.99787103e-01 -8.26624660e-05 -5.89570287e+00] [-1.12749097e-03 1.05949095e-04 9.99999359e-01 -2.22033895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40241403699999 meters 0.09215755800334678 Centerline is valid? [True, True] Translation: X:88.02, Y:-5.90, Z:-2.22 [[ 9.99784252e-01 -2.06788248e-02 1.95859296e-03 8.80174833e+01] [ 2.06791430e-02 9.99786154e-01 -1.42342349e-04 -5.89872720e+00] [-1.95523065e-03 1.82813663e-04 9.99998072e-01 -2.22213325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43241403699999 meters 0.09408699517057703 Centerline is valid? [True, True] Translation: X:88.05, Y:-5.90, Z:-2.22 [[ 9.99761000e-01 -2.18537414e-02 5.97682548e-04 8.80471564e+01] [ 2.18537716e-02 9.99761177e-01 -4.40549136e-05 -5.90366364e+00] [-5.96577043e-04 5.71060024e-05 9.99999820e-01 -2.22437614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46241403699999 meters 0.09322869316344445 Centerline is valid? [True, True] Translation: X:88.08, Y:-5.90, Z:-2.22 [[ 9.99755992e-01 -2.20876903e-02 3.00207827e-04 8.80793147e+01] [ 2.20876974e-02 9.99756037e-01 -2.01345333e-05 -5.90357067e+00] [-2.99689862e-04 2.67605200e-05 9.99999955e-01 -2.22441909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49241403699999 meters 0.09183029046772198 Centerline is valid? [True, True] Translation: X:88.11, Y:-5.90, Z:-2.23 [[ 9.99759935e-01 -2.19105292e-02 2.31560264e-05 8.81128546e+01] [ 2.19105292e-02 9.99759936e-01 1.37129012e-06 -5.90005365e+00] [-2.31805132e-05 -8.63600124e-07 1.00000000e+00 -2.22509077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52241403699999 meters 0.09191130876557325 Centerline is valid? [True, True] Translation: X:88.15, Y:-5.90, Z:-2.23 [[ 9.99763832e-01 -2.17313667e-02 -1.69620068e-04 8.81455364e+01] [ 2.17313697e-02 9.99763846e-01 1.56235429e-05 -5.90128385e+00] [ 1.69240490e-04 -1.93059295e-05 9.99999985e-01 -2.22637381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55241403699999 meters 0.09191130876557325 Centerline is valid? [True, True] Translation: X:88.18, Y:-5.90, Z:-2.23 [[ 9.99765313e-01 -2.16631124e-02 -1.69695101e-04 8.81772818e+01] [ 2.16631152e-02 9.99765327e-01 1.46084132e-05 -5.90370100e+00] [ 1.69338814e-04 -1.82811093e-05 9.99999985e-01 -2.22732383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58241403699999 meters 0.0911308358466169 Centerline is valid? [True, True] Translation: X:88.21, Y:-5.90, Z:-2.23 [[ 9.99765171e-01 -2.16514764e-02 -9.03392524e-04 8.82095557e+01] [ 2.16515475e-02 9.99765575e-01 6.90211393e-05 -5.90388984e+00] [ 9.01686337e-04 -8.85647772e-05 9.99999590e-01 -2.22788097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.612414037 meters 0.08959675977115887 Centerline is valid? [True, True] Translation: X:88.24, Y:-5.90, Z:-2.23 [[ 9.99754834e-01 -2.21334016e-02 -6.20600959e-04 8.82422435e+01] [ 2.21334358e-02 9.99755024e-01 4.81451368e-05 -5.90250095e+00] [ 6.19383311e-04 -6.18693647e-05 9.99999806e-01 -2.22775682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.642414037 meters 0.09156183577868239 Centerline is valid? [True, True] Translation: X:88.27, Y:-5.91, Z:-2.23 [[ 9.99760743e-01 -2.18672109e-02 5.31280486e-04 8.82728081e+01] [ 2.18672341e-02 9.99760883e-01 -3.78812903e-05 -5.90841290e+00] [-5.30325090e-04 4.94898617e-05 9.99999858e-01 -2.23083306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.672414037 meters 0.09173983762052752 Centerline is valid? [True, True] Translation: X:88.31, Y:-5.91, Z:-2.23 [[ 9.99753776e-01 -2.21657845e-02 1.03215324e-03 8.83051562e+01] [ 2.21658733e-02 9.99754304e-01 -7.46522126e-05 -5.91043538e+00] [-1.03024492e-03 9.75124093e-05 9.99999465e-01 -2.23130197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.702414037 meters 0.0920037829510974 Centerline is valid? [True, True] Translation: X:88.34, Y:-5.91, Z:-2.23 [[ 9.99770403e-01 -2.13626392e-02 1.66706185e-03 8.83368137e+01] [ 2.13628720e-02 9.99771780e-01 -1.21966143e-04 -5.91216092e+00] [-1.66407587e-03 1.57551369e-04 9.99998603e-01 -2.23234909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73241403699998 meters 0.09205285958877432 Centerline is valid? [True, True] Translation: X:88.37, Y:-5.91, Z:-2.23 [[ 9.99793596e-01 -2.02432129e-02 1.72577564e-03 8.83681824e+01] [ 2.02434627e-02 9.99795072e-01 -1.27409877e-04 -5.91274244e+00] [-1.72284279e-03 1.62319254e-04 9.99998503e-01 -2.23253575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76241403699999 meters 0.09069211710888961 Centerline is valid? [True, True] Translation: X:88.40, Y:-5.91, Z:-2.23 [[ 9.99863659e-01 -1.64280533e-02 1.66795850e-03 8.83992543e+01] [ 1.64282831e-02 9.99865039e-01 -1.24149273e-04 -5.90844038e+00] [-1.66569386e-03 1.51534041e-04 9.99998601e-01 -2.23294287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79241403699999 meters 0.0908283328916831 Centerline is valid? [True, True] Translation: X:88.43, Y:-5.91, Z:-2.23 [[ 9.99904319e-01 -1.38309776e-02 2.36814616e-04 8.84294458e+01] [ 1.38309822e-02 9.99904347e-01 -1.76226862e-05 -5.90887273e+00] [-2.36548225e-04 2.08963787e-05 9.99999972e-01 -2.23498474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82241403699999 meters 0.08838288016129638 Centerline is valid? [True, True] Translation: X:88.46, Y:-5.90, Z:-2.23 [[ 9.99939682e-01 -1.09826592e-02 1.15596007e-04 8.84610004e+01] [ 1.09826602e-02 9.99939689e-01 -8.39737708e-06 -5.90401210e+00] [-1.15496810e-04 9.66642224e-06 9.99999993e-01 -2.23484875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85241403699999 meters 0.08899948529949736 Centerline is valid? [True, True] Translation: X:88.49, Y:-5.91, Z:-2.24 [[ 9.99969431e-01 -7.79094400e-03 -6.61310821e-04 8.84903351e+01] [ 7.79097802e-03 9.99969649e-01 4.88714086e-05 -5.90604869e+00] [ 6.60909995e-04 -5.40221728e-05 9.99999780e-01 -2.23740927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88241403699999 meters 0.08620802142471663 Centerline is valid? [True, True] Translation: X:88.52, Y:-5.90, Z:-2.24 [[ 9.99991511e-01 -3.38214819e-03 -2.35344026e-03 8.85215620e+01] [ 3.38256965e-03 9.99994264e-01 1.75127655e-04 -5.89798992e+00] [ 2.35283445e-03 -1.83086844e-04 9.99997215e-01 -2.23762283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91241403699999 meters 0.08771130671101357 Centerline is valid? [True, True] Translation: X:88.55, Y:-5.90, Z:-2.24 [[ 9.99998780e-01 -9.91276137e-04 -1.20726535e-03 8.85508889e+01] [ 9.91385117e-04 9.99999505e-01 8.96747509e-05 -5.90260382e+00] [ 1.20717585e-03 -9.08715064e-05 9.99999267e-01 -2.24031038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94241403699999 meters 0.08498761174241846 Centerline is valid? [True, True] Translation: X:88.58, Y:-5.90, Z:-2.24 [[ 9.99998541e-01 9.72193762e-04 -1.40428082e-03 8.85813195e+01] [-9.72048723e-04 9.99999522e-01 1.03961882e-04 -5.89799272e+00] [ 1.40438122e-03 -1.02596701e-04 9.99999009e-01 -2.23902248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.972414037 meters 0.08338275552575021 Centerline is valid? [True, True] Translation: X:88.61, Y:-5.89, Z:-2.24 [[ 9.99985329e-01 5.18302228e-03 -1.57417061e-03 8.86118817e+01] [-5.18284446e-03 9.99986562e-01 1.17015779e-04 -5.89476778e+00] [ 1.57475595e-03 -1.08855381e-04 9.99998754e-01 -2.23937819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.002414037 meters 0.08160956483958028 Centerline is valid? [True, True] Translation: X:88.64, Y:-5.89, Z:-2.24 [[ 9.99971418e-01 7.51606190e-03 -8.19187463e-04 8.86419666e+01] [-7.51601536e-03 9.99971753e-01 5.98766209e-05 -5.89101460e+00] [ 8.19614360e-04 -5.37178839e-05 9.99999663e-01 -2.23791047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.032414037 meters 0.08251075338687884 Centerline is valid? [True, True] Translation: X:88.67, Y:-5.89, Z:-2.24 [[ 9.99955115e-01 9.47460114e-03 1.48651664e-05 8.86706480e+01] [-9.47460111e-03 9.99955115e-01 -2.12777857e-06 -5.89400364e+00] [-1.48846591e-05 1.98684155e-06 1.00000000e+00 -2.24046951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.062414037 meters 0.0800821199081428 Centerline is valid? [True, True] Translation: X:88.70, Y:-5.89, Z:-2.24 [[ 9.99931474e-01 1.16757048e-02 -8.51015734e-04 8.87010962e+01] [-1.16756561e-02 9.99931835e-01 6.21754847e-05 -5.88819926e+00] [ 8.51683667e-04 -5.22350571e-05 9.99999636e-01 -2.23828252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.092414037 meters 0.07976722145458356 Centerline is valid? [True, True] Translation: X:88.73, Y:-5.89, Z:-2.24 [[ 9.99889076e-01 1.48939647e-02 6.95478601e-05 8.87302015e+01] [-1.48939643e-02 9.99889079e-01 -5.97939335e-06 -5.88842144e+00] [-6.96292027e-05 4.94288675e-06 9.99999998e-01 -2.23928997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12241403699998 meters 0.07969313653790312 Centerline is valid? [True, True] Translation: X:88.76, Y:-5.89, Z:-2.24 [[ 9.99883673e-01 1.52495618e-02 -3.03149214e-04 8.87586559e+01] [-1.52495563e-02 9.99883719e-01 2.04344700e-05 -5.88976517e+00] [ 3.03425580e-04 -1.58092019e-05 9.99999954e-01 -2.23994654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15241403699999 meters 0.07938958857824907 Centerline is valid? [True, True] Translation: X:88.79, Y:-5.89, Z:-2.24 [[ 9.99870791e-01 1.60601360e-02 6.87458428e-04 8.87878781e+01] [-1.60601027e-02 9.99871027e-01 -5.39562590e-05 -5.89175194e+00] [-6.88236309e-04 4.29086345e-05 9.99999762e-01 -2.23933142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18241403699999 meters 0.07958567599164336 Centerline is valid? [True, True] Translation: X:88.82, Y:-5.89, Z:-2.24 [[ 9.99867009e-01 1.63019078e-02 4.61011651e-04 8.88164819e+01] [-1.63018929e-02 9.99867115e-01 -3.61629834e-05 -5.89441573e+00] [-4.61539915e-04 2.86428115e-05 9.99999893e-01 -2.24107172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21241403699999 meters 0.08115636719369869 Centerline is valid? [True, True] Translation: X:88.84, Y:-5.90, Z:-2.24 [[ 9.99865528e-01 1.63971077e-02 -2.46312561e-04 8.88435204e+01] [-1.63971043e-02 9.99865558e-01 1.56766954e-05 -5.90109604e+00] [ 2.46536499e-04 -1.16357746e-05 9.99999970e-01 -2.24427759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24241403699999 meters 0.07885922857155796 Centerline is valid? [True, True] Translation: X:88.87, Y:-5.90, Z:-2.24 [[ 9.99863583e-01 1.65140282e-02 -3.20720119e-04 8.88724316e+01] [-1.65140221e-02 9.99863634e-01 2.16083252e-05 -5.89612855e+00] [ 3.21033224e-04 -1.63089983e-05 9.99999948e-01 -2.24217139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27241403699999 meters 0.08033680004372475 Centerline is valid? [True, True] Translation: X:88.90, Y:-5.90, Z:-2.24 [[ 9.99860747e-01 1.66823983e-02 4.29916705e-04 8.89003206e+01] [-1.66823854e-02 9.99860839e-01 -3.37856471e-05 -5.90218194e+00] [-4.30420503e-04 2.66089062e-05 9.99999907e-01 -2.24494811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30241403699999 meters 0.0800975295671653 Centerline is valid? [True, True] Translation: X:88.93, Y:-5.90, Z:-2.25 [[ 9.99852052e-01 1.71987213e-02 -2.78347149e-04 8.89285760e+01] [-1.71987168e-02 9.99852091e-01 1.85219014e-05 -5.90387220e+00] [ 2.78624532e-04 -1.37319473e-05 9.99999961e-01 -2.24621955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33241403699999 meters 0.07978489102129331 Centerline is valid? [True, True] Translation: X:88.96, Y:-5.91, Z:-2.25 [[ 9.99844199e-01 1.76430615e-02 -5.47767250e-04 8.89574787e+01] [-1.76430431e-02 9.99844349e-01 3.83411523e-05 -5.90563531e+00] [ 5.48358444e-04 -2.86708975e-05 9.99999849e-01 -2.24745118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.362414037 meters 0.0788918266462134 Centerline is valid? [True, True] Translation: X:88.99, Y:-5.91, Z:-2.25 [[ 9.99818871e-01 1.90121860e-02 -8.73145140e-04 8.89863608e+01] [-1.90121389e-02 9.99819251e-01 6.22055454e-05 -5.90541283e+00] [ 8.74169983e-04 -4.55939215e-05 9.99999617e-01 -2.24692061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.392414037 meters 0.07850748451116066 Centerline is valid? [True, True] Translation: X:89.02, Y:-5.91, Z:-2.25 [[ 9.99799942e-01 2.00017239e-02 -8.60061453e-05 8.90151050e+01] [-2.00017236e-02 9.99799946e-01 4.26922823e-06 -5.90692159e+00] [ 8.60743313e-05 -2.54810299e-06 9.99999996e-01 -2.24805164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.422414037 meters 0.07849651540461018 Centerline is valid? [True, True] Translation: X:89.04, Y:-5.91, Z:-2.25 [[ 9.99782482e-01 2.08537844e-02 -3.28997516e-04 8.90429327e+01] [-2.08537784e-02 9.99782536e-01 2.16140721e-05 -5.90908367e+00] [ 3.29376706e-04 -1.47485294e-05 9.99999946e-01 -2.24895949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.452414037 meters 0.07832917145139194 Centerline is valid? [True, True] Translation: X:89.07, Y:-5.91, Z:-2.25 [[ 9.99762029e-01 2.18148161e-02 6.24635920e-06 8.90716695e+01] [-2.18148161e-02 9.99762029e-01 -2.48756760e-06 -5.91103587e+00] [-6.29913860e-06 2.35071245e-06 1.00000000e+00 -2.25037525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48241403699998 meters 0.07837593695788261 Centerline is valid? [True, True] Translation: X:89.10, Y:-5.91, Z:-2.25 [[ 9.99721879e-01 2.35734952e-02 6.73860854e-04 8.90998342e+01] [-2.35734659e-02 9.99722106e-01 -5.13837905e-05 -5.91407641e+00] [-6.74884888e-04 3.54842637e-05 9.99999772e-01 -2.25207441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51241403699999 meters 0.07771664637972163 Centerline is valid? [True, True] Translation: X:89.13, Y:-5.91, Z:-2.25 [[ 9.99717979e-01 2.37412023e-02 5.63185481e-04 8.91291131e+01] [-2.37411817e-02 9.99718137e-01 -4.32809951e-05 -5.91437593e+00] [-5.64054283e-04 2.98981001e-05 9.99999840e-01 -2.25115793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54241403699999 meters 0.0777545646145702 Centerline is valid? [True, True] Translation: X:89.16, Y:-5.92, Z:-2.25 [[ 9.99709174e-01 2.41004275e-02 8.58387854e-04 8.91579090e+01] [-2.41003807e-02 9.99709542e-01 -6.48314168e-05 -5.91669659e+00] [-8.59700993e-04 4.41250881e-05 9.99999629e-01 -2.25273369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57241403699999 meters 0.07835260826929749 Centerline is valid? [True, True] Translation: X:89.19, Y:-5.92, Z:-2.25 [[ 9.99720347e-01 2.36448902e-02 3.84482519e-04 8.91853759e+01] [-2.36448802e-02 9.99720420e-01 -3.06171430e-05 -5.92194133e+00] [-3.85098965e-04 2.15175377e-05 9.99999926e-01 -2.25402444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60241403699999 meters 0.07880179333243272 Centerline is valid? [True, True] Translation: X:89.21, Y:-5.93, Z:-2.26 [[ 9.99743091e-01 2.26647706e-02 -2.44996859e-04 8.92133903e+01] [-2.26647675e-02 9.99743121e-01 1.54001925e-05 -5.92612977e+00] [ 2.45282967e-04 -9.84343919e-06 9.99999970e-01 -2.25534617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63241403699999 meters 0.07839686467820299 Centerline is valid? [True, True] Translation: X:89.24, Y:-5.93, Z:-2.25 [[ 9.99754778e-01 2.21125087e-02 1.19158233e-03 8.92424180e+01] [-2.21124183e-02 9.99755487e-01 -8.89234783e-05 -5.92836154e+00] [-1.19325729e-03 6.25529055e-05 9.99999286e-01 -2.25489995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66241403699999 meters 0.07992354254665751 Centerline is valid? [True, True] Translation: X:89.27, Y:-5.94, Z:-2.26 [[ 9.99819460e-01 1.89856093e-02 7.70849260e-04 8.92706777e+01] [-1.89855708e-02 9.99819756e-01 -5.71945483e-05 -5.93869175e+00] [-7.71796192e-04 4.25492092e-05 9.99999701e-01 -2.25733432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69241403699999 meters 0.07883381852911278 Centerline is valid? [True, True] Translation: X:89.30, Y:-5.94, Z:-2.26 [[ 9.99850234e-01 1.72809375e-02 9.37031332e-04 8.92998625e+01] [-1.72808792e-02 9.99850672e-01 -7.02944577e-05 -5.93898861e+00] [-9.38106161e-04 5.40912047e-05 9.99999559e-01 -2.25601787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.722414037 meters 0.08037152086282648 Centerline is valid? [True, True] Translation: X:89.33, Y:-5.95, Z:-2.26 [[ 9.99870173e-01 1.61081903e-02 4.04676689e-04 8.93272178e+01] [-1.61081784e-02 9.99870254e-01 -3.25994812e-05 -5.94665507e+00] [-4.05149303e-04 2.60766446e-05 9.99999918e-01 -2.25835999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.752414037 meters 0.08034591364508124 Centerline is valid? [True, True] Translation: X:89.36, Y:-5.95, Z:-2.26 [[ 9.99878654e-01 1.55677754e-02 -5.67984911e-04 8.93561343e+01] [-1.55677556e-02 9.99878814e-01 3.92690422e-05 -5.94895489e+00] [ 5.68527411e-04 -3.04220268e-05 9.99999838e-01 -2.25892413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.782414037 meters 0.07911814835394158 Centerline is valid? [True, True] Translation: X:89.39, Y:-5.95, Z:-2.26 [[ 9.99888979e-01 1.48542203e-02 -1.17581433e-03 8.93851198e+01] [-1.48541326e-02 9.99889668e-01 8.32709075e-05 -5.94717912e+00] [ 1.17692153e-03 -6.57959606e-05 9.99999305e-01 -2.25763590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.812414037 meters 0.07948641015437606 Centerline is valid? [True, True] Translation: X:89.41, Y:-5.95, Z:-2.26 [[ 9.99890317e-01 1.47825156e-02 -9.11705363e-04 8.94127437e+01] [-1.47824638e-02 9.99890731e-01 6.35218789e-05 -5.95089203e+00] [ 9.12544756e-04 -5.00376601e-05 9.99999582e-01 -2.25903512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.842414037 meters 0.08072762440324266 Centerline is valid? [True, True] Translation: X:89.44, Y:-5.96, Z:-2.26 [[ 9.99890273e-01 1.48135565e-02 8.05555807e-06 8.94403191e+01] [-1.48135564e-02 9.99890273e-01 -3.12752558e-06 -5.95771966e+00] [-8.10100397e-06 3.00785094e-06 1.00000000e+00 -2.26187509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87241403699998 meters 0.08053271034753538 Centerline is valid? [True, True] Translation: X:89.47, Y:-5.96, Z:-2.26 [[ 9.99890863e-01 1.46086717e-02 2.20190139e-03 8.94692390e+01] [-1.46083518e-02 9.99893279e-01 -1.61291485e-04 -5.96257915e+00] [-2.20402265e-03 1.29107732e-04 9.99997563e-01 -2.26150354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90241403699999 meters 0.08051995834654863 Centerline is valid? [True, True] Translation: X:89.50, Y:-5.96, Z:-2.26 [[ 9.99891551e-01 1.43819960e-02 3.16931750e-03 8.94981796e+01] [-1.43813357e-02 9.99896557e-01 -2.31058396e-04 -5.96488552e+00] [-3.17231273e-03 1.85454320e-04 9.99994951e-01 -2.26213497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93241403699999 meters 0.07924216060569825 Centerline is valid? [True, True] Translation: X:89.53, Y:-5.96, Z:-2.26 [[ 9.99900662e-01 1.39687730e-02 1.88129889e-03 8.95269194e+01] [-1.39685382e-02 9.99902426e-01 -1.37914676e-04 -5.96260379e+00] [-1.88304183e-03 1.11621981e-04 9.99998221e-01 -2.26124589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96241403699999 meters 0.08009357355946228 Centerline is valid? [True, True] Translation: X:89.55, Y:-5.97, Z:-2.26 [[ 9.99896790e-01 1.43305446e-02 1.02169286e-03 8.95546936e+01] [-1.43304739e-02 9.99897311e-01 -7.64448031e-05 -5.96682064e+00] [-1.02268344e-03 6.17955704e-05 9.99999475e-01 -2.26354112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99241403699999 meters 0.08083036238322039 Centerline is valid? [True, True] Translation: X:89.58, Y:-5.97, Z:-2.27 [[ 9.99898756e-01 1.42251556e-02 -3.49038122e-04 8.95825417e+01] [-1.42251485e-02 9.99898817e-01 2.26382520e-05 -5.97029966e+00] [ 3.49324838e-04 -1.76708409e-05 9.99999939e-01 -2.26556897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02241403699999 meters 0.0794301438476746 Centerline is valid? [True, True] Translation: X:89.61, Y:-5.97, Z:-2.26 [[ 9.99901460e-01 1.40348729e-02 3.05327556e-04 8.96115180e+01] [-1.40348662e-02 9.99901506e-01 -2.40376151e-05 -5.96860219e+00] [-3.05634848e-04 1.97500150e-05 9.99999953e-01 -2.26445347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05241403699999 meters 0.08005265217971491 Centerline is valid? [True, True] Translation: X:89.64, Y:-5.97, Z:-2.27 [[ 9.99906599e-01 1.36611000e-02 -4.08882755e-04 8.96384653e+01] [-1.36610901e-02 9.99906683e-01 2.70127523e-05 -5.97364602e+00] [ 4.09213623e-04 -2.14244451e-05 9.99999916e-01 -2.26685598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08241403699999 meters 0.08008136595561942 Centerline is valid? [True, True] Translation: X:89.67, Y:-5.98, Z:-2.27 [[ 9.99908439e-01 1.35307367e-02 -1.79082065e-04 8.96666601e+01] [-1.35307350e-02 9.99908455e-01 1.08226525e-05 -5.97716640e+00] [ 1.79212110e-04 -8.39854956e-06 9.99999984e-01 -2.26905061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.112414037 meters 0.0808338291644546 Centerline is valid? [True, True] Translation: X:89.69, Y:-5.98, Z:-2.27 [[ 9.99919203e-01 1.27116996e-02 -2.63418398e-05 8.96946205e+01] [-1.27116996e-02 9.99919203e-01 -6.37117883e-07 -5.98163109e+00] [ 2.63316126e-05 9.71915964e-07 1.00000000e+00 -2.26949273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.142414037 meters 0.08105083991392496 Centerline is valid? [True, True] Translation: X:89.72, Y:-5.98, Z:-2.27 [[ 9.99922664e-01 1.24307009e-02 3.78298613e-04 8.97224797e+01] [-1.24306906e-02 9.99922736e-01 -2.95946015e-05 -5.98321849e+00] [-3.78637266e-04 2.48897998e-05 9.99999928e-01 -2.26950900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.172414037 meters 0.08108772259081784 Centerline is valid? [True, True] Translation: X:89.75, Y:-5.98, Z:-2.27 [[ 9.99916929e-01 1.28539981e-02 9.54324504e-04 8.97511678e+01] [-1.28539368e-02 9.99917382e-01 -7.02870465e-05 -5.98481906e+00] [-9.55149130e-04 5.80143807e-05 9.99999542e-01 -2.27006010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.202414037 meters 0.0813192315638144 Centerline is valid? [True, True] Translation: X:89.78, Y:-5.99, Z:-2.27 [[ 9.99907081e-01 1.36299128e-02 -2.34209063e-04 8.97788684e+01] [-1.36299098e-02 9.99907108e-01 1.42818352e-05 -5.98667940e+00] [ 2.34381967e-04 -1.10882597e-05 9.99999972e-01 -2.27283444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23241403699998 meters 0.0813571403184552 Centerline is valid? [True, True] Translation: X:89.81, Y:-5.99, Z:-2.27 [[ 9.99896028e-01 1.44199117e-02 1.22647868e-05 8.98076603e+01] [-1.44199117e-02 9.99896028e-01 -2.83217421e-06 -5.98942198e+00] [-1.23043514e-05 2.65502260e-06 1.00000000e+00 -2.27403331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26241403699999 meters 0.08114193652756703 Centerline is valid? [True, True] Translation: X:89.84, Y:-5.99, Z:-2.28 [[ 9.99879089e-01 1.55433802e-02 4.58513795e-04 8.98368897e+01] [-1.55433661e-02 9.99879194e-01 -3.41889573e-05 -5.99184363e+00] [-4.58989815e-04 2.70579757e-05 9.99999894e-01 -2.27525328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29241403699999 meters 0.08036940422662962 Centerline is valid? [True, True] Translation: X:89.87, Y:-5.99, Z:-2.28 [[ 9.99853627e-01 1.70975153e-02 6.32183935e-04 8.98655001e+01] [-1.70974890e-02 9.99853826e-01 -4.70516996e-05 -5.99250894e+00] [-6.32895993e-04 3.62360546e-05 9.99999799e-01 -2.27522332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32241403699999 meters 0.0798164258257124 Centerline is valid? [True, True] Translation: X:89.90, Y:-5.99, Z:-2.28 [[ 9.99795817e-01 2.01999905e-02 5.33426204e-04 8.98956623e+01] [-2.01999728e-02 9.99795959e-01 -3.85179752e-05 -5.99344968e+00] [-5.34095426e-04 2.77349156e-05 9.99999857e-01 -2.27689293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35241403699999 meters 0.07871494402859854 Centerline is valid? [True, True] Translation: X:89.93, Y:-5.99, Z:-2.28 [[ 9.99752810e-01 2.22318734e-02 2.49283326e-04 8.99251026e+01] [-2.22318692e-02 9.99752841e-01 -1.92577951e-05 -5.99143534e+00] [-2.49649851e-04 1.37110005e-05 9.99999969e-01 -2.27575742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38241403699999 meters 0.07778032401068657 Centerline is valid? [True, True] Translation: X:89.95, Y:-5.99, Z:-2.27 [[ 9.99717664e-01 2.37274601e-02 1.26512557e-03 8.99543441e+01] [-2.37273625e-02 9.99718462e-01 -9.20848380e-05 -5.98958875e+00] [-1.26695433e-03 6.20407462e-05 9.99999195e-01 -2.27463300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41241403699999 meters 0.07727084718571539 Centerline is valid? [True, True] Translation: X:89.98, Y:-5.99, Z:-2.28 [[ 9.99619306e-01 2.75454481e-02 1.57844535e-03 8.99844431e+01] [-2.75453043e-02 9.99620550e-01 -1.12824892e-04 -5.99120699e+00] [-1.58095422e-03 6.93031833e-05 9.99998748e-01 -2.27506386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44241403699999 meters 0.07716457499307953 Centerline is valid? [True, True] Translation: X:90.01, Y:-5.99, Z:-2.28 [[ 9.99567340e-01 2.93363581e-02 2.12377099e-03 9.00135360e+01] [-2.93361002e-02 9.99569592e-01 -1.52522080e-04 -5.99459775e+00] [-2.12733135e-03 9.01529313e-05 9.99997733e-01 -2.27678943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.472414037 meters 0.07716457499307953 Centerline is valid? [True, True] Translation: X:90.04, Y:-6.00, Z:-2.28 [[ 9.99570292e-01 2.92356302e-02 2.12367964e-03 9.00409555e+01] [-2.92353693e-02 9.99572543e-01 -1.53808840e-04 -5.99644643e+00] [-2.12726855e-03 9.16561890e-05 9.99997733e-01 -2.27761082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.502414037 meters 0.07660177512544655 Centerline is valid? [True, True] Translation: X:90.07, Y:-6.00, Z:-2.28 [[ 9.99512444e-01 3.11963981e-02 1.28778797e-03 9.00695842e+01] [-3.11963036e-02 9.99513273e-01 -9.34038617e-05 -5.99732769e+00] [-1.29007503e-03 5.31840978e-05 9.99999166e-01 -2.27773076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.532414037 meters 0.07610522265643707 Centerline is valid? [True, True] Translation: X:90.10, Y:-6.00, Z:-2.28 [[ 9.99422606e-01 3.39572897e-02 1.16497733e-03 9.00989092e+01] [-3.39572147e-02 9.99423284e-01 -8.41190399e-05 -5.99751135e+00] [-1.16716193e-03 4.45110848e-05 9.99999318e-01 -2.27790377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.562414037 meters 0.07563542009415332 Centerline is valid? [True, True] Translation: X:90.13, Y:-6.00, Z:-2.28 [[ 9.99382551e-01 3.51322455e-02 4.91589164e-04 9.01283792e+01] [-3.51322318e-02 9.99382672e-01 -3.63890485e-05 -5.99721057e+00] [-4.92564122e-04 1.90959556e-05 9.99999879e-01 -2.27718441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.592414037 meters 0.07602647627166659 Centerline is valid? [True, True] Translation: X:90.16, Y:-6.00, Z:-2.28 [[ 9.99347580e-01 3.61122482e-02 5.65194692e-04 9.01560885e+01] [-3.61122292e-02 9.99347740e-01 -4.37559159e-05 -6.00131107e+00] [-5.66406163e-04 2.33169284e-05 9.99999839e-01 -2.28076355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62241403699998 meters 0.07571410031184057 Centerline is valid? [True, True] Translation: X:90.18, Y:-6.01, Z:-2.28 [[ 9.99288035e-01 3.77265274e-02 -3.63429092e-04 9.01845605e+01] [-3.77265213e-02 9.99288101e-01 2.36265101e-05 -6.00504036e+00] [ 3.64061713e-04 -9.89877352e-06 9.99999934e-01 -2.28257004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65241403699999 meters 0.07568304492766162 Centerline is valid? [True, True] Translation: X:90.21, Y:-6.01, Z:-2.28 [[ 9.99280837e-01 3.79173671e-02 2.85449253e-04 9.02125316e+01] [-3.79173624e-02 9.99280878e-01 -2.21703826e-05 -6.00963773e+00] [-2.86084623e-04 1.13309557e-05 9.99999959e-01 -2.28416576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68241403699999 meters 0.07506270541334899 Centerline is valid? [True, True] Translation: X:90.24, Y:-6.01, Z:-2.28 [[ 9.99243852e-01 3.88359140e-02 1.86978532e-03 9.02410114e+01] [-3.88357313e-02 9.99245599e-01 -1.33912318e-04 -6.01320988e+00] [-1.87357536e-03 6.11965802e-05 9.99998243e-01 -2.28220000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71241403699999 meters 0.0750406139780239 Centerline is valid? [True, True] Translation: X:90.27, Y:-6.02, Z:-2.28 [[ 9.99244540e-01 3.88450238e-02 1.18924178e-03 9.02680405e+01] [-3.88449485e-02 9.99245246e-01 -8.63356690e-05 -6.01823487e+00] [-1.19169791e-03 4.00744101e-05 9.99999289e-01 -2.28337448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74241403699999 meters 0.07495119582104685 Centerline is valid? [True, True] Translation: X:90.30, Y:-6.02, Z:-2.28 [[ 9.99244463e-01 3.88293988e-02 1.66762833e-03 9.02965658e+01] [-3.88292535e-02 9.99245853e-01 -1.19389444e-04 -6.02215164e+00] [-1.67100651e-03 5.45464775e-05 9.99998602e-01 -2.28320078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77241403699999 meters 0.07511252392612514 Centerline is valid? [True, True] Translation: X:90.33, Y:-6.03, Z:-2.28 [[ 9.99264323e-01 3.83499513e-02 3.05037591e-04 9.03254037e+01] [-3.83499459e-02 9.99264370e-01 -2.35267954e-05 -6.02667007e+00] [-3.05715448e-04 1.18113122e-05 9.99999953e-01 -2.28476884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80241403699999 meters 0.07615019001924606 Centerline is valid? [True, True] Translation: X:90.35, Y:-6.04, Z:-2.29 [[ 9.99315139e-01 3.69869836e-02 -1.10269833e-03 9.03530959e+01] [-3.69869224e-02 9.99315747e-01 7.58710464e-05 -6.03941688e+00] [ 1.10475005e-03 -3.50336677e-05 9.99999389e-01 -2.28985312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83241403699999 meters 0.07537207104566307 Centerline is valid? [True, True] Translation: X:90.38, Y:-6.04, Z:-2.29 [[ 9.99350140e-01 3.60392498e-02 -6.85078293e-04 9.03814205e+01] [-3.60392271e-02 9.99350375e-01 4.54571627e-05 -6.04090179e+00] [ 6.86271491e-04 -2.07379298e-05 9.99999764e-01 -2.28748936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.862414037 meters 0.07567347964576722 Centerline is valid? [True, True] Translation: X:90.41, Y:-6.05, Z:-2.29 [[ 9.99398069e-01 3.46755864e-02 -1.05038876e-03 9.04088208e+01] [-3.46755309e-02 9.99398620e-01 7.10030133e-05 -6.04721115e+00] [ 1.05221915e-03 -3.45374864e-05 9.99999446e-01 -2.28942031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.892414037 meters 0.07577074706754929 Centerline is valid? [True, True] Translation: X:90.44, Y:-6.05, Z:-2.29 [[ 9.99433799e-01 3.36420632e-02 -5.41700456e-04 9.04377450e+01] [-3.36420487e-02 9.99433945e-01 3.58297023e-05 -6.05221326e+00] [ 5.42599209e-04 -1.75855023e-05 9.99999853e-01 -2.28999412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.922414037 meters 0.0761395023044816 Centerline is valid? [True, True] Translation: X:90.47, Y:-6.06, Z:-2.29 [[ 9.99519861e-01 3.09836856e-02 -2.42704970e-04 9.04654030e+01] [-3.09836827e-02 9.99519890e-01 1.54249361e-05 -6.06248496e+00] [ 2.43066367e-04 -7.89763616e-06 9.99999970e-01 -2.29173871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.952414037 meters 0.07597521964208011 Centerline is valid? [True, True] Translation: X:90.49, Y:-6.07, Z:-2.29 [[ 9.99546942e-01 3.00954927e-02 4.14374998e-04 9.04935294e+01] [-3.00954825e-02 9.99547028e-01 -3.10166912e-05 -6.06671934e+00] [-4.15120761e-04 1.85318233e-05 9.99999914e-01 -2.29171038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98241403699998 meters 0.07617301662354962 Centerline is valid? [True, True] Translation: X:90.52, Y:-6.07, Z:-2.29 [[ 9.99586400e-01 2.87411785e-02 9.86275679e-04 9.05204538e+01] [-2.87411215e-02 9.99586886e-01 -7.18749978e-05 -6.07276441e+00] [-9.87934007e-04 4.34986011e-05 9.99999511e-01 -2.29345381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01241403699999 meters 0.0769778243880849 Centerline is valid? [True, True] Translation: X:90.55, Y:-6.08, Z:-2.29 [[ 9.99648155e-01 2.64665745e-02 1.75703796e-03 9.05473848e+01] [-2.64663957e-02 9.99649696e-01 -1.24945168e-04 -6.08307098e+00] [-1.75972933e-03 7.83987446e-05 9.99998449e-01 -2.29466581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04241403699999 meters 0.0770948736657105 Centerline is valid? [True, True] Translation: X:90.58, Y:-6.09, Z:-2.30 [[ 9.99682360e-01 2.51319110e-02 1.88827455e-03 9.05762132e+01] [-2.51317037e-02 9.99684140e-01 -1.33422990e-04 -6.08849593e+00] [-1.89103130e-03 8.59250531e-05 9.99998208e-01 -2.29609629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07241403699999 meters 0.07738620522186435 Centerline is valid? [True, True] Translation: X:90.60, Y:-6.09, Z:-2.30 [[ 9.99705331e-01 2.41599640e-02 2.35537754e-03 9.06042627e+01] [-2.41596393e-02 9.99708099e-01 -1.66224065e-04 -6.09397614e+00] [-2.35870597e-03 1.09270012e-04 9.99997212e-01 -2.29648878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10241403699999 meters 0.07651597012604912 Centerline is valid? [True, True] Translation: X:90.63, Y:-6.10, Z:-2.29 [[ 9.99736038e-01 2.27777444e-02 3.00493737e-03 9.06332774e+01] [-2.27772135e-02 9.99740543e-01 -2.10756116e-04 -6.09541973e+00] [-3.00895827e-03 1.42256384e-04 9.99995463e-01 -2.29495661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13241403699999 meters 0.07851722523322005 Centerline is valid? [True, True] Translation: X:90.66, Y:-6.11, Z:-2.30 [[ 9.99784023e-01 2.03877251e-02 4.03095074e-03 9.06603354e+01] [-2.03867546e-02 9.99792129e-01 -2.81712785e-04 -6.10991126e+00] [-4.03585631e-03 1.99473938e-04 9.99991836e-01 -2.29834771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16241403699999 meters 0.07795493847187857 Centerline is valid? [True, True] Translation: X:90.69, Y:-6.11, Z:-2.30 [[ 9.99808500e-01 1.91727615e-02 3.92023698e-03 9.06888730e+01] [-1.91718353e-02 9.99816166e-01 -2.73703361e-04 -6.11210971e+00] [-3.92476395e-03 1.98492809e-04 9.99992278e-01 -2.29791967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19241403699999 meters 0.07797959392606925 Centerline is valid? [True, True] Translation: X:90.72, Y:-6.12, Z:-2.30 [[ 9.99829113e-01 1.81338042e-02 3.59316093e-03 9.07177457e+01] [-1.81330212e-02 9.99835552e-01 -2.50354588e-04 -6.11621193e+00] [-3.59710992e-03 1.85156942e-04 9.99993513e-01 -2.29907425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.222414037 meters 0.07770502019418202 Centerline is valid? [True, True] Translation: X:90.75, Y:-6.12, Z:-2.30 [[ 9.99851690e-01 1.69061332e-02 3.28347847e-03 9.07472410e+01] [-1.69054744e-02 9.99857066e-01 -2.28307711e-04 -6.12090157e+00] [-3.28686895e-03 1.72765089e-04 9.99994583e-01 -2.29933016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.252414037 meters 0.07764869510524727 Centerline is valid? [True, True] Translation: X:90.78, Y:-6.12, Z:-2.30 [[ 9.99855220e-01 1.66254529e-02 3.62408433e-03 9.07758229e+01] [-1.66246461e-02 9.99861769e-01 -2.52653813e-04 -6.12487201e+00] [-3.62778385e-03 1.92368115e-04 9.99993401e-01 -2.30083178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.282414037 meters 0.07774939536396955 Centerline is valid? [True, True] Translation: X:90.80, Y:-6.13, Z:-2.30 [[ 9.99851363e-01 1.68762798e-02 3.52754614e-03 9.08043040e+01] [-1.68755176e-02 9.99857568e-01 -2.45724171e-04 -6.12858386e+00] [-3.53119062e-03 1.86158480e-04 9.99993748e-01 -2.30206197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.312414037 meters 0.07847613264991343 Centerline is valid? [True, True] Translation: X:90.83, Y:-6.13, Z:-2.30 [[ 9.99844007e-01 1.73445598e-02 3.33587634e-03 9.08316683e+01] [-1.73438797e-02 9.99849557e-01 -2.32688280e-04 -6.13392219e+00] [-3.33941036e-03 1.74794944e-04 9.99994409e-01 -2.30494565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.342414037 meters 0.07749613578046033 Centerline is valid? [True, True] Translation: X:90.86, Y:-6.13, Z:-2.30 [[ 9.99833698e-01 1.79109707e-02 3.43123693e-03 9.08605106e+01] [-1.79102573e-02 9.99839570e-01 -2.38544883e-04 -6.13380171e+00] [-3.43495903e-03 1.77050876e-04 9.99994085e-01 -2.30470687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37241403699998 meters 0.07669135343609489 Centerline is valid? [True, True] Translation: X:90.89, Y:-6.13, Z:-2.30 [[ 9.99794180e-01 1.97489132e-02 4.64523341e-03 9.08903866e+01] [-1.97476341e-02 9.99804945e-01 -3.21065155e-04 -6.13491345e+00] [-4.65066802e-03 2.29266704e-04 9.99989159e-01 -2.30411353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40241403699999 meters 0.07624310141682411 Centerline is valid? [True, True] Translation: X:90.92, Y:-6.14, Z:-2.30 [[ 9.99781069e-01 2.02636465e-02 5.21523054e-03 9.09196374e+01] [-2.02620336e-02 9.99794638e-01 -3.61928914e-04 -6.13654841e+00] [-5.22149353e-03 2.56178500e-04 9.99986335e-01 -2.30363987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43241403699999 meters 0.07670080383805264 Centerline is valid? [True, True] Translation: X:90.95, Y:-6.14, Z:-2.31 [[ 9.99768469e-01 2.08675852e-02 5.24893449e-03 9.09474584e+01] [-2.08659649e-02 9.99782216e-01 -3.63269804e-04 -6.14105679e+00] [-5.25537192e-03 2.53661613e-04 9.99986158e-01 -2.30537188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46241403699999 meters 0.07633221825361125 Centerline is valid? [True, True] Translation: X:90.98, Y:-6.14, Z:-2.31 [[ 9.99757654e-01 2.12768443e-02 5.65057198e-03 9.09758379e+01] [-2.12749801e-02 9.99773586e-01 -3.89822782e-04 -6.14404886e+00] [-5.65758681e-03 2.69512503e-04 9.99983959e-01 -2.30511141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49241403699999 meters 0.07652971176906329 Centerline is valid? [True, True] Translation: X:91.00, Y:-6.15, Z:-2.31 [[ 9.99754559e-01 2.13990167e-02 5.73621716e-03 9.10047924e+01] [-2.13971000e-02 9.99770978e-01 -3.95303080e-04 -6.14660039e+00] [-5.74336254e-03 2.72467644e-04 9.99983470e-01 -2.30509832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52241403699999 meters 0.07532455746303016 Centerline is valid? [True, True] Translation: X:91.03, Y:-6.15, Z:-2.30 [[ 9.99759717e-01 2.08711587e-02 6.70097298e-03 9.10341769e+01] [-2.08685360e-02 9.99782122e-01 -4.61071038e-04 -6.14520818e+00] [-6.70913607e-03 3.21120755e-04 9.99977442e-01 -2.30345710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55241403699999 meters 0.07716448835492598 Centerline is valid? [True, True] Translation: X:91.06, Y:-6.15, Z:-2.31 [[ 9.99772527e-01 2.04007129e-02 6.22131467e-03 9.10623451e+01] [-2.03984476e-02 9.99791839e-01 -4.27354575e-04 -6.15414901e+00] [-6.22873797e-03 3.00352202e-04 9.99980556e-01 -2.30672612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58241403699999 meters 0.07592928674032073 Centerline is valid? [True, True] Translation: X:91.09, Y:-6.15, Z:-2.31 [[ 9.99796471e-01 1.94655327e-02 5.30186918e-03 9.10917758e+01] [-1.94638748e-02 9.99810495e-01 -3.64130055e-04 -6.15379974e+00] [-5.30795243e-03 2.60861027e-04 9.99985879e-01 -2.30547575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.612414037 meters 0.07715955023353867 Centerline is valid? [True, True] Translation: X:91.12, Y:-6.16, Z:-2.31 [[ 9.99815712e-01 1.85144910e-02 5.07494387e-03 9.11200448e+01] [-1.85129608e-02 9.99828560e-01 -3.48337872e-04 -6.15953895e+00] [-5.08052312e-03 2.54321441e-04 9.99987062e-01 -2.30748652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.642414037 meters 0.0759403230656659 Centerline is valid? [True, True] Translation: X:91.15, Y:-6.16, Z:-2.31 [[ 9.99838115e-01 1.70702245e-02 5.68783662e-03 9.11498570e+01] [-1.70682840e-02 9.99854250e-01 -3.89535016e-04 -6.15825440e+00] [-5.69365707e-03 2.92390345e-04 9.99983748e-01 -2.30501882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.672414037 meters 0.07605317777089642 Centerline is valid? [True, True] Translation: X:91.18, Y:-6.16, Z:-2.30 [[ 9.99847235e-01 1.58041253e-02 7.46571094e-03 9.11795158e+01] [-1.58007512e-02 9.99875030e-01 -5.10708765e-04 -6.16140128e+00] [-7.47284925e-03 3.92666905e-04 9.99972001e-01 -2.30468881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.702414037 meters 0.07686887640703233 Centerline is valid? [True, True] Translation: X:91.21, Y:-6.17, Z:-2.30 [[ 9.99886222e-01 1.33092643e-02 7.09982573e-03 9.12085547e+01] [-1.33061544e-02 9.99911352e-01 -4.85083564e-04 -6.16792133e+00] [-7.10565245e-03 3.90556995e-04 9.99974678e-01 -2.30481584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73241403699998 meters 0.07690650634777357 Centerline is valid? [True, True] Translation: X:91.24, Y:-6.17, Z:-2.31 [[ 9.99914599e-01 1.17322949e-02 5.75745621e-03 9.12383325e+01] [-1.17302261e-02 9.99931121e-01 -3.92969946e-04 -6.17029743e+00] [-5.76167008e-03 3.25400123e-04 9.99983348e-01 -2.30597186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76241403699999 meters 0.07732632459074996 Centerline is valid? [True, True] Translation: X:91.27, Y:-6.17, Z:-2.31 [[ 9.99938703e-01 1.04151506e-02 3.75707552e-03 9.12683384e+01] [-1.04142588e-02 9.99945737e-01 -2.56871346e-04 -6.17409421e+00] [-3.75954700e-03 2.17728444e-04 9.99992909e-01 -2.30733326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79241403699999 meters 0.078158191571776 Centerline is valid? [True, True] Translation: X:91.30, Y:-6.18, Z:-2.31 [[ 9.99967477e-01 7.75925308e-03 2.19962816e-03 9.12981460e+01] [-7.75894059e-03 9.99969888e-01 -1.50563280e-04 -6.18008754e+00] [-2.20073018e-03 1.33491599e-04 9.99997569e-01 -2.30924545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82241403699999 meters 0.07899495585213631 Centerline is valid? [True, True] Translation: X:91.33, Y:-6.18, Z:-2.31 [[ 9.99979903e-01 6.32298611e-03 4.61343144e-04 9.13269522e+01] [-6.32297180e-03 9.99980009e-01 -3.24778187e-05 -6.18490295e+00] [-4.61539278e-04 2.95601063e-05 9.99999893e-01 -2.31110309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85241403699999 meters 0.07836274411573745 Centerline is valid? [True, True] Translation: X:91.36, Y:-6.19, Z:-2.31 [[ 9.99988084e-01 4.87133807e-03 -3.19712135e-04 9.13560967e+01] [-4.87133186e-03 9.99988135e-01 2.02127142e-05 -6.18601532e+00] [ 3.19806805e-04 -1.86550495e-05 9.99999949e-01 -2.31137719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88241403699999 meters 0.07982386800810212 Centerline is valid? [True, True] Translation: X:91.38, Y:-6.19, Z:-2.31 [[ 9.99993403e-01 3.45898688e-03 -1.10895080e-03 9.13843136e+01] [-3.45890701e-03 9.99994015e-01 7.39363999e-05 -6.19222688e+00] [ 1.10919991e-03 -7.01001545e-05 9.99999382e-01 -2.31449161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91241403699999 meters 0.07931491575271356 Centerline is valid? [True, True] Translation: X:91.41, Y:-6.19, Z:-2.31 [[ 9.99997446e-01 1.46206802e-03 -1.72339874e-03 9.14142413e+01] [-1.46186979e-03 9.99998925e-01 1.16274558e-04 -6.19367679e+00] [ 1.72356688e-03 -1.13754876e-04 9.99998508e-01 -2.31498820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94241403699999 meters 0.08066498269078748 Centerline is valid? [True, True] Translation: X:91.44, Y:-6.20, Z:-2.32 [[ 9.99999117e-01 6.82220524e-04 -1.14006973e-03 9.14427145e+01] [-6.82134366e-04 9.99999764e-01 7.59603114e-05 -6.19920173e+00] [ 1.14012128e-03 -7.51825636e-05 9.99999347e-01 -2.31811220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.972414037 meters 0.07951275267752174 Centerline is valid? [True, True] Translation: X:91.47, Y:-6.20, Z:-2.32 [[ 9.99998480e-01 2.54221507e-04 -1.72482285e-03 9.14723355e+01] [-2.54021522e-04 9.99999961e-01 1.16163653e-04 -6.19873700e+00] [ 1.72485231e-03 -1.15725334e-04 9.99998506e-01 -2.31752103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.002414037 meters 0.07993824574712714 Centerline is valid? [True, True] Translation: X:91.50, Y:-6.20, Z:-2.32 [[ 9.99998061e-01 -1.18650424e-03 1.57144320e-03 9.15020364e+01] [ 1.18667428e-03 9.99999290e-01 -1.07280208e-04 -6.20201446e+00] [-1.57131480e-03 1.09144791e-04 9.99998760e-01 -2.31664627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.032414037 meters 0.08061683144502577 Centerline is valid? [True, True] Translation: X:91.53, Y:-6.20, Z:-2.32 [[ 9.99994550e-01 -2.18343527e-03 2.47659578e-03 9.15335682e+01] [ 2.18385629e-03 9.99997601e-01 -1.67308008e-04 -6.20475628e+00] [-2.47622453e-03 1.72715625e-04 9.99996919e-01 -2.31715391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.062414037 meters 0.08269835669252357 Centerline is valid? [True, True] Translation: X:91.56, Y:-6.21, Z:-2.32 [[ 9.99984610e-01 -4.91523169e-03 2.57312229e-03 9.15635055e+01] [ 4.91569672e-03 9.99987903e-01 -1.74432967e-04 -6.21053027e+00] [-2.57223379e-03 1.87078972e-04 9.99996674e-01 -2.31849774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.092414037 meters 0.08340392211841534 Centerline is valid? [True, True] Translation: X:91.59, Y:-6.21, Z:-2.32 [[ 9.99970501e-01 -7.19644946e-03 2.68489018e-03 9.15939655e+01] [ 7.19696254e-03 9.99974085e-01 -1.81485369e-04 -6.21393845e+00] [-2.68351455e-03 2.00803069e-04 9.99996379e-01 -2.31949154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12241403699998 meters 0.08400640018487272 Centerline is valid? [True, True] Translation: X:91.62, Y:-6.22, Z:-2.32 [[ 9.99954544e-01 -9.12085089e-03 2.77845573e-03 9.16249429e+01] [ 9.12140981e-03 9.99958381e-01 -1.88556570e-04 -6.21733425e+00] [-2.77662030e-03 2.13891432e-04 9.99996122e-01 -2.32028684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15241403699999 meters 0.08258801234776897 Centerline is valid? [True, True] Translation: X:91.66, Y:-6.22, Z:-2.32 [[ 9.99932666e-01 -1.11986247e-02 3.04203657e-03 9.16566979e+01] [ 1.11993031e-02 9.99937265e-01 -2.06060869e-04 -6.21576469e+00] [-3.03953813e-03 2.40115684e-04 9.99995352e-01 -2.31928163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18241403699999 meters 0.08395341360901469 Centerline is valid? [True, True] Translation: X:91.69, Y:-6.22, Z:-2.32 [[ 9.99868968e-01 -1.60082117e-02 2.40480440e-03 9.16871404e+01] [ 1.60086506e-02 9.99871840e-01 -1.63377966e-04 -6.22027694e+00] [-2.40188081e-03 2.01854232e-04 9.99997095e-01 -2.32033368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21241403699999 meters 0.08663763696648542 Centerline is valid? [True, True] Translation: X:91.72, Y:-6.23, Z:-2.32 [[ 9.99828316e-01 -1.84978607e-02 1.08039203e-03 9.17160469e+01] [ 1.84979514e-02 9.99828896e-01 -7.39674501e-05 -6.22684030e+00] [-1.07883893e-03 9.39397903e-05 9.99999414e-01 -2.32281538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24241403699999 meters 0.08865094007426996 Centerline is valid? [True, True] Translation: X:91.75, Y:-6.23, Z:-2.32 [[ 9.99753222e-01 -2.22146367e-02 7.44878838e-05 9.17473029e+01] [ 2.22146371e-02 9.99753224e-01 -4.26593855e-06 -6.23020842e+00] [-7.43747358e-05 5.91960711e-06 9.99999997e-01 -2.32425353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27241403699999 meters 0.08755670923599325 Centerline is valid? [True, True] Translation: X:91.78, Y:-6.23, Z:-2.32 [[ 9.99706428e-01 -2.42207953e-02 -6.40911009e-04 9.17787622e+01] [ 2.42208286e-02 9.99706632e-01 4.41786011e-05 -6.22808212e+00] [ 6.39652945e-04 -5.96890272e-05 9.99999794e-01 -2.32392843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30241403699999 meters 0.0866198632528681 Centerline is valid? [True, True] Translation: X:91.81, Y:-6.23, Z:-2.32 [[ 9.99688687e-01 -2.49450451e-02 -5.23328912e-04 9.18105458e+01] [ 2.49450680e-02 9.99688823e-01 3.72643241e-05 -6.22617700e+00] [ 5.22236503e-04 -5.03071985e-05 9.99999862e-01 -2.32469736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33241403699999 meters 0.09008576882531961 Centerline is valid? [True, True] Translation: X:91.84, Y:-6.23, Z:-2.33 [[ 9.99654103e-01 -2.62776720e-02 -1.07586904e-03 9.18403536e+01] [ 2.62777666e-02 9.99654677e-01 7.38907879e-05 -6.23307229e+00] [ 1.07355584e-03 -1.02136665e-04 9.99999419e-01 -2.32741608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.362414037 meters 0.09008576882531961 Centerline is valid? [True, True] Translation: X:91.87, Y:-6.24, Z:-2.33 [[ 9.99655894e-01 -2.62094738e-02 -1.07576081e-03 9.18721044e+01] [ 2.62095701e-02 9.99656467e-01 7.54767905e-05 -6.23530782e+00] [ 1.07341304e-03 -1.03646047e-04 9.99999419e-01 -2.32836668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.392414037 meters 0.08911437830098373 Centerline is valid? [True, True] Translation: X:91.90, Y:-6.23, Z:-2.33 [[ 9.99611094e-01 -2.78654559e-02 -1.08530773e-03 9.19031617e+01] [ 2.78655540e-02 9.99611677e-01 7.53788548e-05 -6.23145300e+00] [ 1.08278581e-03 -1.05592241e-04 9.99999408e-01 -2.32820320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.422414037 meters 0.0901476462204823 Centerline is valid? [True, True] Translation: X:91.94, Y:-6.23, Z:-2.33 [[ 9.99588923e-01 -2.85896160e-02 -2.14929602e-03 9.19350426e+01] [ 2.85900019e-02 9.99591211e-01 1.49002437e-04 -6.23266338e+00] [ 2.14415749e-03 -2.10389563e-04 9.99997679e-01 -2.33023776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.452414037 meters 0.0892239318017132 Centerline is valid? [True, True] Translation: X:91.97, Y:-6.23, Z:-2.33 [[ 9.99539173e-01 -3.02257672e-02 -2.80100584e-03 9.19669953e+01] [ 3.02264246e-02 9.99543059e-01 1.92661583e-04 -6.22654815e+00] [ 2.79390260e-03 -2.77237190e-04 9.99996059e-01 -2.33048374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48241403699998 meters 0.09196816019137456 Centerline is valid? [True, True] Translation: X:92.00, Y:-6.23, Z:-2.33 [[ 9.99519365e-01 -3.09224152e-02 -2.20079137e-03 9.19975200e+01] [ 3.09228246e-02 9.99521764e-01 1.52235240e-04 -6.23122163e+00] [ 2.19503139e-03 -2.20216756e-04 9.99997567e-01 -2.33257837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51241403699999 meters 0.0905777772457763 Centerline is valid? [True, True] Translation: X:92.03, Y:-6.23, Z:-2.33 [[ 9.99495614e-01 -3.17266852e-02 -1.39070305e-03 9.20300447e+01] [ 3.17268511e-02 9.99496572e-01 9.73955043e-05 -6.22798080e+00] [ 1.38691290e-03 -1.41469008e-04 9.99999028e-01 -2.33188743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54241403699999 meters 0.09389176767051673 Centerline is valid? [True, True] Translation: X:92.06, Y:-6.23, Z:-2.33 [[ 9.99463429e-01 -3.27317741e-02 -1.21902039e-03 9.20611052e+01] [ 3.27319021e-02 9.99464164e-01 8.51605423e-05 -6.23325825e+00] [ 1.21557974e-03 -1.25015704e-04 9.99999253e-01 -2.33383314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57241403699999 meters 0.0912045373183048 Centerline is valid? [True, True] Translation: X:92.09, Y:-6.23, Z:-2.33 [[ 9.99451855e-01 -3.30973295e-02 -7.46439553e-04 9.20936833e+01] [ 3.30973785e-02 9.99452130e-01 5.33289665e-05 -6.22733415e+00] [ 7.44265555e-04 -7.80049268e-05 9.99999720e-01 -2.33265966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60241403699999 meters 0.0896880640334181 Centerline is valid? [True, True] Translation: X:92.13, Y:-6.22, Z:-2.33 [[ 9.99461252e-01 -3.28080178e-02 -9.16504718e-04 9.21259487e+01] [ 3.28080912e-02 9.99461668e-01 6.51071610e-05 -6.22046725e+00] [ 9.13875297e-04 -9.51408550e-05 9.99999578e-01 -2.33420820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63241403699999 meters 0.09025443437047623 Centerline is valid? [True, True] Translation: X:92.16, Y:-6.22, Z:-2.34 [[ 9.99458725e-01 -3.28155007e-02 -2.32370545e-03 9.21580654e+01] [ 3.28159650e-02 9.99461398e-01 1.61968441e-04 -6.22040592e+00] [ 2.31713883e-03 -2.38135409e-04 9.99997287e-01 -2.33617395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66241403699999 meters 0.09122447290525354 Centerline is valid? [True, True] Translation: X:92.19, Y:-6.22, Z:-2.34 [[ 9.99463095e-01 -3.25762959e-02 -3.50822031e-03 9.21896820e+01] [ 3.25773478e-02 9.99469188e-01 2.43105050e-04 -6.22118587e+00] [ 3.49843865e-03 -3.57263039e-04 9.99993817e-01 -2.33879997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69241403699999 meters 0.0928673657034236 Centerline is valid? [True, True] Translation: X:92.22, Y:-6.22, Z:-2.34 [[ 9.99484259e-01 -3.18155670e-02 -4.35735454e-03 9.22213472e+01] [ 3.18171819e-02 9.99493660e-01 3.01782079e-04 -6.21956401e+00] [ 4.34554686e-03 -4.40265180e-04 9.99990461e-01 -2.34222911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.722414037 meters 0.09320473885978943 Centerline is valid? [True, True] Translation: X:92.25, Y:-6.22, Z:-2.34 [[ 9.99532875e-01 -3.04056887e-02 -3.08636987e-03 9.22508285e+01] [ 3.04064871e-02 9.99537593e-01 2.12094217e-04 -6.21915987e+00] [ 3.07849385e-03 -3.05840808e-04 9.99995215e-01 -2.34370974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.752414037 meters 0.09168827010845992 Centerline is valid? [True, True] Translation: X:92.28, Y:-6.21, Z:-2.34 [[ 9.99560752e-01 -2.94556394e-02 -3.26622039e-03 9.22827947e+01] [ 2.94565341e-02 9.99566037e-01 2.26131477e-04 -6.21473563e+00] [ 3.25814213e-03 -3.22243682e-04 9.99994640e-01 -2.34356709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.782414037 meters 0.09092653199232509 Centerline is valid? [True, True] Translation: X:92.32, Y:-6.21, Z:-2.34 [[ 9.99598060e-01 -2.81865545e-02 -3.03914185e-03 9.23150350e+01] [ 2.81873255e-02 9.99602636e-01 2.11155058e-04 -6.21097785e+00] [ 3.03198248e-03 -2.96735467e-04 9.99995360e-01 -2.34333619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.812414037 meters 0.08967012711367026 Centerline is valid? [True, True] Translation: X:92.35, Y:-6.21, Z:-2.34 [[ 9.99647912e-01 -2.64688106e-02 -1.85838494e-03 9.23465191e+01] [ 2.64690956e-02 9.99649624e-01 1.28888299e-04 -6.20578011e+00] [ 1.85432229e-03 -1.78032688e-04 9.99998265e-01 -2.34307881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.842414037 meters 0.08922371542201477 Centerline is valid? [True, True] Translation: X:92.38, Y:-6.20, Z:-2.34 [[ 9.99694417e-01 -2.47027006e-02 -9.21070856e-04 9.23772005e+01] [ 2.47027696e-02 9.99694838e-01 6.35473606e-05 -6.20228091e+00] [ 9.19219988e-04 -8.62809428e-05 9.99999574e-01 -2.34252838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87241403699998 meters 0.08966780888391673 Centerline is valid? [True, True] Translation: X:92.41, Y:-6.20, Z:-2.35 [[ 9.99738255e-01 -2.28347365e-02 -1.41294381e-03 9.24085766e+01] [ 2.28348984e-02 9.99739245e-01 9.85388500e-05 -6.19589511e+00] [ 1.41032527e-03 -1.30777486e-04 9.99998997e-01 -2.34522185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90241403699999 meters 0.09021938063961694 Centerline is valid? [True, True] Translation: X:92.44, Y:-6.20, Z:-2.35 [[ 9.99739762e-01 -2.27674019e-02 -1.43341322e-03 9.24410689e+01] [ 2.27675701e-02 9.99740780e-01 1.01072306e-04 -6.19600824e+00] [ 1.43074050e-03 -1.33681339e-04 9.99998968e-01 -2.34739779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93241403699999 meters 0.09065695672152958 Centerline is valid? [True, True] Translation: X:92.47, Y:-6.20, Z:-2.35 [[ 9.99724950e-01 -2.33524201e-02 -2.16554583e-03 9.24731346e+01] [ 2.33528033e-02 9.99727275e-01 1.51805577e-04 -6.19602707e+00] [ 2.16141020e-03 -2.02335388e-04 9.99997644e-01 -2.34938589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96241403699999 meters 0.09342897611557692 Centerline is valid? [True, True] Translation: X:92.50, Y:-6.20, Z:-2.35 [[ 9.99665462e-01 -2.55929854e-02 -3.73663542e-03 9.25021619e+01] [ 2.55941354e-02 9.99672383e-01 2.60268710e-04 -6.19697517e+00] [ 3.72875017e-03 -3.55817594e-04 9.99992985e-01 -2.35237861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99241403699999 meters 0.0943301861762676 Centerline is valid? [True, True] Translation: X:92.53, Y:-6.20, Z:-2.35 [[ 9.99616367e-01 -2.74008230e-02 -4.03896483e-03 9.25328986e+01] [ 2.74021765e-02 9.99624451e-01 2.80130483e-04 -6.19640330e+00] [ 4.02977219e-03 -3.90699443e-04 9.99991804e-01 -2.35325581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02241403699999 meters 0.09172430778632906 Centerline is valid? [True, True] Translation: X:92.56, Y:-6.19, Z:-2.35 [[ 9.99568121e-01 -2.91282247e-02 -3.88823926e-03 9.25640716e+01] [ 2.91294924e-02 9.99575610e-01 2.69779575e-04 -6.19001334e+00] [ 3.87873093e-03 -3.82925498e-04 9.99992404e-01 -2.35210507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05241403699999 meters 0.09423219669702847 Centerline is valid? [True, True] Translation: X:92.59, Y:-6.19, Z:-2.35 [[ 9.99531304e-01 -3.04792128e-02 -2.86194472e-03 9.25945669e+01] [ 3.04799151e-02 9.99535359e-01 2.02092292e-04 -6.19391032e+00] [ 2.85445533e-03 -2.89229404e-04 9.99995884e-01 -2.35354682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08241403699999 meters 0.09533863969074294 Centerline is valid? [True, True] Translation: X:92.63, Y:-6.19, Z:-2.35 [[ 9.99432959e-01 -3.35638531e-02 -2.68840360e-03 9.26257457e+01] [ 3.35644751e-02 9.99436537e-01 1.86593488e-04 -6.19221959e+00] [ 2.68062599e-03 -2.76722537e-04 9.99996369e-01 -2.35354859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.112414037 meters 0.09644093316455851 Centerline is valid? [True, True] Translation: X:92.66, Y:-6.19, Z:-2.35 [[ 9.99379152e-01 -3.51460986e-02 -2.46225894e-03 9.26563087e+01] [ 3.51466283e-02 9.99382152e-01 1.72168520e-04 -6.19396404e+00] [ 2.45468659e-03 -2.58601730e-04 9.99996954e-01 -2.35467482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.142414037 meters 0.09679891735827932 Centerline is valid? [True, True] Translation: X:92.69, Y:-6.19, Z:-2.36 [[ 9.99346963e-01 -3.60788084e-02 -1.99192087e-03 9.26884137e+01] [ 3.60791592e-02 9.99348925e-01 1.40430192e-04 -6.19463853e+00] [ 1.98555743e-03 -2.12205316e-04 9.99998006e-01 -2.35622407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.172414037 meters 0.09550263485593147 Centerline is valid? [True, True] Translation: X:92.72, Y:-6.19, Z:-2.36 [[ 9.99277580e-01 -3.79337753e-02 -2.31241443e-03 9.27197483e+01] [ 3.79342501e-02 9.99280224e-01 1.61775057e-04 -6.19010801e+00] [ 2.30461327e-03 -2.49377894e-04 9.99997313e-01 -2.35575398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.202414037 meters 0.09779574911598483 Centerline is valid? [True, True] Translation: X:92.75, Y:-6.19, Z:-2.36 [[ 9.99253443e-01 -3.85817497e-02 -2.00113808e-03 9.27502084e+01] [ 3.85821070e-02 9.99255423e-01 1.40210928e-04 -6.19360849e+00] [ 1.99423850e-03 -2.17314376e-04 9.99997988e-01 -2.35761482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23241403699998 meters 0.09754486885639273 Centerline is valid? [True, True] Translation: X:92.78, Y:-6.19, Z:-2.36 [[ 9.99262861e-01 -3.83102019e-02 -2.46227155e-03 9.27821268e+01] [ 3.83107442e-02 9.99265859e-01 1.73452586e-04 -6.19242168e+00] [ 2.45381889e-03 -2.67656183e-04 9.99996954e-01 -2.35891273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26241403699999 meters 0.09584289504380518 Centerline is valid? [True, True] Translation: X:92.81, Y:-6.19, Z:-2.36 [[ 9.99317392e-01 -3.68526474e-02 -2.57534022e-03 9.28138284e+01] [ 3.68532333e-02 9.99320673e-01 1.80415405e-04 -6.18583967e+00] [ 2.56694193e-03 -2.75201866e-04 9.99996668e-01 -2.35996848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29241403699999 meters 0.0958454066503715 Centerline is valid? [True, True] Translation: X:92.84, Y:-6.19, Z:-2.36 [[ 9.99370477e-01 -3.54287022e-02 -1.85897685e-03 9.28443581e+01] [ 3.54290036e-02 9.99372187e-01 1.29487755e-04 -6.18510687e+00] [ 1.85322218e-03 -1.95267937e-04 9.99998264e-01 -2.35998257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32241403699999 meters 0.0956172293391674 Centerline is valid? [True, True] Translation: X:92.88, Y:-6.18, Z:-2.36 [[ 9.99429963e-01 -3.37554303e-02 -5.66437015e-04 9.28756260e+01] [ 3.37554583e-02 9.99430121e-01 3.99706502e-05 -6.18409948e+00] [ 5.64764988e-04 -5.90682064e-05 9.99999839e-01 -2.36014154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35241403699999 meters 0.09501443069748026 Centerline is valid? [True, True] Translation: X:92.91, Y:-6.18, Z:-2.36 [[ 9.99503053e-01 -3.14922144e-02 1.37397673e-03 9.29061996e+01] [ 3.14923754e-02 9.99503988e-01 -9.57157549e-05 -6.18236294e+00] [-1.37028092e-03 1.38937980e-04 9.99999052e-01 -2.35982395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38241403699999 meters 0.09504003496254476 Centerline is valid? [True, True] Translation: X:92.94, Y:-6.18, Z:-2.36 [[ 9.99611410e-01 -2.78684734e-02 6.14744373e-04 9.29358009e+01] [ 2.78685052e-02 9.99611597e-01 -4.33535491e-05 -6.17905465e+00] [-6.13297407e-04 6.04687091e-05 9.99999810e-01 -2.36046655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41241403699999 meters 0.09257351458138297 Centerline is valid? [True, True] Translation: X:92.97, Y:-6.17, Z:-2.36 [[ 9.99670429e-01 -2.56683634e-02 -4.11313896e-04 9.29674068e+01] [ 2.56683776e-02 9.99670512e-01 2.91593158e-05 -6.17389951e+00] [ 4.10429902e-04 -3.97074661e-05 9.99999915e-01 -2.36127447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44241403699999 meters 0.09430191462305287 Centerline is valid? [True, True] Translation: X:93.00, Y:-6.18, Z:-2.36 [[ 9.99712066e-01 -2.39457857e-02 -1.54416325e-03 9.29979334e+01] [ 2.39459818e-02 9.99713248e-01 1.08638132e-04 -6.17655612e+00] [ 1.54111903e-03 -1.45583356e-04 9.99998802e-01 -2.36445078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.472414037 meters 0.09429393968693472 Centerline is valid? [True, True] Translation: X:93.03, Y:-6.18, Z:-2.37 [[ 9.99748528e-01 -2.23334809e-02 -2.02415402e-03 9.30295281e+01] [ 2.23338152e-02 9.99750559e-01 1.42660395e-04 -6.17651327e+00] [ 2.02046301e-03 -1.87831602e-04 9.99997941e-01 -2.36713057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.502414037 meters 0.09246921066427452 Centerline is valid? [True, True] Translation: X:93.06, Y:-6.17, Z:-2.37 [[ 9.99767167e-01 -2.14099900e-02 -2.68763767e-03 9.30619251e+01] [ 2.14105765e-02 9.99770749e-01 1.89635223e-04 -6.17330935e+00] [ 2.68296144e-03 -2.47134941e-04 9.99996370e-01 -2.36798391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.532414037 meters 0.09458268588583764 Centerline is valid? [True, True] Translation: X:93.09, Y:-6.18, Z:-2.37 [[ 9.99816227e-01 -1.91703520e-02 -9.97456034e-05 9.30914870e+01] [ 1.91703527e-02 9.99816232e-01 6.48511914e-06 -6.17619389e+00] [ 9.96029513e-05 -8.39608575e-06 9.99999995e-01 -2.36957476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.562414037 meters 0.09432850038487517 Centerline is valid? [True, True] Translation: X:93.12, Y:-6.18, Z:-2.37 [[ 9.99832043e-01 -1.82842230e-02 1.25423799e-03 9.31228075e+01] [ 1.82843459e-02 9.99832824e-01 -8.66332063e-05 -6.17537764e+00] [-1.25244429e-03 1.09551577e-04 9.99999210e-01 -2.36851529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.592414037 meters 0.09413080606077849 Centerline is valid? [True, True] Translation: X:93.15, Y:-6.18, Z:-2.37 [[ 9.99847623e-01 -1.70811658e-02 3.60055255e-03 9.31538736e+01] [ 1.70821797e-02 9.99854057e-01 -2.51036323e-04 -6.17505049e+00] [-3.59573908e-03 3.12503357e-04 9.99993486e-01 -2.36705897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62241403699998 meters 0.09105207733101373 Centerline is valid? [True, True] Translation: X:93.19, Y:-6.17, Z:-2.37 [[ 9.99867349e-01 -1.59172985e-02 3.45322734e-03 9.31860782e+01] [ 1.59182213e-02 9.99873268e-01 -2.39921917e-04 -6.16933746e+00] [-3.44897080e-03 2.94859328e-04 9.99994009e-01 -2.36512864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65241403699999 meters 0.0943872786774117 Centerline is valid? [True, True] Translation: X:93.22, Y:-6.18, Z:-2.37 [[ 9.99884834e-01 -1.50845497e-02 1.66587860e-03 9.32172771e+01] [ 1.50847615e-02 9.99886212e-01 -1.14616041e-04 -6.17536276e+00] [-1.66396011e-03 1.39732222e-04 9.99998606e-01 -2.36970553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68241403699999 meters 0.0918703084481866 Centerline is valid? [True, True] Translation: X:93.25, Y:-6.17, Z:-2.37 [[ 9.99897496e-01 -1.43159221e-02 2.29248631e-04 9.32497896e+01] [ 1.43159257e-02 9.99897522e-01 -1.41372725e-05 -6.17136991e+00] [-2.29022750e-04 1.74177297e-05 9.99999974e-01 -2.37051145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71241403699999 meters 0.09396819837138512 Centerline is valid? [True, True] Translation: X:93.28, Y:-6.18, Z:-2.37 [[ 9.99902392e-01 -1.39682573e-02 -3.05411432e-04 9.32816393e+01] [ 1.39682660e-02 9.99902439e-01 2.61992278e-05 -6.17592273e+00] [ 3.05015678e-04 -3.04627387e-05 9.99999953e-01 -2.37357772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74241403699999 meters 0.0917538976499157 Centerline is valid? [True, True] Translation: X:93.31, Y:-6.17, Z:-2.37 [[ 9.99905473e-01 -1.36440264e-02 -1.69900016e-03 9.33138905e+01] [ 1.36442521e-02 9.99906906e-01 1.21300776e-04 -6.17268528e+00] [ 1.69718696e-03 -1.44470897e-04 9.99998549e-01 -2.37456339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77241403699999 meters 0.092800275938248 Centerline is valid? [True, True] Translation: X:93.35, Y:-6.17, Z:-2.38 [[ 9.99904911e-01 -1.37705235e-02 -7.36015055e-04 9.33453012e+01] [ 1.37705664e-02 9.99905180e-01 5.31974235e-05 -6.17474704e+00] [ 7.35212710e-04 -6.33277092e-05 9.99999728e-01 -2.37601137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80241403699999 meters 0.09240282813995113 Centerline is valid? [True, True] Translation: X:93.38, Y:-6.18, Z:-2.38 [[ 9.99907753e-01 -1.35642034e-02 7.04978700e-04 9.33771526e+01] [ 1.35642404e-02 9.99908000e-01 -4.76919906e-05 -6.17576895e+00] [-7.04266939e-04 5.72500917e-05 9.99999750e-01 -2.37537891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83241403699999 meters 0.0916320854117527 Centerline is valid? [True, True] Translation: X:93.41, Y:-6.18, Z:-2.37 [[ 9.99910244e-01 -1.32662450e-02 1.87380543e-03 9.34096116e+01] [ 1.32665118e-02 9.99911988e-01 -1.30051604e-04 -6.17639090e+00] [-1.87191521e-03 1.54898793e-04 9.99998236e-01 -2.37444807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.862414037 meters 0.09850265674533114 Centerline is valid? [True, True] Translation: X:93.44, Y:-6.19, Z:-2.38 [[ 9.99925913e-01 -1.20062345e-02 2.00469131e-03 9.34392752e+01] [ 1.20065398e-02 9.99927909e-01 -1.40304391e-04 -6.19122692e+00] [-2.00286227e-03 1.64363402e-04 9.99997981e-01 -2.37960983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.892414037 meters 0.0885857621627292 Centerline is valid? [True, True] Translation: X:93.47, Y:-6.17, Z:-2.37 [[ 9.99929394e-01 -1.17511560e-02 1.76540450e-03 9.34729533e+01] [ 1.17513905e-02 9.99930943e-01 -1.22534877e-04 -6.17358535e+00] [-1.76384266e-03 1.43272183e-04 9.99998434e-01 -2.37414864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.922414037 meters 0.09122593689053111 Centerline is valid? [True, True] Translation: X:93.50, Y:-6.18, Z:-2.38 [[ 9.99924067e-01 -1.21949394e-02 1.77293607e-03 9.35038132e+01] [ 1.21951777e-02 9.99925628e-01 -1.23655044e-04 -6.18057262e+00] [-1.77129625e-03 1.45266925e-04 9.99998421e-01 -2.37612988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.952414037 meters 0.09167809790561345 Centerline is valid? [True, True] Translation: X:93.53, Y:-6.18, Z:-2.38 [[ 9.99921997e-01 -1.17203976e-02 4.31643103e-03 9.35346328e+01] [ 1.17218177e-02 9.99931251e-01 -3.03848880e-04 -6.18269584e+00] [-4.31257305e-03 3.54421596e-04 9.99990638e-01 -2.37538233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98241403699998 meters 0.08969277319877512 Centerline is valid? [True, True] Translation: X:93.57, Y:-6.18, Z:-2.38 [[ 9.99924594e-01 -1.15322305e-02 4.22061749e-03 9.35666566e+01] [ 1.15335835e-02 9.99933442e-01 -2.96367667e-04 -6.18080223e+00] [-4.21691879e-03 3.45024164e-04 9.99991049e-01 -2.37513612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01241403699999 meters 0.0886887594338224 Centerline is valid? [True, True] Translation: X:93.60, Y:-6.18, Z:-2.38 [[ 9.99924864e-01 -1.15795399e-02 4.02258082e-03 9.35986507e+01] [ 1.15807699e-02 9.99932901e-01 -2.82606052e-04 -6.18102615e+00] [-4.01903846e-03 3.29169401e-04 9.99991869e-01 -2.37583362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04241403699999 meters 0.08868847458540209 Centerline is valid? [True, True] Translation: X:93.63, Y:-6.18, Z:-2.38 [[ 9.99926608e-01 -1.14190792e-02 4.04751189e-03 9.36305016e+01] [ 1.14203242e-02 9.99934745e-01 -2.84634937e-04 -6.18370768e+00] [-4.04399750e-03 3.30837945e-04 9.99991768e-01 -2.37806097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07241403699999 meters 0.0881690264897497 Centerline is valid? [True, True] Translation: X:93.66, Y:-6.19, Z:-2.38 [[ 9.99927365e-01 -1.15593601e-02 3.41248685e-03 9.36629328e+01] [ 1.15602457e-02 9.99933149e-01 -2.39890660e-04 -6.18569758e+00] [-3.40948574e-03 2.79322422e-04 9.99994149e-01 -2.37882585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10241403699999 meters 0.08917643417239234 Centerline is valid? [True, True] Translation: X:93.69, Y:-6.19, Z:-2.38 [[ 9.99928357e-01 -1.14678947e-02 3.43061133e-03 9.36945828e+01] [ 1.14687885e-02 9.99934202e-01 -2.40975191e-04 -6.18989534e+00] [-3.42762212e-03 2.80302882e-04 9.99994086e-01 -2.38122064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13241403699999 meters 0.08821762208272269 Centerline is valid? [True, True] Translation: X:93.73, Y:-6.19, Z:-2.38 [[ 9.99939529e-01 -1.05618077e-02 3.06364033e-03 9.37270365e+01] [ 1.05625176e-02 9.99944192e-01 -2.15643852e-04 -6.19019131e+00] [-3.06119176e-03 2.47990567e-04 9.99995284e-01 -2.38224303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16241403699999 meters 0.0887928401226565 Centerline is valid? [True, True] Translation: X:93.76, Y:-6.19, Z:-2.38 [[ 9.99953348e-01 -9.49696265e-03 1.76351039e-03 9.37580519e+01] [ 9.49719254e-03 9.99954893e-01 -1.22032990e-04 -6.19207053e+00] [-1.76227190e-03 1.38775694e-04 9.99998438e-01 -2.38342726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19241403699999 meters 0.08932452574089379 Centerline is valid? [True, True] Translation: X:93.79, Y:-6.20, Z:-2.38 [[ 9.99958862e-01 -8.85611047e-03 1.96055922e-03 9.37905794e+01] [ 8.85639644e-03 9.99960772e-01 -1.37227318e-04 -6.19507400e+00] [-1.95926702e-03 1.54585163e-04 9.99998069e-01 -2.38430858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.222414037 meters 0.08975159152966719 Centerline is valid? [True, True] Translation: X:93.82, Y:-6.20, Z:-2.39 [[ 9.99964068e-01 -8.40669974e-03 1.09128007e-03 9.38216537e+01] [ 8.40678802e-03 9.99964659e-01 -7.63347181e-05 -6.19800569e+00] [-1.09059978e-03 8.55061354e-05 9.99999402e-01 -2.38611709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.252414037 meters 0.09046085440527332 Centerline is valid? [True, True] Translation: X:93.85, Y:-6.20, Z:-2.39 [[ 9.99978861e-01 -6.50016648e-03 1.56563353e-04 9.38517933e+01] [ 6.50016786e-03 9.99978874e-01 -8.32474009e-06 -6.20207159e+00] [-1.56505933e-04 9.34225220e-06 9.99999988e-01 -2.38889972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.282414037 meters 0.09046085440527332 Centerline is valid? [True, True] Translation: X:93.88, Y:-6.20, Z:-2.39 [[ 9.99979270e-01 -6.43695274e-03 1.56494586e-04 9.38834997e+01] [ 6.43695427e-03 9.99979283e-01 -9.28904671e-06 -6.20440934e+00] [-1.56431551e-04 1.02962027e-05 9.99999988e-01 -2.38984818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.312414037 meters 0.09058151279890306 Centerline is valid? [True, True] Translation: X:93.92, Y:-6.21, Z:-2.39 [[ 9.99982353e-01 -5.94079135e-03 -2.80928197e-05 9.39157806e+01] [ 5.94079146e-03 9.99982353e-01 3.89475914e-06 -6.20666947e+00] [ 2.80691860e-05 -4.06158399e-06 1.00000000e+00 -2.39175594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.342414037 meters 0.08553960715568647 Centerline is valid? [True, True] Translation: X:93.95, Y:-6.20, Z:-2.39 [[ 9.99984674e-01 -5.42847649e-03 -1.08785794e-03 9.39488103e+01] [ 5.42856658e-03 9.99985262e-01 7.98838849e-05 -6.19790805e+00] [ 1.08740826e-03 -8.57881698e-05 9.99999405e-01 -2.38895702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37241403699998 meters 0.08880835090930422 Centerline is valid? [True, True] Translation: X:93.98, Y:-6.21, Z:-2.39 [[ 9.99985739e-01 -5.22532230e-03 -1.10323821e-03 9.39797291e+01] [ 5.22541649e-03 9.99986344e-01 8.25116992e-05 -6.20633670e+00] [ 1.10279199e-03 -8.82754016e-05 9.99999388e-01 -2.39271827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40241403699999 meters 0.08880835090930422 Centerline is valid? [True, True] Translation: X:94.01, Y:-6.21, Z:-2.39 [[ 9.99986072e-01 -5.16115743e-03 -1.10334069e-03 9.40114346e+01] [ 5.16125002e-03 9.99986677e-01 8.10811411e-05 -6.20868214e+00] [ 1.10290752e-03 -8.67746290e-05 9.99999388e-01 -2.39366647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43241403699999 meters 0.0850126415923923 Centerline is valid? [True, True] Translation: X:94.04, Y:-6.20, Z:-2.39 [[ 9.99980965e-01 -6.03499775e-03 -1.28415966e-03 9.40436801e+01] [ 6.03512237e-03 9.99981784e-01 9.31940397e-05 -6.20299860e+00] [ 1.28357384e-03 -1.00942326e-04 9.99999171e-01 -2.39092510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46241403699999 meters 0.08580113950014395 Centerline is valid? [True, True] Translation: X:94.08, Y:-6.21, Z:-2.39 [[ 9.99979886e-01 -6.25941720e-03 -1.02338937e-03 9.40753663e+01] [ 6.25949779e-03 9.99980406e-01 7.55575416e-05 -6.20788202e+00] [ 1.02289637e-03 -8.19619253e-05 9.99999473e-01 -2.39265632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49241403699999 meters 0.08751295753112161 Centerline is valid? [True, True] Translation: X:94.11, Y:-6.21, Z:-2.39 [[ 9.99977349e-01 -6.72636584e-03 -2.38874965e-04 9.41058213e+01] [ 6.72637092e-03 9.99977378e-01 2.04429315e-05 -6.21482000e+00] [ 2.38732055e-04 -2.20492301e-05 9.99999971e-01 -2.39415411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52241403699999 meters 0.08872148917205684 Centerline is valid? [True, True] Translation: X:94.14, Y:-6.22, Z:-2.39 [[ 9.99964967e-01 -7.84381522e-03 2.92230550e-03 9.41366615e+01] [ 7.84445489e-03 9.99969210e-01 -2.07495624e-04 -6.22040264e+00] [-2.92058797e-03 2.30412249e-04 9.99995709e-01 -2.39337585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55241403699999 meters 0.08638417519985324 Centerline is valid? [True, True] Translation: X:94.17, Y:-6.22, Z:-2.39 [[ 9.99967522e-01 -7.55586946e-03 2.80411909e-03 9.41695867e+01] [ 7.55646054e-03 9.99971429e-01 -2.00254119e-04 -6.21773814e+00] [-2.80252588e-03 2.21436830e-04 9.99996048e-01 -2.39165427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58241403699999 meters 0.08693473251206231 Centerline is valid? [True, True] Translation: X:94.20, Y:-6.22, Z:-2.39 [[ 9.99971191e-01 -7.14753774e-03 2.55529493e-03 9.42003925e+01] [ 7.14802844e-03 9.99974436e-01 -1.82948621e-04 -6.22076346e+00] [-2.55392198e-03 2.01208671e-04 9.99996718e-01 -2.39249027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.612414037 meters 0.08914499900016609 Centerline is valid? [True, True] Translation: X:94.23, Y:-6.23, Z:-2.40 [[ 9.99978313e-01 -6.52530079e-03 8.91158031e-04 9.42307575e+01] [ 6.52535941e-03 9.99978708e-01 -6.28845589e-05 -6.22679071e+00] [-8.90728716e-04 6.86983215e-05 9.99999601e-01 -2.39627478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.642414037 meters 0.0905853397036983 Centerline is valid? [True, True] Translation: X:94.26, Y:-6.23, Z:-2.40 [[ 9.99984366e-01 -5.59073793e-03 -1.11171717e-04 9.42618768e+01] [ 5.59073902e-03 9.99984372e-01 9.48390563e-06 -6.23216898e+00] [ 1.11116958e-04 -1.01052894e-05 9.99999994e-01 -2.40017284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.672414037 meters 0.08652464355025061 Centerline is valid? [True, True] Translation: X:94.29, Y:-6.23, Z:-2.40 [[ 9.99987592e-01 -4.95586564e-03 -5.04332669e-04 9.42949111e+01] [ 4.95588567e-03 9.99987719e-01 3.84803956e-05 -6.22579757e+00] [ 5.04135772e-04 -4.09793332e-05 9.99999872e-01 -2.39927242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.702414037 meters 0.08615204384265768 Centerline is valid? [True, True] Translation: X:94.33, Y:-6.23, Z:-2.40 [[ 9.99989230e-01 -4.55202452e-03 -9.04589034e-04 9.43268304e+01] [ 4.55208744e-03 9.99989637e-01 6.75114745e-05 -6.22677604e+00] [ 9.04272346e-04 -7.16285158e-05 9.99999589e-01 -2.40021212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73241403699998 meters 0.08586917891183315 Centerline is valid? [True, True] Translation: X:94.36, Y:-6.23, Z:-2.40 [[ 9.99988175e-01 -4.72846440e-03 -1.13622368e-03 9.43578332e+01] [ 4.72856211e-03 9.99988817e-01 8.33236723e-05 -6.22773708e+00] [ 1.13581698e-03 -8.86953913e-05 9.99999351e-01 -2.40043980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76241403699999 meters 0.08690597819437482 Centerline is valid? [True, True] Translation: X:94.39, Y:-6.23, Z:-2.40 [[ 9.99989744e-01 -4.52881943e-03 2.69511009e-05 9.43891451e+01] [ 4.52881944e-03 9.99989745e-01 -4.55634380e-07 -6.23227436e+00] [-2.69487610e-05 5.77686381e-07 1.00000000e+00 -2.40163471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79241403699999 meters 0.08743823974600758 Centerline is valid? [True, True] Translation: X:94.42, Y:-6.23, Z:-2.40 [[ 9.99985250e-01 -5.34097920e-03 9.87128033e-04 9.44216079e+01] [ 5.34105055e-03 9.99985734e-01 -6.96549738e-05 -6.23491645e+00] [-9.86741925e-04 7.49262471e-05 9.99999510e-01 -2.40077079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82241403699999 meters 0.08815798862844305 Centerline is valid? [True, True] Translation: X:94.45, Y:-6.24, Z:-2.40 [[ 9.99984946e-01 -5.43395695e-03 7.61425630e-04 9.44521846e+01] [ 5.43399825e-03 9.99985234e-01 -5.21850275e-05 -6.23858360e+00] [-7.61130816e-04 5.63218275e-05 9.99999709e-01 -2.40228780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85241403699999 meters 0.0869495984221431 Centerline is valid? [True, True] Translation: X:94.48, Y:-6.24, Z:-2.40 [[ 9.99985304e-01 -5.42060062e-03 9.04917525e-05 9.44843081e+01] [ 5.42060106e-03 9.99985308e-01 -4.59891089e-06 -6.23850043e+00] [-9.04654942e-05 5.08936300e-06 9.99999996e-01 -2.40241580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88241403699999 meters 0.08949739441193788 Centerline is valid? [True, True] Translation: X:94.51, Y:-6.25, Z:-2.41 [[ 9.99986043e-01 -5.22113978e-03 -8.08211831e-04 9.45146428e+01] [ 5.22119162e-03 9.99986368e-01 6.20429017e-05 -6.24543265e+00] [ 8.07876878e-04 -6.62618646e-05 9.99999671e-01 -2.40640846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91241403699999 meters 0.0898928495740861 Centerline is valid? [True, True] Translation: X:94.55, Y:-6.25, Z:-2.41 [[ 9.99985235e-01 -5.30088419e-03 -1.19613526e-03 9.45460937e+01] [ 5.30099398e-03 9.99985946e-01 8.86371838e-05 -6.24754457e+00] [ 1.19564860e-03 -9.49765809e-05 9.99999281e-01 -2.40807614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94241403699999 meters 0.09002563562207967 Centerline is valid? [True, True] Translation: X:94.58, Y:-6.25, Z:-2.41 [[ 9.99983941e-01 -5.31441243e-03 -1.96858615e-03 9.45781754e+01] [ 5.31470918e-03 9.99985866e-01 1.45544861e-04 -6.24868915e+00] [ 1.96778484e-03 -1.56004986e-04 9.99998052e-01 -2.40944331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.972414037 meters 0.08808600522419566 Centerline is valid? [True, True] Translation: X:94.61, Y:-6.25, Z:-2.41 [[ 9.99980889e-01 -5.21843162e-03 -3.31519126e-03 9.46100885e+01] [ 5.21926562e-03 9.99986350e-01 2.42966726e-04 -6.24549605e+00] [ 3.31387810e-03 -2.60264946e-04 9.99994475e-01 -2.40945621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.002414037 meters 0.09100075862116531 Centerline is valid? [True, True] Translation: X:94.64, Y:-6.25, Z:-2.41 [[ 9.99981197e-01 -5.52271792e-03 -2.66558861e-03 9.46397222e+01] [ 5.52326070e-03 9.99984727e-01 1.96305120e-04 -6.25392173e+00] [ 2.66446377e-03 -2.11024170e-04 9.99996428e-01 -2.41330144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.032414037 meters 0.0925947242303046 Centerline is valid? [True, True] Translation: X:94.67, Y:-6.26, Z:-2.41 [[ 9.99977779e-01 -6.43775073e-03 -1.73087058e-03 9.46701184e+01] [ 6.43798089e-03 9.99979268e-01 1.27431337e-04 -6.25933909e+00] [ 1.73001432e-03 -1.38571817e-04 9.99998494e-01 -2.41419914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.062414037 meters 0.09220221556300788 Centerline is valid? [True, True] Translation: X:94.70, Y:-6.26, Z:-2.41 [[ 9.99974073e-01 -7.16569770e-03 7.11019007e-04 9.47023523e+01] [ 7.16573513e-03 9.99974325e-01 -5.01090089e-05 -6.26105837e+00] [-7.10641685e-04 5.52026836e-05 9.99999746e-01 -2.41273103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.092414037 meters 0.09035614854128371 Centerline is valid? [True, True] Translation: X:94.73, Y:-6.26, Z:-2.41 [[ 9.99963620e-01 -8.30796152e-03 1.93292494e-03 9.47345348e+01] [ 8.30824670e-03 9.99965476e-01 -1.39554630e-04 -6.25954042e+00] [-1.93169879e-03 1.55608771e-04 9.99998122e-01 -2.40952586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12241403699998 meters 0.09033899527363204 Centerline is valid? [True, True] Translation: X:94.76, Y:-6.26, Z:-2.41 [[ 9.99933076e-01 -1.12060500e-02 2.87545957e-03 9.47649401e+01] [ 1.12067008e-02 9.99937181e-01 -2.10306379e-04 -6.26143915e+00] [-2.87292224e-03 2.42516719e-04 9.99995844e-01 -2.40896576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15241403699999 meters 0.0903075709822492 Centerline is valid? [True, True] Translation: X:94.80, Y:-6.26, Z:-2.41 [[ 9.99915396e-01 -1.29490448e-02 1.23439266e-03 9.47958032e+01] [ 1.29491655e-02 9.99916152e-01 -8.98952721e-05 -6.26383757e+00] [-1.23312510e-03 1.05872021e-04 9.99999234e-01 -2.41018099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18241403699999 meters 0.0921784480778496 Centerline is valid? [True, True] Translation: X:94.83, Y:-6.27, Z:-2.41 [[ 9.99893292e-01 -1.46040997e-02 3.53116288e-04 9.48265649e+01] [ 1.46041096e-02 9.99893354e-01 -2.53700967e-05 -6.27002368e+00] [-3.52708122e-04 3.05243385e-05 9.99999937e-01 -2.41317246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21241403699999 meters 0.09179096054750703 Centerline is valid? [True, True] Translation: X:94.86, Y:-6.27, Z:-2.41 [[ 9.99840251e-01 -1.78698941e-02 -3.73856216e-04 9.48572476e+01] [ 1.78699056e-02 9.99840320e-01 2.73831400e-05 -6.27215417e+00] [ 3.73307184e-04 -3.40595409e-05 9.99999930e-01 -2.41372685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24241403699999 meters 0.09245503878998992 Centerline is valid? [True, True] Translation: X:94.89, Y:-6.28, Z:-2.41 [[ 9.99828715e-01 -1.84884047e-02 8.47964727e-04 9.48890336e+01] [ 1.84884623e-02 9.99829072e-01 -6.01196810e-05 -6.27572582e+00] [-8.46708269e-04 7.57869473e-05 9.99999639e-01 -2.41396535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27241403699999 meters 0.09274250802860866 Centerline is valid? [True, True] Translation: X:94.92, Y:-6.28, Z:-2.41 [[ 9.99819858e-01 -1.89603230e-02 8.70369132e-04 9.49208390e+01] [ 1.89603840e-02 9.99820234e-01 -6.18332499e-05 -6.27799436e+00] [-8.69040290e-04 7.83246441e-05 9.99999619e-01 -2.41419794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30241403699999 meters 0.09640816514383689 Centerline is valid? [True, True] Translation: X:94.95, Y:-6.29, Z:-2.42 [[ 9.99818958e-01 -1.90153530e-02 6.83146579e-04 9.49513319e+01] [ 1.90153907e-02 9.99819190e-01 -4.86469671e-05 -6.28632446e+00] [-6.82098020e-04 6.16284591e-05 9.99999765e-01 -2.41753622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33241403699999 meters 0.09387825915691923 Centerline is valid? [True, True] Translation: X:94.98, Y:-6.28, Z:-2.42 [[ 9.99811943e-01 -1.93908461e-02 -2.73248316e-04 9.49841924e+01] [ 1.93908528e-02 9.99811979e-01 2.21016184e-05 -6.28343929e+00] [ 2.72768370e-04 -2.73959799e-05 9.99999962e-01 -2.41740532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.362414037 meters 0.09310431794851715 Centerline is valid? [True, True] Translation: X:95.02, Y:-6.28, Z:-2.42 [[ 9.99811242e-01 -1.94261157e-02 -3.26249768e-04 9.50161606e+01] [ 1.94261252e-02 9.99811295e-01 2.60532985e-05 -6.28459178e+00] [ 3.25682089e-04 -3.23861496e-05 9.99999946e-01 -2.41850958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.392414037 meters 0.09400304800666344 Centerline is valid? [True, True] Translation: X:95.05, Y:-6.29, Z:-2.42 [[ 9.99814473e-01 -1.91418552e-02 -2.14675425e-03 9.50466017e+01] [ 1.91422416e-02 9.99816758e-01 1.59578705e-04 -6.28955666e+00] [ 2.14330624e-03 -2.00642788e-04 9.99997683e-01 -2.42228431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.422414037 meters 0.09204911603675314 Centerline is valid? [True, True] Translation: X:95.08, Y:-6.29, Z:-2.42 [[ 9.99821580e-01 -1.87167449e-02 -2.54793409e-03 9.50794467e+01] [ 1.87172889e-02 9.99824798e-01 1.89813670e-04 -6.28856040e+00] [ 2.54393500e-03 -2.37470222e-04 9.99996736e-01 -2.42217941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.452414037 meters 0.09286846502553076 Centerline is valid? [True, True] Translation: X:95.11, Y:-6.29, Z:-2.42 [[ 9.99828846e-01 -1.83326803e-02 -2.48810948e-03 9.51102305e+01] [ 1.83332035e-02 9.99831915e-01 1.87635057e-04 -6.29203540e+00] [ 2.48425141e-03 -2.33217960e-04 9.99996887e-01 -2.42358550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48241403699998 meters 0.09365639060303824 Centerline is valid? [True, True] Translation: X:95.14, Y:-6.29, Z:-2.42 [[ 9.99838118e-01 -1.79892730e-02 -3.51854000e-04 9.51413247e+01] [ 1.79892836e-02 9.99838179e-01 2.70019427e-05 -6.29401585e+00] [ 3.51311318e-04 -3.33271730e-05 9.99999938e-01 -2.42133654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51241403699999 meters 0.0917093701972242 Centerline is valid? [True, True] Translation: X:95.17, Y:-6.29, Z:-2.42 [[ 9.99854048e-01 -1.70733612e-02 6.19385397e-04 9.51729012e+01] [ 1.70733922e-02 9.99854238e-01 -4.47356837e-05 -6.29259678e+00] [-6.18531325e-04 5.53041642e-05 9.99999807e-01 -2.42033773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54241403699999 meters 0.09306904263338472 Centerline is valid? [True, True] Translation: X:95.20, Y:-6.30, Z:-2.42 [[ 9.99863186e-01 -1.65405509e-02 1.38733868e-04 9.52038592e+01] [ 1.65405523e-02 9.99863196e-01 -8.73735589e-06 -6.29776536e+00] [-1.38570368e-04 1.10308953e-05 9.99999990e-01 -2.42231216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57241403699999 meters 0.09567474366701664 Centerline is valid? [True, True] Translation: X:95.23, Y:-6.31, Z:-2.43 [[ 9.99872290e-01 -1.59775631e-02 3.49352120e-04 9.52342980e+01] [ 1.59775726e-02 9.99872350e-01 -2.43451929e-05 -6.30602341e+00] [-3.48918548e-04 2.99238826e-05 9.99999939e-01 -2.42612635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60241403699999 meters 0.09028726057463933 Centerline is valid? [True, True] Translation: X:95.27, Y:-6.30, Z:-2.42 [[ 9.99891722e-01 -1.47139993e-02 -2.05502089e-04 9.52663944e+01] [ 1.47140029e-02 9.99891743e-01 1.62480050e-05 -6.29901065e+00] [ 2.05240769e-04 -1.92700041e-05 9.99999979e-01 -2.42401721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63241403699999 meters 0.09261240855958182 Centerline is valid? [True, True] Translation: X:95.30, Y:-6.30, Z:-2.43 [[ 9.99902746e-01 -1.39450259e-02 1.83919931e-04 9.52977433e+01] [ 1.39450282e-02 9.99902763e-01 -1.15990768e-05 -6.30479825e+00] [-1.83740298e-04 1.41627174e-05 9.99999983e-01 -2.42607424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66241403699999 meters 0.09058926951865823 Centerline is valid? [True, True] Translation: X:95.33, Y:-6.30, Z:-2.43 [[ 9.99920416e-01 -1.26077060e-02 -4.54738082e-04 9.53298181e+01] [ 1.26077235e-02 9.99920519e-01 3.56678838e-05 -6.30270316e+00] [ 4.54252249e-04 -4.13982573e-05 9.99999896e-01 -2.42512679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69241403699999 meters 0.09237246543536361 Centerline is valid? [True, True] Translation: X:95.36, Y:-6.31, Z:-2.43 [[ 9.99941477e-01 -1.08093494e-02 4.48726915e-04 9.53593843e+01] [ 1.08093654e-02 9.99941577e-01 -3.32786395e-05 -6.30740672e+00] [-4.48340978e-04 3.81271451e-05 9.99999899e-01 -2.42683968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.722414037 meters 0.09126616925828575 Centerline is valid? [True, True] Translation: X:95.39, Y:-6.31, Z:-2.43 [[ 9.99960824e-01 -8.81565465e-03 7.96364617e-04 9.53905680e+01] [ 8.81570409e-03 9.99961139e-01 -5.85840070e-05 -6.30708892e+00] [-7.95817213e-04 6.56022267e-05 9.99999681e-01 -2.42617551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.752414037 meters 0.08699984907624315 Centerline is valid? [True, True] Translation: X:95.42, Y:-6.30, Z:-2.42 [[ 9.99971726e-01 -7.50123326e-03 -5.27227611e-04 9.54234078e+01] [ 7.50125601e-03 9.99971864e-01 4.11935853e-05 -6.30032638e+00] [ 5.26903774e-04 -4.51472898e-05 9.99999860e-01 -2.42457768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.782414037 meters 0.0918081362138792 Centerline is valid? [True, True] Translation: X:95.45, Y:-6.31, Z:-2.43 [[ 9.99980865e-01 -5.98780987e-03 -1.55428810e-03 9.54526382e+01] [ 5.98799725e-03 9.99982065e-01 1.15931773e-04 -6.31278895e+00] [ 1.55356604e-03 -1.25236628e-04 9.99998785e-01 -2.43066103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.812414037 meters 0.08960116667888873 Centerline is valid? [True, True] Translation: X:95.49, Y:-6.31, Z:-2.43 [[ 9.99980864e-01 -5.23403634e-03 -3.29780257e-03 9.54852237e+01] [ 5.23487949e-03 9.99986267e-01 2.47088160e-04 -6.31102757e+00] [ 3.29646401e-03 -2.64347031e-04 9.99994532e-01 -2.43223400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.842414037 meters 0.08813787421757126 Centerline is valid? [True, True] Translation: X:95.52, Y:-6.31, Z:-2.43 [[ 9.99972585e-01 -5.48426450e-03 -4.97510999e-03 9.55162962e+01] [ 5.48617469e-03 9.99984882e-01 3.70382489e-04 -6.30979902e+00] [ 4.97300350e-03 -3.97666658e-04 9.99987555e-01 -2.43330646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87241403699998 meters 0.08672669517902236 Centerline is valid? [True, True] Translation: X:95.55, Y:-6.31, Z:-2.43 [[ 9.99966893e-01 -5.34571942e-03 -6.13487796e-03 9.55464437e+01] [ 5.34861726e-03 9.99985592e-01 4.56045386e-04 -6.30816316e+00] [ 6.13235168e-03 -4.88843401e-04 9.99981077e-01 -2.43467129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90241403699999 meters 0.09163210091515958 Centerline is valid? [True, True] Translation: X:95.57, Y:-6.32, Z:-2.44 [[ 9.99969213e-01 -6.02860444e-03 -5.02279864e-03 9.55746732e+01] [ 6.03055272e-03 9.99981747e-01 3.72830982e-04 -6.31942746e+00] [ 5.02045930e-03 -4.03109755e-04 9.99987316e-01 -2.44004948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93241403699999 meters 0.08683460611858479 Centerline is valid? [True, True] Translation: X:95.61, Y:-6.31, Z:-2.44 [[ 9.99966839e-01 -6.79898371e-03 -4.48267009e-03 9.56057284e+01] [ 6.80054520e-03 9.99976821e-01 3.33189414e-04 -6.31205495e+00] [ 4.48030084e-03 -3.63662966e-04 9.99989897e-01 -2.43541438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96241403699999 meters 0.088600762153194 Centerline is valid? [True, True] Translation: X:95.64, Y:-6.32, Z:-2.44 [[ 9.99971832e-01 -7.13539054e-03 -2.32843891e-03 9.56357490e+01] [ 7.13581403e-03 9.99974525e-01 1.73617584e-04 -6.31864261e+00] [ 2.32714077e-03 -1.90228000e-04 9.99997274e-01 -2.43660480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99241403699999 meters 0.08833429021016699 Centerline is valid? [True, True] Translation: X:95.67, Y:-6.32, Z:-2.44 [[ 9.99963410e-01 -8.40923105e-03 -1.56944493e-03 9.56674872e+01] [ 8.40942699e-03 9.99964633e-01 1.18285083e-04 -6.32007788e+00] [ 1.56839474e-03 -1.31478888e-04 9.99998761e-01 -2.43561775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02241403699999 meters 0.08910889173700386 Centerline is valid? [True, True] Translation: X:95.70, Y:-6.32, Z:-2.44 [[ 9.99962464e-01 -8.66127797e-03 -2.29636975e-04 9.56999482e+01] [ 8.66128258e-03 9.99962490e-01 1.91044125e-05 -6.32375062e+00] [ 2.29462892e-04 -2.10926461e-05 9.99999973e-01 -2.43590747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05241403699999 meters 0.08973599964487673 Centerline is valid? [True, True] Translation: X:95.73, Y:-6.33, Z:-2.44 [[ 9.99962514e-01 -8.65652439e-03 1.88378747e-04 9.57316283e+01] [ 8.65652681e-03 9.99962531e-01 -1.20363458e-05 -6.32652190e+00] [-1.88267496e-04 1.36666002e-05 9.99999982e-01 -2.43532967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08241403699999 meters 0.08845778260451582 Centerline is valid? [True, True] Translation: X:95.76, Y:-6.33, Z:-2.43 [[ 9.99946321e-01 -1.03338394e-02 7.53466187e-04 9.57634221e+01] [ 1.03338839e-02 9.99946602e-01 -5.51629922e-05 -6.32515086e+00] [-7.52855908e-04 6.29462631e-05 9.99999715e-01 -2.43388906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.112414037 meters 0.09204890342138185 Centerline is valid? [True, True] Translation: X:95.79, Y:-6.33, Z:-2.44 [[ 9.99938938e-01 -1.09573322e-02 1.43435721e-03 9.57934547e+01] [ 1.09574955e-02 9.99939959e-01 -1.05987371e-04 -6.33498872e+00] [-1.43310975e-03 1.21697861e-04 9.99998966e-01 -2.43730044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.142414037 meters 0.0934692683088758 Centerline is valid? [True, True] Translation: X:95.82, Y:-6.34, Z:-2.44 [[ 9.99934566e-01 -1.12766989e-02 1.92329267e-03 9.58243263e+01] [ 1.12769929e-02 9.99936403e-01 -1.42099874e-04 -6.34119723e+00] [-1.92156794e-03 1.63779534e-04 9.99998140e-01 -2.43950132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.172414037 meters 0.0934692683088758 Centerline is valid? [True, True] Translation: X:95.86, Y:-6.34, Z:-2.44 [[ 9.99935676e-01 -1.11778619e-02 1.92338901e-03 9.58568928e+01] [ 1.11781533e-02 9.99937513e-01 -1.40811166e-04 -6.34374414e+00] [-1.92169485e-03 1.62302046e-04 9.99998140e-01 -2.44047642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.202414037 meters 0.09183494234473358 Centerline is valid? [True, True] Translation: X:95.89, Y:-6.34, Z:-2.44 [[ 9.99936468e-01 -1.09946540e-02 2.48566227e-03 9.58896667e+01] [ 1.09951451e-02 9.99939535e-01 -1.83970948e-04 -6.34293286e+00] [-2.48348927e-03 2.11289477e-04 9.99996894e-01 -2.43995282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23241403699998 meters 0.0897622084523929 Centerline is valid? [True, True] Translation: X:95.92, Y:-6.34, Z:-2.44 [[ 9.99936817e-01 -1.08859179e-02 2.80343883e-03 9.59217455e+01] [ 1.08865432e-02 9.99940718e-01 -2.07889685e-04 -6.34047587e+00] [-2.80100957e-03 2.38396308e-04 9.99996049e-01 -2.43933477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26241403699999 meters 0.08975307210541586 Centerline is valid? [True, True] Translation: X:95.95, Y:-6.34, Z:-2.44 [[ 9.99938962e-01 -1.04583418e-02 3.56307021e-03 9.59538916e+01] [ 1.04593521e-02 9.99945264e-01 -2.65020266e-04 -6.34216402e+00] [-3.56010351e-03 3.02271495e-04 9.99993617e-01 -2.43987350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29241403699999 meters 0.09296614156237883 Centerline is valid? [True, True] Translation: X:95.98, Y:-6.35, Z:-2.44 [[ 9.99944953e-01 -9.92936586e-03 3.39097932e-03 9.59849524e+01] [ 9.93027990e-03 9.99950662e-01 -2.52818308e-04 -6.34871657e+00] [-3.38830169e-03 2.86477765e-04 9.99994219e-01 -2.44255196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32241403699999 meters 0.08879160258731882 Centerline is valid? [True, True] Translation: X:96.02, Y:-6.34, Z:-2.44 [[ 9.99949349e-01 -9.21807464e-03 4.04054089e-03 9.60176384e+01] [ 9.21936677e-03 9.99957455e-01 -3.01281551e-04 -6.34270235e+00] [-4.03759175e-03 3.38517520e-04 9.99991792e-01 -2.44148565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35241403699999 meters 0.0939790628640567 Centerline is valid? [True, True] Translation: X:96.05, Y:-6.36, Z:-2.45 [[ 9.99946793e-01 -9.50256186e-03 4.01394274e-03 9.60476829e+01] [ 9.50384220e-03 9.99954792e-01 -3.00019199e-04 -6.35555379e+00] [-4.01091033e-03 3.38151114e-04 9.99991899e-01 -2.44543613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38241403699999 meters 0.09184153227889054 Centerline is valid? [True, True] Translation: X:96.08, Y:-6.35, Z:-2.45 [[ 9.99944603e-01 -9.42009269e-03 4.69605035e-03 9.60804293e+01] [ 9.42184481e-03 9.99955552e-01 -3.51120616e-04 -6.35457615e+00] [-4.69253403e-03 3.95346622e-04 9.99988912e-01 -2.44537901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41241403699999 meters 0.09084938735023244 Centerline is valid? [True, True] Translation: X:96.11, Y:-6.35, Z:-2.45 [[ 9.99938201e-01 -1.03713162e-02 4.00368924e-03 9.61126838e+01] [ 1.03725971e-02 9.99946158e-01 -2.99298954e-04 -6.35452526e+00] [-4.00036955e-03 3.40809113e-04 9.99991940e-01 -2.44622076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44241403699999 meters 0.0928474732125331 Centerline is valid? [True, True] Translation: X:96.14, Y:-6.36, Z:-2.45 [[ 9.99928875e-01 -1.14129243e-02 3.46257540e-03 9.61437965e+01] [ 1.14138900e-02 9.99934826e-01 -2.59279309e-04 -6.36004000e+00] [-3.45939059e-03 2.98782322e-04 9.99993972e-01 -2.44835003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.472414037 meters 0.09268698266857356 Centerline is valid? [True, True] Translation: X:96.18, Y:-6.36, Z:-2.45 [[ 9.99920195e-01 -1.22381265e-02 3.13551623e-03 9.61755794e+01] [ 1.22389225e-02 9.99925074e-01 -2.34794634e-04 -6.36127111e+00] [-3.13240785e-03 2.73151237e-04 9.99995057e-01 -2.44835824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.502414037 meters 0.09160439554809999 Centerline is valid? [True, True] Translation: X:96.21, Y:-6.36, Z:-2.45 [[ 9.99911342e-01 -1.30523127e-02 2.63547167e-03 9.62074824e+01] [ 1.30528733e-02 9.99914788e-01 -1.95620292e-04 -6.36049572e+00] [-2.63269380e-03 2.30003426e-04 9.99996508e-01 -2.44847468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.532414037 meters 0.09295011322592268 Centerline is valid? [True, True] Translation: X:96.24, Y:-6.37, Z:-2.45 [[ 9.99901328e-01 -1.38426121e-02 2.39092227e-03 9.62391103e+01] [ 1.38430756e-02 9.99904164e-01 -1.77454170e-04 -6.36508271e+00] [-2.38823671e-03 2.10534378e-04 9.99997126e-01 -2.44943548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.562414037 meters 0.09534688355802325 Centerline is valid? [True, True] Translation: X:96.27, Y:-6.37, Z:-2.45 [[ 9.99890061e-01 -1.44421780e-02 3.35982830e-03 9.62697147e+01] [ 1.44431076e-02 9.99895661e-01 -2.52594899e-04 -6.37221496e+00] [-3.35582972e-03 3.01093491e-04 9.99994324e-01 -2.45266279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59241403699998 meters 0.09168057636101293 Centerline is valid? [True, True] Translation: X:96.30, Y:-6.37, Z:-2.45 [[ 9.99886578e-01 -1.46161724e-02 3.63312267e-03 9.63019819e+01] [ 1.46172599e-02 9.99893125e-01 -2.72961520e-04 -6.36713333e+00] [-3.62874472e-03 3.26036858e-04 9.99993363e-01 -2.45140814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62241403699998 meters 0.09305077985933922 Centerline is valid? [True, True] Translation: X:96.33, Y:-6.37, Z:-2.45 [[ 9.99880856e-01 -1.52413190e-02 2.44443098e-03 9.63339745e+01] [ 1.52418120e-02 9.99883820e-01 -1.83162467e-04 -6.37083831e+00] [-2.44135535e-03 2.20398202e-04 9.99996996e-01 -2.45350384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65241403699999 meters 0.09513260674254444 Centerline is valid? [True, True] Translation: X:96.36, Y:-6.38, Z:-2.46 [[ 9.99874081e-01 -1.56986429e-02 2.31816843e-03 9.63644114e+01] [ 1.56990887e-02 9.99876747e-01 -1.74225417e-04 -6.37609282e+00] [-2.31514760e-03 2.10596610e-04 9.99997298e-01 -2.45659961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68241403699999 meters 0.09340955225607007 Centerline is valid? [True, True] Translation: X:96.40, Y:-6.37, Z:-2.45 [[ 9.99871730e-01 -1.51181209e-02 5.28822442e-03 9.63967461e+01] [ 1.51204445e-02 9.99885600e-01 -3.99677662e-04 -6.37354675e+00] [-5.28157707e-03 4.79586699e-04 9.99985937e-01 -2.45434190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71241403699999 meters 0.0922012024305672 Centerline is valid? [True, True] Translation: X:96.43, Y:-6.37, Z:-2.45 [[ 9.99855147e-01 -1.50340457e-02 7.97884384e-03 9.64292852e+01] [ 1.50393390e-02 9.99886720e-01 -6.03831870e-04 -6.37227268e+00] [-7.96886196e-03 7.23740940e-04 9.99967986e-01 -2.45262568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74241403699999 meters 0.09430100097507536 Centerline is valid? [True, True] Translation: X:96.46, Y:-6.38, Z:-2.45 [[ 9.99841028e-01 -1.46260478e-02 1.01979468e-02 9.64607842e+01] [ 1.46346874e-02 9.99892608e-01 -7.73070894e-04 -6.37820560e+00] [-1.01855447e-02 9.22191761e-04 9.99947701e-01 -2.45179206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77241403699999 meters 0.09497120688588363 Centerline is valid? [True, True] Translation: X:96.49, Y:-6.38, Z:-2.45 [[ 9.99818216e-01 -1.51316383e-02 1.16004029e-02 9.64931831e+01] [ 1.51428640e-02 9.99884953e-01 -8.80470199e-04 -6.38049919e+00] [-1.15857454e-02 1.05597347e-03 9.99932325e-01 -2.45154252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80241403699999 meters 0.09705055167040033 Centerline is valid? [True, True] Translation: X:96.52, Y:-6.39, Z:-2.45 [[ 9.99788007e-01 -1.77342386e-02 1.04612805e-02 9.65232068e+01] [ 1.77435272e-02 9.99842255e-01 -7.95757174e-04 -6.38659075e+00] [-1.04455181e-02 9.81208495e-04 9.99944963e-01 -2.45437077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83241403699999 meters 0.09932133453585792 Centerline is valid? [True, True] Translation: X:96.55, Y:-6.39, Z:-2.46 [[ 9.99771240e-01 -1.96431229e-02 8.46257731e-03 9.65523221e+01] [ 1.96492643e-02 9.99806728e-01 -6.43177983e-04 -6.39312895e+00] [-8.44830771e-03 8.09314268e-04 9.99963985e-01 -2.45904356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.862414037 meters 0.10019992011175308 Centerline is valid? [True, False] Translation: X:96.55, Y:-6.39, Z:-2.46 [[ 9.99781014e-01 -1.91034748e-02 8.54288889e-03 9.65532750e+01] [ 1.91013760e-02 9.99817499e-01 3.27214225e-04 -6.39442626e+00] [-8.54758073e-03 -1.63961637e-04 9.99963455e-01 -2.46085110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.892414037 meters 0.10174223323623673 Centerline is valid? [False, False] Translation: X:96.55, Y:-6.39, Z:-2.46 [[ 9.99779738e-01 -1.90683517e-02 8.76771243e-03 9.65537547e+01] [ 1.90635105e-02 9.99818073e-01 6.35410801e-04 -6.39370793e+00] [-8.77823359e-03 -4.68127466e-04 9.99961361e-01 -2.46246796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.922414037 meters 0.10442279044795955 Centerline is valid? [False, False] Translation: X:96.55, Y:-6.39, Z:-2.46 [[ 9.99844689e-01 -1.50035953e-02 9.24606470e-03 9.65529660e+01] [ 1.49564335e-02 9.99874889e-01 5.14895576e-03 -6.39409653e+00] [-9.32216076e-03 -5.00986792e-03 9.99943998e-01 -2.46306254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.952414037 meters 0.10168300484872882 Centerline is valid? [False, False] Translation: X:96.54, Y:-6.39, Z:-2.47 [[ 9.99811468e-01 -8.65291775e-03 1.73826447e-02 9.65423240e+01] [ 8.59557613e-03 9.99957376e-01 3.37079575e-03 -6.39421654e+00] [-1.74110710e-02 -3.22074640e-03 9.99843228e-01 -2.46788826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98241403699998 meters 0.10433558901464726 Centerline is valid? [False, False] Translation: X:96.54, Y:-6.39, Z:-2.47 [[ 9.99812298e-01 -8.78868457e-03 1.72663787e-02 9.65423510e+01] [ 8.73847515e-03 9.99957375e-01 2.98122867e-03 -6.39317267e+00] [-1.72918438e-02 -2.82978727e-03 9.99846480e-01 -2.46752891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01241403699999 meters 0.0991439791788622 Centerline is valid? [False, True] Translation: X:96.54, Y:-6.39, Z:-2.47 [[ 9.99815675e-01 -8.76727965e-03 1.70807075e-02 9.65425673e+01] [ 8.72088101e-03 9.99958083e-01 2.78903039e-03 -6.39266433e+00] [-1.71044437e-02 -2.63955748e-03 9.99850224e-01 -2.46724038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04241403699999 meters 0.09502088738800334 Centerline is valid? [True, True] Translation: X:96.58, Y:-6.39, Z:-2.47 [[ 9.99842366e-01 -7.69961137e-03 1.59987248e-02 9.65761149e+01] [ 7.72338838e-03 9.99969159e-01 -1.42492628e-03 -6.38656598e+00] [-1.59872600e-02 1.54826603e-03 9.99870997e-01 -2.46557933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07241403699999 meters 0.0950362499403838 Centerline is valid? [True, True] Translation: X:96.61, Y:-6.39, Z:-2.47 [[ 9.99858043e-01 -7.42144562e-03 1.51266843e-02 9.66085278e+01] [ 7.44268082e-03 9.99971394e-01 -1.34801191e-03 -6.38924440e+00] [-1.51162474e-02 1.46040363e-03 9.99884676e-01 -2.46815753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10241403699999 meters 0.09590526430347203 Centerline is valid? [True, True] Translation: X:96.64, Y:-6.39, Z:-2.47 [[ 9.99886907e-01 -6.33309365e-03 1.36405763e-02 9.66392403e+01] [ 6.35023676e-03 9.99979100e-01 -1.21382722e-03 -6.39332690e+00] [-1.36326039e-02 1.30031084e-03 9.99906226e-01 -2.47135510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13241403699999 meters 0.09630137660647924 Centerline is valid? [True, True] Translation: X:96.67, Y:-6.40, Z:-2.47 [[ 9.99902391e-01 -4.78832367e-03 1.31255867e-02 9.66700582e+01] [ 4.80415956e-03 9.99987769e-01 -1.17522516e-03 -6.39516382e+00] [-1.31197988e-02 1.23816786e-03 9.99913165e-01 -2.47296035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16241403699999 meters 0.09773441546349776 Centerline is valid? [True, True] Translation: X:96.70, Y:-6.40, Z:-2.47 [[ 9.99902333e-01 -4.35059446e-03 1.32814820e-02 9.67013769e+01] [ 4.36676634e-03 9.99989759e-01 -1.18886930e-03 -6.40068402e+00] [-1.32761737e-02 1.24675031e-03 9.99911090e-01 -2.47370910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19241403699999 meters 0.09586269100524931 Centerline is valid? [True, True] Translation: X:96.73, Y:-6.40, Z:-2.47 [[ 9.99896906e-01 -4.11414603e-03 1.37568547e-02 9.67338532e+01] [ 4.13148806e-03 9.99990706e-01 -1.23242825e-03 -6.40071013e+00] [-1.37516565e-02 1.28913747e-03 9.99904610e-01 -2.47330353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.222414037 meters 0.09643237507466365 Centerline is valid? [True, True] Translation: X:96.77, Y:-6.41, Z:-2.47 [[ 9.99889362e-01 -4.02533166e-03 1.43199665e-02 9.67657035e+01] [ 4.04409629e-03 9.99991001e-01 -1.28166626e-03 -6.40666826e+00] [-1.43146785e-02 1.33943578e-03 9.99896643e-01 -2.47482610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.252414037 meters 0.09824442498806368 Centerline is valid? [True, True] Translation: X:96.80, Y:-6.41, Z:-2.48 [[ 9.99890476e-01 -3.77621920e-03 1.43100005e-02 9.67962596e+01] [ 3.79500615e-03 9.99991972e-01 -1.28592732e-03 -6.41345590e+00] [-1.43050297e-02 1.34009302e-03 9.99896780e-01 -2.47737351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.282414037 meters 0.09862845714608877 Centerline is valid? [True, True] Translation: X:96.83, Y:-6.42, Z:-2.48 [[ 9.99916662e-01 -3.64146005e-03 1.23858045e-02 9.68279873e+01] [ 3.65552330e-03 9.99992699e-01 -1.11298268e-03 -6.41690246e+00] [-1.23816612e-02 1.15816652e-03 9.99922674e-01 -2.47977951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.312414037 meters 0.09738744906279036 Centerline is valid? [True, True] Translation: X:96.86, Y:-6.42, Z:-2.48 [[ 9.99933311e-01 -2.63137084e-03 1.12449588e-02 9.68605570e+01] [ 2.64290506e-03 9.99995996e-01 -1.01098620e-03 -6.41749880e+00] [-1.12422535e-02 1.04063814e-03 9.99936262e-01 -2.48173963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34241403699998 meters 0.09882183264608255 Centerline is valid? [True, True] Translation: X:96.89, Y:-6.42, Z:-2.48 [[ 9.99928937e-01 -1.67295259e-03 1.18034664e-02 9.68910515e+01] [ 1.68561581e-03 9.99998014e-01 -1.06297262e-03 -6.42270398e+00] [-1.18016646e-02 1.08279319e-03 9.99929772e-01 -2.48396991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37241403699998 meters 0.0978427906663856 Centerline is valid? [True, True] Translation: X:96.92, Y:-6.42, Z:-2.48 [[ 9.99900925e-01 1.30473284e-03 1.40155974e-02 9.69209842e+01] [-1.28714945e-03 9.99998373e-01 -1.26350549e-03 -6.42363105e+00] [-1.40172231e-02 1.24534014e-03 9.99900978e-01 -2.48410775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40241403699999 meters 0.09767231521624288 Centerline is valid? [True, True] Translation: X:96.95, Y:-6.43, Z:-2.49 [[ 9.99900280e-01 2.20891747e-03 1.39481294e-02 9.69536402e+01] [-2.19162565e-03 9.99996811e-01 -1.25488685e-03 -6.42685098e+00] [-1.39508568e-02 1.22419264e-03 9.99901933e-01 -2.48551993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43241403699999 meters 0.09445517144770642 Centerline is valid? [True, True] Translation: X:96.99, Y:-6.43, Z:-2.48 [[ 9.99863155e-01 4.32300213e-03 1.59681966e-02 9.69852335e+01] [-4.30052914e-03 9.99989714e-01 -1.44142972e-03 -6.42503598e+00] [-1.59742636e-02 1.37256077e-03 9.99871461e-01 -2.48393804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46241403699999 meters 0.08851230706798649 Centerline is valid? [True, True] Translation: X:97.02, Y:-6.42, Z:-2.48 [[ 9.99831228e-01 6.56962895e-03 1.71567801e-02 9.70172971e+01] [-6.54401004e-03 9.99977388e-01 -1.54893912e-03 -6.41623356e+00] [-1.71665681e-02 1.43640356e-03 9.99851612e-01 -2.48041470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49241403699999 meters 0.08771840816949442 Centerline is valid? [True, True] Translation: X:97.05, Y:-6.42, Z:-2.48 [[ 9.99839631e-01 7.32602992e-03 1.63414012e-02 9.70498303e+01] [-7.30296129e-03 9.99972251e-01 -1.47089618e-03 -6.41771105e+00] [-1.63517236e-02 1.35131968e-03 9.99865388e-01 -2.48117258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52241403699999 meters 0.09108386493946302 Centerline is valid? [True, True] Translation: X:97.08, Y:-6.43, Z:-2.49 [[ 9.99852124e-01 8.02520214e-03 1.52093986e-02 9.70801842e+01] [-8.00521743e-03 9.99967013e-01 -1.37439771e-03 -6.42804092e+00] [-1.52199267e-02 1.25243993e-03 9.99883386e-01 -2.48559336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55241403699999 meters 0.09188247150602209 Centerline is valid? [True, True] Translation: X:97.11, Y:-6.43, Z:-2.49 [[ 9.99869318e-01 8.61914212e-03 1.36768656e-02 9.71117339e+01] [-8.60305296e-03 9.99962231e-01 -1.23477681e-03 -6.43306339e+00] [-1.36869918e-02 1.11695264e-03 9.99905705e-01 -2.48838099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58241403699999 meters 0.092597861729072 Centerline is valid? [True, True] Translation: X:97.14, Y:-6.44, Z:-2.49 [[ 9.99873163e-01 9.32061267e-03 1.29144882e-02 9.71438088e+01] [-9.30628477e-03 9.99956012e-01 -1.16909745e-03 -6.43884862e+00] [-1.29248168e-02 1.04876326e-03 9.99915921e-01 -2.49106730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.612414037 meters 0.09123931230341537 Centerline is valid? [True, True] Translation: X:97.17, Y:-6.44, Z:-2.49 [[ 9.99868888e-01 1.09710351e-02 1.19097792e-02 9.71748439e+01] [-1.09588833e-02 9.99939361e-01 -1.08510203e-03 -6.44167695e+00] [-1.19209617e-02 9.54441883e-04 9.99928487e-01 -2.49414042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.642414037 meters 0.08696429905280967 Centerline is valid? [True, True] Translation: X:97.21, Y:-6.44, Z:-2.49 [[ 9.99836449e-01 1.20590634e-02 1.34779214e-02 9.72070269e+01] [-1.20435913e-02 9.99926719e-01 -1.22854210e-03 -6.43636318e+00] [-1.34917488e-02 1.06601860e-03 9.99908414e-01 -2.49199361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.672414037 meters 0.08608226541128376 Centerline is valid? [True, True] Translation: X:97.24, Y:-6.44, Z:-2.49 [[ 9.99809971e-01 1.31670921e-02 1.43753072e-02 9.72384695e+01] [-1.31495963e-02 9.99912681e-01 -1.31092137e-03 -6.43738293e+00] [-1.43913130e-02 1.12164277e-03 9.99895811e-01 -2.49102799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.702414037 meters 0.08495035173620101 Centerline is valid? [True, True] Translation: X:97.27, Y:-6.44, Z:-2.49 [[ 9.99731311e-01 1.56164998e-02 1.71298105e-02 9.72690974e+01] [-1.55919890e-02 9.99877215e-01 -1.56351133e-03 -6.43813963e+00] [-1.71521238e-02 1.29600341e-03 9.99852052e-01 -2.48895252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73241403699998 meters 0.08408616707928387 Centerline is valid? [True, True] Translation: X:97.30, Y:-6.44, Z:-2.49 [[ 9.99688974e-01 1.74445364e-02 1.78225631e-02 9.73000330e+01] [-1.74182935e-02 9.99846967e-01 -1.62663428e-03 -6.44013776e+00] [-1.78482115e-02 1.31568972e-03 9.99839842e-01 -2.48980143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76241403699999 meters 0.08700442304456964 Centerline is valid? [True, True] Translation: X:97.33, Y:-6.45, Z:-2.49 [[ 9.99655194e-01 1.86625021e-02 1.84716960e-02 9.73290226e+01] [-1.86345052e-02 9.99824940e-01 -1.68663950e-03 -6.45075221e+00] [-1.84999393e-02 1.34184702e-03 9.99827961e-01 -2.49189068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79241403699999 meters 0.08432443357421249 Centerline is valid? [True, True] Translation: X:97.36, Y:-6.45, Z:-2.49 [[ 9.99629908e-01 1.93494493e-02 1.91218564e-02 9.73602970e+01] [-1.93195716e-02 9.99811835e-01 -1.74600525e-03 -6.44814889e+00] [-1.91520426e-02 1.37593300e-03 9.99815636e-01 -2.49119582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82241403699999 meters 0.08345005636999041 Centerline is valid? [True, True] Translation: X:97.39, Y:-6.45, Z:-2.49 [[ 9.99612847e-01 2.08725474e-02 1.83981700e-02 9.73914239e+01] [-2.08451496e-02 9.99781305e-01 -1.67969907e-03 -6.44963599e+00] [-1.84292061e-02 1.29553616e-03 9.99829328e-01 -2.49247652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85241403699999 meters 0.0843882544073408 Centerline is valid? [True, True] Translation: X:97.42, Y:-6.45, Z:-2.49 [[ 9.99638239e-01 2.09017180e-02 1.69266137e-02 9.74201371e+01] [-2.08785197e-02 9.99780824e-01 -1.54609993e-03 -6.45449778e+00] [-1.69552199e-02 1.19213798e-03 9.99855539e-01 -2.49447605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88241403699999 meters 0.08494561934287391 Centerline is valid? [True, True] Translation: X:97.45, Y:-6.46, Z:-2.50 [[ 9.99653031e-01 2.07604090e-02 1.62118367e-02 9.74488414e+01] [-2.07391031e-02 9.99783824e-01 -1.48125065e-03 -6.45851244e+00] [-1.62390834e-02 1.14451775e-03 9.99867482e-01 -2.49713054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91241403699999 meters 0.08555732537288896 Centerline is valid? [True, True] Translation: X:97.48, Y:-6.46, Z:-2.50 [[ 9.99704287e-01 1.93253933e-02 1.47603378e-02 9.74786188e+01] [-1.93075959e-02 9.99812683e-01 -1.34732280e-03 -6.46304115e+00] [-1.47836105e-02 1.06193774e-03 9.99890153e-01 -2.49990835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94241403699999 meters 0.08494871752827998 Centerline is valid? [True, True] Translation: X:97.51, Y:-6.47, Z:-2.50 [[ 9.99709280e-01 1.90039290e-02 1.48393466e-02 9.75079034e+01] [-1.89859034e-02 9.99818834e-01 -1.35466319e-03 -6.46514824e+00] [-1.48624021e-02 1.07253096e-03 9.99888973e-01 -2.50028396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.972414037 meters 0.08613147045420749 Centerline is valid? [True, True] Translation: X:97.54, Y:-6.47, Z:-2.50 [[ 9.99728053e-01 1.75937727e-02 1.53062071e-02 9.75361705e+01] [-1.75744347e-02 9.99844582e-01 -1.39700713e-03 -6.47160645e+00] [-1.53284069e-02 1.12762928e-03 9.99881877e-01 -2.50172703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.002414037 meters 0.08700600662934313 Centerline is valid? [True, True] Translation: X:97.57, Y:-6.48, Z:-2.50 [[ 9.99722597e-01 1.67169893e-02 1.65913287e-02 9.75650035e+01] [-1.66941724e-02 9.99859498e-01 -1.51278225e-03 -6.47755381e+00] [-1.66142868e-02 1.23538409e-03 9.99861210e-01 -2.50208544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.032414037 meters 0.08762434796687693 Centerline is valid? [True, True] Translation: X:97.60, Y:-6.48, Z:-2.50 [[ 9.99768301e-01 1.45994783e-02 1.58177070e-02 9.75957883e+01] [-1.45784912e-02 9.99892689e-01 -1.44131479e-03 -6.48192993e+00] [-1.58370520e-02 1.21038254e-03 9.99873853e-01 -2.50147863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.062414037 meters 0.08591740532562481 Centerline is valid? [True, True] Translation: X:97.63, Y:-6.48, Z:-2.50 [[ 9.99794618e-01 1.35770540e-02 1.50460943e-02 9.76271338e+01] [-1.35579521e-02 9.99907147e-01 -1.37083541e-03 -6.48120909e+00] [-1.50633091e-02 1.16655964e-03 9.99885861e-01 -2.50166809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09241403699998 meters 0.08591740532562481 Centerline is valid? [True, True] Translation: X:97.66, Y:-6.48, Z:-2.50 [[ 9.99794158e-01 1.36109244e-02 1.50460479e-02 9.76579317e+01] [-1.35918188e-02 9.99906687e-01 -1.37134458e-03 -6.48405347e+00] [-1.50633091e-02 1.16655914e-03 9.99885861e-01 -2.50281479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12241403699998 meters 0.08608029885940487 Centerline is valid? [True, True] Translation: X:97.69, Y:-6.49, Z:-2.50 [[ 9.99810136e-01 1.30195273e-02 1.44976900e-02 9.76886991e+01] [-1.30017207e-02 9.99914600e-01 -1.32181679e-03 -6.48755511e+00] [-1.45136613e-02 1.13307091e-03 9.99894029e-01 -2.50495213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15241403699999 meters 0.08580013006321821 Centerline is valid? [True, True] Translation: X:97.72, Y:-6.49, Z:-2.51 [[ 9.99844201e-01 1.22709989e-02 1.26884462e-02 9.77197875e+01] [-1.22572964e-02 9.99924207e-01 -1.15713021e-03 -6.49052137e+00] [-1.27016837e-02 1.00142388e-03 9.99918829e-01 -2.50762043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18241403699999 meters 0.0877778979198516 Centerline is valid? [True, True] Translation: X:97.75, Y:-6.50, Z:-2.51 [[ 9.99817940e-01 1.31858822e-02 1.37920269e-02 9.77497412e+01] [-1.31697706e-02 9.99912483e-01 -1.25835362e-03 -6.50007638e+00] [-1.38074123e-02 1.07648670e-03 9.99904094e-01 -2.51059653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21241403699999 meters 0.08674341519978078 Centerline is valid? [True, True] Translation: X:97.78, Y:-6.50, Z:-2.51 [[ 9.99824100e-01 1.31546560e-02 1.33687484e-02 9.77808714e+01] [-1.31395097e-02 9.99912928e-01 -1.22016979e-03 -6.50096671e+00] [-1.33836353e-02 1.04429636e-03 9.99909890e-01 -2.51085324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24241403699999 meters 0.08716291646123389 Centerline is valid? [True, True] Translation: X:97.81, Y:-6.50, Z:-2.51 [[ 9.99796964e-01 1.40206772e-02 1.44724339e-02 9.78109132e+01] [-1.40030026e-02 9.99901079e-01 -1.32187548e-03 -6.50492562e+00] [-1.44895359e-02 1.11894957e-03 9.99894395e-01 -2.51223263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27241403699999 meters 0.08671864633577953 Centerline is valid? [True, True] Translation: X:97.84, Y:-6.51, Z:-2.51 [[ 9.99775016e-01 1.51430661e-02 1.48527743e-02 9.78419225e+01] [-1.51245749e-02 9.99884697e-01 -1.35650951e-03 -6.50703004e+00] [-1.48716035e-02 1.13156242e-03 9.99888771e-01 -2.51228634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30241403699999 meters 0.08553198306237163 Centerline is valid? [True, True] Translation: X:97.87, Y:-6.51, Z:-2.51 [[ 9.99775457e-01 1.58436082e-02 1.40718010e-02 9.78729603e+01] [-1.58270642e-02 9.99873917e-01 -1.28628022e-03 -6.50768418e+00] [-1.40904061e-02 1.06327610e-03 9.99900160e-01 -2.51287847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33241403699999 meters 0.08461369365185524 Centerline is valid? [True, True] Translation: X:97.90, Y:-6.51, Z:-2.51 [[ 9.99762589e-01 1.65246713e-02 1.42021586e-02 9.79031884e+01] [-1.65078805e-02 9.99862892e-01 -1.29870023e-03 -6.50879380e+00] [-1.42216720e-02 1.06394437e-03 9.99898301e-01 -2.51437582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.362414037 meters 0.08682682505411542 Centerline is valid? [True, True] Translation: X:97.93, Y:-6.52, Z:-2.52 [[ 9.99772251e-01 1.68430302e-02 1.31056571e-02 9.79319199e+01] [-1.68287617e-02 9.99857668e-01 -1.19825237e-03 -6.51688281e+00] [-1.31239740e-02 9.77427494e-04 9.99913399e-01 -2.51756626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.392414037 meters 0.0838811751766203 Centerline is valid? [True, True] Translation: X:97.96, Y:-6.51, Z:-2.52 [[ 9.99764174e-01 1.68863376e-02 1.36545861e-02 9.79616683e+01] [-1.68708508e-02 9.99856897e-01 -1.24858744e-03 -6.51291239e+00] [-1.36737162e-02 1.01792850e-03 9.99905992e-01 -2.51583332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.422414037 meters 0.08487431691663964 Centerline is valid? [True, True] Translation: X:97.99, Y:-6.52, Z:-2.52 [[ 9.99726759e-01 1.81596175e-02 1.47185146e-02 9.79906686e+01] [-1.81417747e-02 9.99834520e-01 -1.34489549e-03 -6.51788591e+00] [-1.47405017e-02 1.07750803e-03 9.99890772e-01 -2.51707256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.452414037 meters 0.08326357224028473 Centerline is valid? [True, True] Translation: X:98.02, Y:-6.52, Z:-2.52 [[ 9.99700488e-01 1.94717811e-02 1.48251091e-02 9.80207154e+01] [-1.94538205e-02 9.99809839e-01 -1.35475808e-03 -6.51621371e+00] [-1.48486695e-02 1.06594730e-03 9.99889184e-01 -2.51595411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48241403699998 meters 0.08272976294990335 Centerline is valid? [True, True] Translation: X:98.05, Y:-6.52, Z:-2.52 [[ 9.99636904e-01 2.23801048e-02 1.50063710e-02 9.80508144e+01] [-2.23620421e-02 9.99748999e-01 -1.37041317e-03 -6.51630637e+00] [-1.50332743e-02 1.03434248e-03 9.99886459e-01 -2.51707233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51241403699999 meters 0.08137309858780585 Centerline is valid? [True, True] Translation: X:98.08, Y:-6.52, Z:-2.52 [[ 9.99643168e-01 2.32889073e-02 1.30829786e-02 9.80799236e+01] [-2.32752414e-02 9.99728380e-01 -1.19586714e-03 -6.51589931e+00] [-1.31072755e-02 8.90930929e-04 9.99913699e-01 -2.51787278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54241403699999 meters 0.08209085994209561 Centerline is valid? [True, True] Translation: X:98.11, Y:-6.52, Z:-2.52 [[ 9.99652669e-01 2.33014840e-02 1.23119107e-02 9.81076529e+01] [-2.32893862e-02 9.99728132e-01 -1.12509271e-03 -6.52011422e+00] [-1.23347798e-02 8.37965085e-04 9.99923573e-01 -2.52068227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57241403699999 meters 0.08378984328337984 Centerline is valid? [True, True] Translation: X:98.13, Y:-6.53, Z:-2.52 [[ 9.99670627e-01 2.30725651e-02 1.12381153e-02 9.81344071e+01] [-2.30624811e-02 9.99733499e-01 -1.02609409e-03 -6.52604098e+00] [-1.12587950e-02 7.66577305e-04 9.99936324e-01 -2.52380668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60241403699999 meters 0.08461977464010403 Centerline is valid? [True, True] Translation: X:98.16, Y:-6.53, Z:-2.53 [[ 9.99657338e-01 2.30338160e-02 1.24358209e-02 9.81618638e+01] [-2.30214794e-02 9.99734327e-01 -1.13427652e-03 -6.52932549e+00] [-1.24586438e-02 8.47596854e-04 9.99922029e-01 -2.52597632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63241403699999 meters 0.0841790640838534 Centerline is valid? [True, True] Translation: X:98.19, Y:-6.53, Z:-2.53 [[ 9.99656805e-01 2.32345169e-02 1.21007985e-02 9.81908760e+01] [-2.32228666e-02 9.99729705e-01 -1.10241305e-03 -6.52929263e+00] [-1.21231417e-02 8.21019483e-04 9.99926175e-01 -2.52700461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66241403699999 meters 0.08529391826947279 Centerline is valid? [True, True] Translation: X:98.22, Y:-6.53, Z:-2.53 [[ 9.99644813e-01 2.30939805e-02 1.33010052e-02 9.82183742e+01] [-2.30799019e-02 9.99732890e-01 -1.21101363e-03 -6.53363895e+00] [-1.33254194e-02 9.03597597e-04 9.99910804e-01 -2.52941410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69241403699999 meters 0.08459259789942028 Centerline is valid? [True, True] Translation: X:98.25, Y:-6.53, Z:-2.53 [[ 9.99650903e-01 2.24036886e-02 1.40052486e-02 9.82467546e+01] [-2.23880303e-02 9.99748545e-01 -1.27383678e-03 -6.53416820e+00] [-1.40302656e-02 9.59842159e-04 9.99901110e-01 -2.52921996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.722414037 meters 0.08495117369864337 Centerline is valid? [True, True] Translation: X:98.28, Y:-6.54, Z:-2.53 [[ 9.99663103e-01 2.15440221e-02 1.44753465e-02 9.82754798e+01] [-2.15272291e-02 9.99767398e-01 -1.31494109e-03 -6.53750412e+00] [-1.45003087e-02 1.00288399e-03 9.99894362e-01 -2.53019002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.752414037 meters 0.0873778243927194 Centerline is valid? [True, True] Translation: X:98.30, Y:-6.55, Z:-2.53 [[ 9.99677598e-01 1.97386427e-02 1.59713989e-02 9.83035587e+01] [-1.97179956e-02 9.99804531e-01 -1.44921248e-03 -6.54543310e+00] [-1.59968825e-02 1.13382128e-03 9.99871399e-01 -2.53146571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.782414037 meters 0.08806578160194686 Centerline is valid? [True, True] Translation: X:98.33, Y:-6.55, Z:-2.53 [[ 9.99688177e-01 1.87476736e-02 1.64946534e-02 9.83332046e+01] [-1.87255367e-02 9.99823543e-01 -1.49550371e-03 -6.54885889e+00] [-1.65197800e-02 1.18616614e-03 9.99862836e-01 -2.53191536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.812414037 meters 0.08601037517604883 Centerline is valid? [True, True] Translation: X:98.36, Y:-6.55, Z:-2.53 [[ 9.99690472e-01 1.82426558e-02 1.69164294e-02 9.83632158e+01] [-1.82193095e-02 9.99832839e-01 -1.53319724e-03 -6.54589144e+00] [-1.69415712e-02 1.22451701e-03 9.99855731e-01 -2.53039583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84241403699998 meters 0.08817727900939522 Centerline is valid? [True, True] Translation: X:98.39, Y:-6.55, Z:-2.53 [[ 9.99706518e-01 1.80888015e-02 1.61143456e-02 9.83926688e+01] [-1.80676429e-02 9.99835704e-01 -1.45765680e-03 -6.55100585e+00] [-1.61380653e-02 1.16608076e-03 9.99869093e-01 -2.53247953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87241403699998 meters 0.09009855562685586 Centerline is valid? [True, True] Translation: X:98.42, Y:-6.56, Z:-2.54 [[ 9.99732190e-01 1.80257475e-02 1.45127794e-02 9.84216639e+01] [-1.80085350e-02 9.99836967e-01 -1.31584110e-03 -6.55636306e+00] [-1.45341324e-02 1.05413481e-03 9.99893818e-01 -2.53578846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90241403699999 meters 0.09053836853655456 Centerline is valid? [True, True] Translation: X:98.45, Y:-6.56, Z:-2.54 [[ 9.99749455e-01 1.80815016e-02 1.31942180e-02 9.84513791e+01] [-1.80672772e-02 9.99836058e-01 -1.19649074e-03 -6.55890089e+00] [-1.32136892e-02 9.57807370e-04 9.99912237e-01 -2.54064720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93241403699999 meters 0.08757273836783032 Centerline is valid? [True, True] Translation: X:98.48, Y:-6.55, Z:-2.54 [[ 9.99791268e-01 1.72088500e-02 1.10125429e-02 9.84810836e+01] [-1.71988848e-02 9.99851589e-01 -9.98964419e-04 -6.55381975e+00] [-1.10280996e-02 8.09352446e-04 9.99938861e-01 -2.54233462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96241403699999 meters 0.08828621276748738 Centerline is valid? [True, True] Translation: X:98.51, Y:-6.56, Z:-2.54 [[ 9.99800577e-01 1.63520948e-02 1.14636582e-02 9.85099860e+01] [-1.63412478e-02 9.99865933e-01 -1.03924797e-03 -6.55742274e+00] [-1.14791152e-02 8.51710244e-04 9.99933750e-01 -2.54390183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99241403699999 meters 0.08853073992802818 Centerline is valid? [True, True] Translation: X:98.54, Y:-6.56, Z:-2.54 [[ 9.99806972e-01 1.56742110e-02 1.18464571e-02 9.85392481e+01] [-1.56625925e-02 9.99876758e-01 -1.07290030e-03 -6.55993722e+00] [-1.18618139e-02 8.87146975e-04 9.99929253e-01 -2.54468543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02241403699999 meters 0.0869697011098128 Centerline is valid? [True, True] Translation: X:98.57, Y:-6.56, Z:-2.54 [[ 9.99792262e-01 1.52085739e-02 1.35695616e-02 9.85696323e+01] [-1.51932948e-02 9.99883821e-01 -1.22836171e-03 -6.55817788e+00] [-1.35866667e-02 1.02194018e-03 9.99907175e-01 -2.54347336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05241403699999 meters 0.08977794862925559 Centerline is valid? [True, True] Translation: X:98.60, Y:-6.56, Z:-2.54 [[ 9.99777503e-01 1.37500515e-02 1.59962487e-02 9.85991659e+01] [-1.37286559e-02 9.99904711e-01 -1.44658662e-03 -6.56396276e+00] [-1.60146151e-02 1.22665776e-03 9.99871005e-01 -2.54185394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08241403699999 meters 0.0886015771292994 Centerline is valid? [True, True] Translation: X:98.63, Y:-6.56, Z:-2.54 [[ 9.99769118e-01 1.25691495e-02 1.74277682e-02 9.86310672e+01] [-1.25435854e-02 9.99920085e-01 -1.57540205e-03 -6.56416368e+00] [-1.74461769e-02 1.35643162e-03 9.99846884e-01 -2.54064350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.112414037 meters 0.08848681025656521 Centerline is valid? [True, True] Translation: X:98.66, Y:-6.57, Z:-2.54 [[ 9.99762986e-01 1.15195060e-02 1.84735502e-02 9.86626958e+01] [-1.14906528e-02 9.99932590e-01 -1.66725533e-03 -6.56657681e+00] [-1.84915109e-02 1.45458701e-03 9.99827959e-01 -2.54089213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.142414037 meters 0.0865274724933745 Centerline is valid? [True, True] Translation: X:98.69, Y:-6.56, Z:-2.54 [[ 9.99800279e-01 9.96480651e-03 1.73235546e-02 9.86936929e+01] [-9.93907903e-03 9.99949373e-01 -1.57058024e-03 -6.56416236e+00] [-1.73383281e-02 1.39808638e-03 9.99848702e-01 -2.54160798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.172414037 meters 0.09069858683750834 Centerline is valid? [True, True] Translation: X:98.72, Y:-6.57, Z:-2.55 [[ 9.99819575e-01 9.99343492e-03 1.61539230e-02 9.87243650e+01] [-9.97110355e-03 9.99949218e-01 -1.46236443e-03 -6.57441644e+00] [-1.61677167e-02 1.30102815e-03 9.99868447e-01 -2.54557309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.202414037 meters 0.08723650032748416 Centerline is valid? [True, True] Translation: X:98.76, Y:-6.57, Z:-2.55 [[ 9.99827031e-01 1.09237558e-02 1.50525685e-02 9.87577056e+01] [-1.09044299e-02 9.99939613e-01 -1.36537382e-03 -6.56845805e+00] [-1.50665746e-02 1.20099798e-03 9.99885771e-01 -2.54575128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23241403699998 meters 0.08672415977158918 Centerline is valid? [True, True] Translation: X:98.79, Y:-6.57, Z:-2.55 [[ 9.99818167e-01 1.33067863e-02 1.36588173e-02 9.87884036e+01] [-1.32910555e-02 9.99910899e-01 -1.24182416e-03 -6.56689472e+00] [-1.36741250e-02 1.06005826e-03 9.99905943e-01 -2.54841181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26241403699999 meters 0.08602203607878456 Centerline is valid? [True, True] Translation: X:98.82, Y:-6.57, Z:-2.55 [[ 9.99805210e-01 1.44501055e-02 1.34438540e-02 9.88191138e+01] [-1.44349688e-02 9.99895063e-01 -1.22228026e-03 -6.56723925e+00] [-1.34601054e-02 1.02798056e-03 9.99908880e-01 -2.54967201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29241403699999 meters 0.0868951763919463 Centerline is valid? [True, True] Translation: X:98.85, Y:-6.57, Z:-2.55 [[ 9.99750111e-01 1.70877009e-02 1.44127273e-02 9.88483465e+01] [-1.70705727e-02 9.99853428e-01 -1.31060519e-03 -6.57043941e+00] [-1.44330101e-02 1.06424417e-03 9.99895272e-01 -2.55090428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32241403699999 meters 0.08605878094061686 Centerline is valid? [True, True] Translation: X:98.88, Y:-6.57, Z:-2.55 [[ 9.99715772e-01 1.88057545e-02 1.46532620e-02 9.88784114e+01] [-1.87882337e-02 9.99822598e-01 -1.33245067e-03 -6.56984066e+00] [-1.46757202e-02 1.05676304e-03 9.99891747e-01 -2.55183014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35241403699999 meters 0.08513675532887904 Centerline is valid? [True, True] Translation: X:98.91, Y:-6.57, Z:-2.55 [[ 9.99735308e-01 1.95483619e-02 1.21316244e-02 9.89071683e+01] [-1.95363933e-02 9.99808537e-01 -1.10430275e-03 -6.56820404e+00] [-1.21508890e-02 8.67002263e-04 9.99925799e-01 -2.55401038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38241403699999 meters 0.08612653214109339 Centerline is valid? [True, True] Translation: X:98.94, Y:-6.57, Z:-2.56 [[ 9.99712208e-01 2.08538165e-02 1.18583223e-02 9.89352475e+01] [-2.08424814e-02 9.99782190e-01 -1.07867092e-03 -6.57178615e+00] [-1.18782339e-02 8.31203621e-04 9.99929106e-01 -2.55753659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41241403699999 meters 0.08393341620160365 Centerline is valid? [True, True] Translation: X:98.97, Y:-6.57, Z:-2.56 [[ 9.99652805e-01 2.37367243e-02 1.14383972e-02 9.89655119e+01] [-2.37263825e-02 9.99717950e-01 -1.03900628e-03 -6.56780125e+00] [-1.14598336e-02 7.67253751e-04 9.99934040e-01 -2.55875255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44241403699999 meters 0.08466284880582747 Centerline is valid? [True, True] Translation: X:98.99, Y:-6.57, Z:-2.56 [[ 9.99597056e-01 2.53764672e-02 1.27184914e-02 9.89937530e+01] [-2.53638160e-02 9.99677619e-01 -1.15505006e-03 -6.57082067e+00] [-1.27437023e-02 8.31995162e-04 9.99918450e-01 -2.55958369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.472414037 meters 0.08224457285600052 Centerline is valid? [True, True] Translation: X:99.02, Y:-6.57, Z:-2.56 [[ 9.99523902e-01 2.70559300e-02 1.48305570e-02 9.90243411e+01] [-2.70389380e-02 9.99633476e-01 -1.34509526e-03 -6.56693460e+00] [-1.48615141e-02 9.43452353e-04 9.99889117e-01 -2.55757640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.502414037 meters 0.07999923328969574 Centerline is valid? [True, True] Translation: X:99.06, Y:-6.56, Z:-2.55 [[ 9.99389371e-01 2.97852781e-02 1.82680733e-02 9.90553866e+01] [-2.97599616e-02 9.99555702e-01 -1.65618587e-03 -6.56241697e+00] [-1.83092868e-02 1.11151739e-03 9.99831753e-01 -2.55404538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.532414037 meters 0.07977374426502332 Centerline is valid? [True, True] Translation: X:99.08, Y:-6.56, Z:-2.55 [[ 9.99342251e-01 3.04585213e-02 1.96810680e-02 9.90839151e+01] [-3.04292462e-02 9.99535329e-01 -1.78530234e-03 -6.56405680e+00] [-1.97263004e-02 1.18524799e-03 9.99804715e-01 -2.55421830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.562414037 meters 0.08043925141514921 Centerline is valid? [True, True] Translation: X:99.11, Y:-6.57, Z:-2.56 [[ 9.99381487e-01 3.00157387e-02 1.83221100e-02 9.91111632e+01] [-2.99903036e-02 9.99548809e-01 -1.66147169e-03 -6.56840102e+00] [-1.83637135e-02 1.11095841e-03 9.99830756e-01 -2.55515374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59241403699998 meters 0.08149714714606568 Centerline is valid? [True, True] Translation: X:99.14, Y:-6.57, Z:-2.56 [[ 9.99451905e-01 2.85968191e-02 1.66766801e-02 9.91389775e+01] [-2.85755823e-02 9.99590494e-01 -1.51039652e-03 -6.57397002e+00] [-1.67130434e-02 1.03302283e-03 9.99859794e-01 -2.55914145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62241403699998 meters 0.08200015990864827 Centerline is valid? [True, True] Translation: X:99.17, Y:-6.58, Z:-2.56 [[ 9.99510379e-01 2.77392339e-02 1.44753831e-02 9.91684389e+01] [-2.77231647e-02 9.99614781e-01 -1.30962854e-03 -6.57736144e+00] [-1.45061350e-02 9.07683885e-04 9.99894368e-01 -2.56166068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65241403699999 meters 0.08231867795535704 Centerline is valid? [True, True] Translation: X:99.20, Y:-6.58, Z:-2.56 [[ 9.99536500e-01 2.73361916e-02 1.33983956e-02 9.91969914e+01] [-2.73223830e-02 9.99625939e-01 -1.21261706e-03 -6.58001890e+00] [-1.34265321e-02 8.45978919e-04 9.99909502e-01 -2.56409129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68241403699999 meters 0.08321764999344962 Centerline is valid? [True, True] Translation: X:99.22, Y:-6.58, Z:-2.57 [[ 9.99560987e-01 2.69096225e-02 1.23978128e-02 9.92247536e+01] [-2.68977699e-02 9.99637560e-01 -1.12180815e-03 -6.58409473e+00] [-1.24235068e-02 7.87842145e-04 9.99922515e-01 -2.56735428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71241403699999 meters 0.08270197615888782 Centerline is valid? [True, True] Translation: X:99.25, Y:-6.59, Z:-2.57 [[ 9.99572923e-01 2.59518421e-02 1.34340198e-02 9.92538690e+01] [-2.59378625e-02 9.99662820e-01 -1.21383373e-03 -6.58630374e+00] [-1.34609913e-02 8.64865575e-04 9.99909023e-01 -2.56727881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74241403699999 meters 0.08312306628486517 Centerline is valid? [True, True] Translation: X:99.28, Y:-6.59, Z:-2.57 [[ 9.99584073e-01 2.52716664e-02 1.38933082e-02 9.92822634e+01] [-2.52566631e-02 9.99680213e-01 -1.25432212e-03 -6.59099394e+00] [-1.39205641e-02 9.02901806e-04 9.99902697e-01 -2.56837198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77241403699999 meters 0.08544212669782777 Centerline is valid? [True, True] Translation: X:99.31, Y:-6.60, Z:-2.57 [[ 9.99610087e-01 2.41401406e-02 1.40331026e-02 9.93088092e+01] [-2.41247312e-02 9.99708154e-01 -1.26634248e-03 -6.59987481e+00] [-1.40595768e-02 9.27303890e-04 9.99900729e-01 -2.56978654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80241403699999 meters 0.08523157914552289 Centerline is valid? [True, True] Translation: X:99.34, Y:-6.60, Z:-2.57 [[ 9.99613664e-01 2.36670155e-02 1.45738132e-02 9.93375462e+01] [-2.36503705e-02 9.99719428e-01 -1.31343246e-03 -6.60248626e+00] [-1.46008092e-02 9.68248956e-04 9.99892934e-01 -2.56987883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83241403699999 meters 0.08452467484841059 Centerline is valid? [True, True] Translation: X:99.37, Y:-6.60, Z:-2.57 [[ 9.99644118e-01 2.14459938e-02 1.58652964e-02 9.93668730e+01] [-2.14260128e-02 9.99769416e-01 -1.42833944e-03 -6.60424435e+00] [-1.58922703e-02 1.08790107e-03 9.99873118e-01 -2.56706074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.862414037 meters 0.08791880020718518 Centerline is valid? [True, True] Translation: X:99.39, Y:-6.61, Z:-2.57 [[ 9.99663648e-01 2.05258894e-02 1.58517445e-02 9.93944648e+01] [-2.05058416e-02 9.99788716e-01 -1.42622348e-03 -6.61491295e+00] [-1.58776698e-02 1.10069041e-03 9.99873336e-01 -2.56955906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.892414037 meters 0.08771666118652549 Centerline is valid? [True, True] Translation: X:99.42, Y:-6.62, Z:-2.57 [[ 9.99667248e-01 1.99683800e-02 1.63296502e-02 9.94233675e+01] [-1.99470455e-02 9.99799960e-01 -1.46833748e-03 -6.61849799e+00] [-1.63557039e-02 1.14212061e-03 9.99865584e-01 -2.57028830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.922414037 meters 0.09032100214386343 Centerline is valid? [True, True] Translation: X:99.45, Y:-6.63, Z:-2.58 [[ 9.99742126e-01 1.82088513e-02 1.35690524e-02 9.94517061e+01] [-1.81939696e-02 9.99833732e-01 -1.21938529e-03 -6.62853021e+00] [-1.35890000e-02 9.72195915e-04 9.99907193e-01 -2.57552468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.952414037 meters 0.09156803729467654 Centerline is valid? [True, True] Translation: X:99.48, Y:-6.63, Z:-2.58 [[ 9.99759907e-01 1.70719205e-02 1.37359709e-02 9.94797159e+01] [-1.70565652e-02 9.99853764e-01 -1.23427205e-03 -6.63389834e+00] [-1.37550336e-02 9.99687227e-04 9.99904895e-01 -2.57724913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98241403699998 meters 0.09156803729467654 Centerline is valid? [True, True] Translation: X:99.51, Y:-6.64, Z:-2.58 [[ 9.99760430e-01 1.70411993e-02 1.37360594e-02 9.95088179e+01] [-1.70258546e-02 9.99854289e-01 -1.23328612e-03 -6.63646914e+00] [-1.37550745e-02 9.99122511e-04 9.99904895e-01 -2.57833359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01241403699999 meters 0.08677986313224491 Centerline is valid? [True, True] Translation: X:99.54, Y:-6.63, Z:-2.58 [[ 9.99790157e-01 1.54052969e-02 1.35025453e-02 9.95396778e+01] [-1.53903344e-02 9.99880828e-01 -1.21133571e-03 -6.62924625e+00] [-1.35195971e-02 1.00327283e-03 9.99908103e-01 -2.57572589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04241403699999 meters 0.08741360922635072 Centerline is valid? [True, True] Translation: X:99.57, Y:-6.63, Z:-2.58 [[ 9.99821043e-01 1.40586843e-02 1.26583966e-02 9.95694718e+01] [-1.40454245e-02 9.99900713e-01 -1.13580808e-03 -6.63301696e+00] [-1.26731078e-02 9.57812261e-04 9.99919234e-01 -2.57728023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07241403699999 meters 0.08895036851849665 Centerline is valid? [True, True] Translation: X:99.60, Y:-6.64, Z:-2.58 [[ 9.99867324e-01 1.05849236e-02 1.23812225e-02 9.95990452e+01] [-1.05719809e-02 9.99943499e-01 -1.11034029e-03 -6.64027370e+00] [-1.23922758e-02 9.79298926e-04 9.99922733e-01 -2.57946336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10241403699999 meters 0.08987448857567641 Centerline is valid? [True, True] Translation: X:99.63, Y:-6.65, Z:-2.58 [[ 9.99889238e-01 8.75107056e-03 1.20386668e-02 9.96301703e+01] [-8.73871228e-03 9.99961235e-01 -1.07877079e-03 -6.64567976e+00] [-1.20476406e-02 9.73448857e-04 9.99926951e-01 -2.58092926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13241403699999 meters 0.08998502829803456 Centerline is valid? [True, True] Translation: X:99.66, Y:-6.65, Z:-2.58 [[ 9.99897897e-01 4.56235178e-03 1.35418277e-02 9.96601029e+01] [-4.54630937e-03 9.99988927e-01 -1.21520460e-03 -6.64970231e+00] [-1.35472219e-02 1.15351519e-03 9.99907567e-01 -2.58083048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16241403699999 meters 0.09149689715847391 Centerline is valid? [True, True] Translation: X:99.69, Y:-6.66, Z:-2.58 [[ 9.99892069e-01 2.01356777e-03 1.45532323e-02 9.96909170e+01] [-1.99478531e-03 9.99997159e-01 -1.30500474e-03 -6.65611578e+00] [-1.45558186e-02 1.27583331e-03 9.99893244e-01 -2.58103238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19241403699999 meters 0.0957186420884664 Centerline is valid? [True, True] Translation: X:99.72, Y:-6.67, Z:-2.58 [[ 9.99880756e-01 -1.68889498e-03 1.53499912e-02 9.97193808e+01] [ 1.71023835e-03 9.99997589e-01 -1.37742833e-03 -6.66659316e+00] [-1.53476279e-02 1.40351622e-03 9.99881233e-01 -2.58087221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.222414037 meters 0.0957862457263841 Centerline is valid? [True, True] Translation: X:99.75, Y:-6.67, Z:-2.58 [[ 9.99853885e-01 -3.25834591e-03 1.67807129e-02 9.97507539e+01] [ 3.28405195e-03 9.99993476e-01 -1.50455196e-03 -6.66907983e+00] [-1.67757010e-02 1.55944085e-03 9.99858062e-01 -2.58035889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.252414037 meters 0.09851514474194818 Centerline is valid? [True, True] Translation: X:99.78, Y:-6.68, Z:-2.58 [[ 9.99848472e-01 -3.63985019e-03 1.70230539e-02 9.97817742e+01] [ 3.66630639e-03 9.99992119e-01 -1.52318942e-03 -6.67732226e+00] [-1.70173755e-02 1.58537035e-03 9.99853937e-01 -2.58189691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.282414037 meters 0.09860234369936206 Centerline is valid? [True, True] Translation: X:99.81, Y:-6.68, Z:-2.58 [[ 9.99883876e-01 -4.47849258e-03 1.45662916e-02 9.98129089e+01] [ 4.49804087e-03 9.99989026e-01 -1.30953752e-03 -6.68043357e+00] [-1.45602670e-02 1.37490523e-03 9.99893048e-01 -2.58475591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.312414037 meters 0.09931620597727019 Centerline is valid? [True, True] Translation: X:99.84, Y:-6.68, Z:-2.59 [[ 9.99910199e-01 -4.33376099e-03 1.26812227e-02 9.98448045e+01] [ 4.34855815e-03 9.99989896e-01 -1.13951485e-03 -6.68467566e+00] [-1.26761562e-02 1.19455755e-03 9.99918941e-01 -2.58877039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34241403699998 meters 0.10019395131699563 Centerline is valid? [True, False] Translation: X:99.85, Y:-6.68, Z:-2.59 [[ 9.99914077e-01 -3.97071434e-03 1.24928649e-02 9.98458095e+01] [ 3.97984866e-03 9.99991831e-01 -7.06386717e-04 -6.68495876e+00] [-1.24899580e-02 7.56045734e-04 9.99921712e-01 -2.58970307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37241403699998 meters 0.09990667821283464 Centerline is valid? [False, True] Translation: X:99.85, Y:-6.69, Z:-2.59 [[ 9.99917604e-01 -3.69969914e-03 1.22921834e-02 9.98466255e+01] [ 3.70520018e-03 9.99993046e-01 -4.24779822e-04 -6.68503179e+00] [-1.22905263e-02 4.70289822e-04 9.99924358e-01 -2.59028810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40241403699999 meters 0.10086388992705476 Centerline is valid? [True, False] Translation: X:99.85, Y:-6.68, Z:-2.59 [[ 9.99919982e-01 -3.59523239e-03 1.21286421e-02 9.98471491e+01] [ 3.60068864e-03 9.99993426e-01 -4.28058286e-04 -6.68442873e+00] [-1.21270234e-02 4.71695497e-04 9.99926354e-01 -2.59054512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43241403699999 meters 0.09946687360712116 Centerline is valid? [False, True] Translation: X:99.85, Y:-6.68, Z:-2.59 [[ 9.99924075e-01 -3.28475962e-03 1.18766492e-02 9.98480087e+01] [ 3.28732024e-03 9.99994578e-01 -1.96085587e-04 -6.68452589e+00] [-1.18759407e-02 2.35113048e-04 9.99929451e-01 -2.59100143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46241403699999 meters 0.09445418015004022 Centerline is valid? [True, True] Translation: X:99.88, Y:-6.68, Z:-2.59 [[ 9.99938651e-01 -2.00967631e-03 1.08928753e-02 9.98804099e+01] [ 2.02044059e-03 9.99997481e-01 -9.77280825e-04 -6.67777540e+00] [-1.08908839e-02 9.99229278e-04 9.99940193e-01 -2.59071743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49241403699999 meters 0.1017478606180276 Centerline is valid? [True, False] Translation: X:99.88, Y:-6.68, Z:-2.59 [[ 9.99939261e-01 -1.89764792e-03 1.08569372e-02 9.98806053e+01] [ 1.90709676e-03 9.99997812e-01 -8.60017732e-04 -6.67795037e+00] [-1.08552814e-02 8.80670725e-04 9.99940692e-01 -2.59086930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52241403699999 meters 0.0968174406934613 Centerline is valid? [False, True] Translation: X:99.88, Y:-6.68, Z:-2.59 [[ 9.99938573e-01 -2.12377632e-03 1.08784399e-02 9.98801404e+01] [ 2.13669461e-03 9.99997026e-01 -1.17602799e-03 -6.67763502e+00] [-1.08759100e-02 1.19919965e-03 9.99940136e-01 -2.59024674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55241403699999 meters 0.0962110840669193 Centerline is valid? [True, True] Translation: X:99.91, Y:-6.68, Z:-2.59 [[ 9.99905985e-01 -2.61870464e-03 1.34597003e-02 9.99122957e+01] [ 2.63525175e-03 9.99995793e-01 -1.21179313e-03 -6.67940639e+00] [-1.34564704e-02 1.24714890e-03 9.99908680e-01 -2.58895476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58241403699999 meters 0.10365386034110283 Centerline is valid? [True, False] Translation: X:99.91, Y:-6.68, Z:-2.59 [[ 9.99908644e-01 -2.53738753e-03 1.32764742e-02 9.99126075e+01] [ 2.55380188e-03 9.99995995e-01 -1.21954046e-03 -6.67923996e+00] [-1.32733266e-02 1.25333454e-03 9.99911120e-01 -2.58881885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.612414037 meters 0.09747289123158212 Centerline is valid? [False, True] Translation: X:99.91, Y:-6.68, Z:-2.59 [[ 9.99911355e-01 -2.59146495e-03 1.30601325e-02 9.99128205e+01] [ 2.61110120e-03 9.99995486e-01 -1.48669965e-03 -6.67864481e+00] [-1.30562208e-02 1.52066919e-03 9.99913608e-01 -2.58842509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.642414037 meters 0.10540494804082748 Centerline is valid? [True, False] Translation: X:99.91, Y:-6.68, Z:-2.59 [[ 9.99914991e-01 -2.06559387e-03 1.28741349e-02 9.99140370e+01] [ 2.07635557e-03 9.99997506e-01 -8.22606506e-04 -6.67932695e+00] [-1.28724036e-02 8.49267859e-04 9.99916787e-01 -2.58969723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.672414037 meters 0.09865342280327248 Centerline is valid? [False, True] Translation: X:99.91, Y:-6.68, Z:-2.59 [[ 9.99916189e-01 -2.02005711e-03 1.27880562e-02 9.99143602e+01] [ 2.03068162e-03 9.99997604e-01 -8.17885114e-04 -6.67918167e+00] [-1.27863734e-02 8.43785037e-04 9.99917895e-01 -2.58992281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.702414037 meters 0.09913806672386484 Centerline is valid? [True, True] Translation: X:99.95, Y:-6.68, Z:-2.59 [[ 9.99917579e-01 -2.64179969e-03 1.25640674e-02 9.99458672e+01] [ 2.65624444e-03 9.99995830e-01 -1.13313870e-03 -6.68153150e+00] [-1.25610215e-02 1.16641854e-03 9.99920427e-01 -2.59193940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73241403699998 meters 0.09726798360531472 Centerline is valid? [True, True] Translation: X:99.98, Y:-6.68, Z:-2.59 [[ 9.99919879e-01 -3.50530711e-03 1.21634000e-02 9.99786208e+01] [ 3.51890952e-03 9.99993207e-01 -1.09708481e-03 -6.68068812e+00] [-1.21594717e-02 1.13979881e-03 9.99925421e-01 -2.59212530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76241403699999 meters 0.11159074987163474 Centerline is valid? [True, False] Translation: X:99.98, Y:-6.68, Z:-2.59 [[ 9.99920164e-01 -3.42128332e-03 1.21638705e-02 9.99788088e+01] [ 3.43326897e-03 9.99993641e-01 -9.64603073e-04 -6.68078133e+00] [-1.21604929e-02 1.00628790e-03 9.99925552e-01 -2.59240453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79241403699999 meters 0.11378866837016238 Centerline is valid? [False, False] Translation: X:99.98, Y:-6.68, Z:-2.59 [[ 9.99919949e-01 -3.38571473e-03 1.21914827e-02 9.99787394e+01] [ 3.39659388e-03 9.99993852e-01 -8.71762196e-04 -6.68117664e+00] [-1.21884563e-02 9.13101927e-04 9.99925301e-01 -2.59238346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82241403699999 meters 0.11705543408941947 Centerline is valid? [False, False] Translation: X:99.98, Y:-6.68, Z:-2.59 [[ 9.99914826e-01 -3.48051038e-03 1.25788271e-02 9.99779081e+01] [ 3.48789438e-03 9.99993758e-01 -5.65127955e-04 -6.68242474e+00] [-1.25767817e-02 6.08953442e-04 9.99920724e-01 -2.59235028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85241403699999 meters 0.10238241527297938 Centerline is valid? [False, False] Translation: X:99.98, Y:-6.68, Z:-2.59 [[ 9.99914935e-01 -3.40467883e-03 1.25908684e-02 9.99780750e+01] [ 3.40995946e-03 9.99994107e-01 -3.97957643e-04 -6.68264733e+00] [-1.25894393e-02 4.40858142e-04 9.99920653e-01 -2.59264213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88241403699999 meters 0.10222324118777154 Centerline is valid? [False, False] Translation: X:99.98, Y:-6.68, Z:-2.59 [[ 9.99914166e-01 -3.31657142e-03 1.26752238e-02 9.99784514e+01] [ 3.31815971e-03 9.99994489e-01 -1.04278999e-04 -6.68248065e+00] [-1.26748081e-02 1.46328466e-04 9.99919661e-01 -2.59357258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91241403699999 meters 0.10448708169481902 Centerline is valid? [False, False] Translation: X:99.98, Y:-6.68, Z:-2.59 [[ 9.99914132e-01 -3.13188188e-03 1.27247516e-02 9.99787246e+01] [ 3.12896258e-03 9.99995074e-01 2.49320741e-04 -6.68297851e+00] [-1.27254698e-02 -2.09484061e-04 9.99919006e-01 -2.59416926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94241403699999 meters 0.10370938414551943 Centerline is valid? [False, False] Translation: X:99.98, Y:-6.68, Z:-2.59 [[ 9.99911951e-01 -2.95559747e-03 1.29365924e-02 9.99784136e+01] [ 2.94640345e-03 9.99995393e-01 7.29700462e-04 -6.68438133e+00] [-1.29386895e-02 -6.91519792e-04 9.99916053e-01 -2.59437963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.972414037 meters 0.10385272336845769 Centerline is valid? [False, False] Translation: X:99.98, Y:-6.68, Z:-2.59 [[ 9.99910507e-01 -3.08042004e-03 1.30188256e-02 9.99778322e+01] [ 3.07319721e-03 9.99995113e-01 5.74767846e-04 -6.68474615e+00] [-1.30205325e-02 -5.34706989e-04 9.99915086e-01 -2.59372003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.002414037 meters 0.10435037256741603 Centerline is valid? [False, False] Translation: X:99.98, Y:-6.68, Z:-2.59 [[ 9.99912192e-01 -3.03003849e-03 1.29006461e-02 9.99779299e+01] [ 3.02335270e-03 9.99995285e-01 5.37723385e-04 -6.68477147e+00] [-1.29022146e-02 -4.98672966e-04 9.99916639e-01 -2.59345358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.032414037 meters 0.10623733542725596 Centerline is valid? [False, False] Translation: X:99.98, Y:-6.68, Z:-2.59 [[ 9.99917251e-01 -3.07044643e-03 1.24925002e-02 9.99785611e+01] [ 3.06890274e-03 9.99995281e-01 1.42737438e-04 -6.68309888e+00] [-1.24928796e-02 -1.04387359e-04 9.99921955e-01 -2.59310003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.062414037 meters 0.10460109517527438 Centerline is valid? [False, False] Translation: X:99.98, Y:-6.68, Z:-2.59 [[ 9.99920345e-01 -2.82006449e-03 1.23025063e-02 9.99793779e+01] [ 2.81555863e-03 9.99995963e-01 3.83560625e-04 -6.68300305e+00] [-1.23035383e-02 -3.48891644e-04 9.99924248e-01 -2.59370765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09241403699998 meters 0.10435407259384102 Centerline is valid? [False, False] Translation: X:99.98, Y:-6.68, Z:-2.60 [[ 9.99923207e-01 -2.16015969e-03 1.22029967e-02 9.99805924e+01] [ 2.14473532e-03 9.99996885e-01 1.27692772e-03 -6.68475418e+00] [-1.22057170e-02 -1.25065746e-03 9.99924725e-01 -2.59517968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12241403699998 meters 0.10035827465378451 Centerline is valid? [False, False] Translation: X:99.98, Y:-6.69, Z:-2.60 [[ 9.99924248e-01 -1.71038052e-03 1.21890323e-02 9.99811661e+01] [ 1.68672306e-03 9.99996674e-01 1.95089678e-03 -6.68633540e+00] [-1.21923285e-02 -1.93018947e-03 9.99923808e-01 -2.59597024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15241403699999 meters 0.10371558747361692 Centerline is valid? [False, False] Translation: X:99.98, Y:-6.69, Z:-2.60 [[ 9.99924874e-01 -1.29168300e-03 1.21892328e-02 9.99817286e+01] [ 1.25999235e-03 9.99995807e-01 2.60720998e-03 -6.68756976e+00] [-1.21925494e-02 -2.59165577e-03 9.99922310e-01 -2.59681548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18241403699999 meters 0.10312611814827238 Centerline is valid? [False, False] Translation: X:99.98, Y:-6.69, Z:-2.60 [[ 9.99925233e-01 -1.40661776e-03 1.21469983e-02 9.99815282e+01] [ 1.37722442e-03 9.99996104e-01 2.42782851e-03 -6.68744633e+00] [-1.21503660e-02 -2.41091784e-03 9.99923275e-01 -2.59636262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21241403699999 meters 0.10060147254622054 Centerline is valid? [False, False] Translation: X:99.98, Y:-6.69, Z:-2.60 [[ 9.99927020e-01 -1.49447264e-03 1.19884108e-02 9.99814837e+01] [ 1.46840942e-03 9.99996540e-01 2.18254261e-03 -6.68709055e+00] [-1.19916310e-02 -2.16477944e-03 9.99925755e-01 -2.59576138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24241403699999 meters 0.10025029748538347 Centerline is valid? [False, False] Translation: X:99.98, Y:-6.69, Z:-2.59 [[ 9.99933813e-01 -1.33866400e-03 1.14270375e-02 9.99821387e+01] [ 1.31673459e-03 9.99997278e-01 1.92638876e-03 -6.68665162e+00] [-1.14295852e-02 -1.91121488e-03 9.99932854e-01 -2.59484030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27241403699999 meters 0.10287771896873561 Centerline is valid? [False, False] Translation: X:99.98, Y:-6.69, Z:-2.59 [[ 9.99939272e-01 -9.82930470e-04 1.09765843e-02 9.99831674e+01] [ 9.59811075e-04 9.99997311e-01 2.11131598e-03 -6.68693048e+00] [-1.09786301e-02 -2.10065231e-03 9.99937527e-01 -2.59486121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30241403699999 meters 0.099182224645609 Centerline is valid? [False, True] Translation: X:99.99, Y:-6.69, Z:-2.60 [[ 9.99945238e-01 6.37686438e-07 1.04652430e-02 9.99853563e+01] [-3.32157785e-05 9.99995155e-01 3.11280647e-03 -6.68855381e+00] [-1.04651903e-02 -3.11298362e-03 9.99940393e-01 -2.59637259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33241403699999 meters 0.09954902438094623 Centerline is valid? [True, True] Translation: X:100.02, Y:-6.69, Z:-2.60 [[ 9.99959765e-01 6.98739522e-04 8.94317209e-03 1.00018036e+02] [-6.90840786e-04 9.99999369e-01 -8.86272906e-04 -6.69089849e+00] [-8.94378572e-03 8.80058939e-04 9.99959616e-01 -2.59815520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.362414037 meters 0.10083935620888534 Centerline is valid? [True, False] Translation: X:100.02, Y:-6.69, Z:-2.60 [[ 9.99961401e-01 1.16444654e-03 8.70867025e-03 1.00019120e+02] [-1.16104769e-03 9.99999248e-01 -3.95329715e-04 -6.69148703e+00] [-8.70912404e-03 3.85203274e-04 9.99962001e-01 -2.59899525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.392414037 meters 0.09943022065165733 Centerline is valid? [False, True] Translation: X:100.02, Y:-6.69, Z:-2.60 [[ 9.99963277e-01 1.13991996e-03 8.49379376e-03 1.00018985e+02] [-1.13440521e-03 9.99999143e-01 -6.54057791e-04 -6.69141648e+00] [-8.49453205e-03 6.44398368e-04 9.99963713e-01 -2.59803715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.422414037 meters 0.10007249491260678 Centerline is valid? [True, False] Translation: X:100.02, Y:-6.69, Z:-2.60 [[ 9.99964675e-01 1.08755217e-03 8.33462486e-03 1.00018704e+02] [-1.08032976e-03 9.99999037e-01 -8.71007825e-04 -6.69142763e+00] [-8.33556410e-03 8.61972914e-04 9.99964887e-01 -2.59704805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.452414037 meters 0.1018953325253791 Centerline is valid? [False, False] Translation: X:100.02, Y:-6.69, Z:-2.59 [[ 9.99966879e-01 9.64894787e-04 8.08142079e-03 1.00017905e+02] [-9.54463385e-04 9.99998707e-01 -1.29454544e-03 -6.69197245e+00] [-8.08265944e-03 1.28678914e-03 9.99966507e-01 -2.59489641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48241403699998 meters 0.0932990738613911 Centerline is valid? [False, True] Translation: X:100.02, Y:-6.69, Z:-2.59 [[ 9.99968035e-01 1.09144517e-03 7.92066874e-03 1.00018048e+02] [-1.08185750e-03 9.99998677e-01 -1.21464584e-03 -6.69253255e+00] [-7.92198398e-03 1.20603798e-03 9.99967893e-01 -2.59455945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51241403699999 meters 0.09701974678440146 Centerline is valid? [True, True] Translation: X:100.05, Y:-6.70, Z:-2.60 [[ 9.99990024e-01 1.86808538e-03 4.05733760e-03 1.00048194e+02] [-1.86650624e-03 9.99998181e-01 -3.92956641e-04 -6.70265147e+00] [-4.05806429e-03 3.85379675e-04 9.99991692e-01 -2.60126979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54241403699999 meters 0.09599415197713049 Centerline is valid? [True, True] Translation: X:100.08, Y:-6.70, Z:-2.60 [[ 9.99993884e-01 2.59745783e-03 2.34211412e-03 1.00080034e+02] [-2.59693461e-03 9.99996602e-01 -2.26408264e-04 -6.70413337e+00] [-2.34269425e-03 2.20324562e-04 9.99997232e-01 -2.60363694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57241403699999 meters 0.09565243125045193 Centerline is valid? [True, True] Translation: X:100.11, Y:-6.71, Z:-2.61 [[ 9.99994345e-01 3.32515350e-03 5.02981418e-04 1.00110630e+02] [-3.32512932e-03 9.99994471e-01 -4.89089049e-05 -6.70663192e+00] [-5.03141267e-04 4.72361501e-05 9.99999872e-01 -2.60615570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60241403699999 meters 0.09699948848979716 Centerline is valid? [True, True] Translation: X:100.14, Y:-6.71, Z:-2.61 [[ 9.99982715e-01 5.85871906e-03 4.95150878e-04 1.00139707e+02] [-5.85869566e-03 9.99982837e-01 -4.86918323e-05 -6.71213977e+00] [-4.95427651e-04 4.57900524e-05 9.99999876e-01 -2.60959960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63241403699999 meters 0.09524306787992752 Centerline is valid? [True, True] Translation: X:100.17, Y:-6.71, Z:-2.61 [[ 9.99973407e-01 6.87456931e-03 2.43424345e-03 1.00169503e+02] [-6.87401151e-03 9.99976346e-01 -2.37439422e-04 -6.71191303e+00] [-2.43581816e-03 2.20700090e-04 9.99997009e-01 -2.60884154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66241403699999 meters 0.0934456963164968 Centerline is valid? [True, True] Translation: X:100.20, Y:-6.71, Z:-2.61 [[ 9.99960545e-01 7.71818201e-03 4.39741610e-03 1.00199725e+02] [-7.71637513e-03 9.99970137e-01 -4.27716093e-04 -6.71175878e+00] [-4.40058597e-03 3.93767106e-04 9.99990240e-01 -2.60714619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69241403699999 meters 0.09037440023227028 Centerline is valid? [True, True] Translation: X:100.23, Y:-6.71, Z:-2.61 [[ 9.99953017e-01 7.70542581e-03 5.88139922e-03 1.00229641e+02] [-7.70219269e-03 9.99970174e-01 -5.72172626e-04 -6.70787250e+00] [-5.88563264e-03 5.26846073e-04 9.99982541e-01 -2.60534245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.722414037 meters 0.09583664300111162 Centerline is valid? [True, True] Translation: X:100.26, Y:-6.72, Z:-2.61 [[ 9.99947738e-01 8.40425139e-03 5.82154446e-03 1.00257904e+02] [-8.40109868e-03 9.99964550e-01 -5.65801915e-04 -6.72113964e+00] [-5.82609323e-03 5.16864976e-04 9.99982895e-01 -2.60769052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.752414037 meters 0.09283974985884798 Centerline is valid? [True, True] Translation: X:100.29, Y:-6.72, Z:-2.61 [[ 9.99945439e-01 9.11555682e-03 5.10158917e-03 1.00287948e+02] [-9.11314332e-03 9.99958351e-01 -4.96135394e-04 -6.71657192e+00] [-5.10589924e-03 4.49616811e-04 9.99986864e-01 -2.60803026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.782414037 meters 0.08964673010221115 Centerline is valid? [True, True] Translation: X:100.32, Y:-6.71, Z:-2.61 [[ 9.99942914e-01 9.42392943e-03 5.03568826e-03 1.00317091e+02] [-9.42157877e-03 9.99955496e-01 -4.90319124e-04 -6.71234266e+00] [-5.04008488e-03 4.42847000e-04 9.99987201e-01 -2.60742964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.812414037 meters 0.08950051917686126 Centerline is valid? [True, True] Translation: X:100.35, Y:-6.71, Z:-2.61 [[ 9.99930846e-01 1.05021659e-02 5.29215970e-03 1.00346564e+02] [-1.04995910e-02 9.99944746e-01 -5.14104494e-04 -6.71403034e+00] [-5.29726649e-03 4.58503430e-04 9.99985864e-01 -2.60983483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84241403699998 meters 0.0910493815491244 Centerline is valid? [True, True] Translation: X:100.38, Y:-6.72, Z:-2.61 [[ 9.99920978e-01 1.14065206e-02 5.28481012e-03 1.00375041e+02] [-1.14039645e-02 9.99934841e-01 -5.13557027e-04 -6.71946903e+00] [-5.29032366e-03 4.53248658e-04 9.99985903e-01 -2.61162031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87241403699998 meters 0.08940568909317069 Centerline is valid? [True, True] Translation: X:100.40, Y:-6.72, Z:-2.61 [[ 9.99907322e-01 1.25523533e-02 5.27122961e-03 1.00404475e+02] [-1.25498275e-02 9.99921117e-01 -5.11964129e-04 -6.71834576e+00] [-5.27724016e-03 4.45763658e-04 9.99985976e-01 -2.61116772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90241403699999 meters 0.08940568909317069 Centerline is valid? [True, True] Translation: X:100.43, Y:-6.72, Z:-2.61 [[ 9.99908177e-01 1.24840911e-02 5.27122140e-03 1.00432745e+02] [-1.24815640e-02 9.99921971e-01 -5.12049448e-04 -6.72100739e+00] [-5.27720256e-03 4.46209343e-04 9.99985976e-01 -2.61190655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93241403699999 meters 0.08946905547788887 Centerline is valid? [True, True] Translation: X:100.46, Y:-6.72, Z:-2.61 [[ 9.99863193e-01 1.53958917e-02 6.04658956e-03 1.00461841e+02] [-1.53926292e-02 9.99881355e-01 -5.85728624e-04 -6.72093623e+00] [-6.05488997e-03 4.92575582e-04 9.99981548e-01 -2.61137921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96241403699999 meters 0.08786077090568291 Centerline is valid? [True, True] Translation: X:100.49, Y:-6.72, Z:-2.61 [[ 9.99822903e-01 1.76569960e-02 6.51106488e-03 1.00492544e+02] [-1.76532597e-02 9.99843970e-01 -6.30863673e-04 -6.71958393e+00] [-6.52118812e-03 5.15810429e-04 9.99978604e-01 -2.61100504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99241403699999 meters 0.0849193496843387 Centerline is valid? [True, True] Translation: X:100.52, Y:-6.71, Z:-2.61 [[ 9.99760279e-01 2.05019879e-02 7.68460769e-03 1.00523849e+02] [-2.04968741e-02 9.99789640e-01 -7.43625889e-04 -6.71488258e+00] [-7.69823697e-03 5.85937189e-04 9.99970196e-01 -2.61021328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02241403699999 meters 0.08629938248481338 Centerline is valid? [True, True] Translation: X:100.55, Y:-6.72, Z:-2.61 [[ 9.99733908e-01 2.15570703e-02 8.21008169e-03 1.00551804e+02] [-2.15512608e-02 9.99767428e-01 -7.95429336e-04 -6.72059632e+00] [-8.22531938e-03 6.18280068e-04 9.99965980e-01 -2.61208761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05241403699999 meters 0.08387886799175207 Centerline is valid? [True, True] Translation: X:100.58, Y:-6.72, Z:-2.61 [[ 9.99696325e-01 2.37194729e-02 6.68169414e-03 1.00582340e+02] [-2.37156806e-02 9.99718535e-01 -6.46232007e-04 -6.71729684e+00] [-6.69514175e-03 4.87574839e-04 9.99977468e-01 -2.61370129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08241403699999 meters 0.08358685262951572 Centerline is valid? [True, True] Translation: X:100.61, Y:-6.72, Z:-2.62 [[ 9.99675055e-01 2.50106223e-02 4.92468434e-03 1.00610881e+02] [-2.50085723e-02 9.99687123e-01 -4.77424640e-04 -6.71820017e+00] [-4.93508421e-03 3.54110179e-04 9.99987760e-01 -2.61705713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.112414037 meters 0.08313913206102215 Centerline is valid? [True, True] Translation: X:100.64, Y:-6.72, Z:-2.62 [[ 9.99649911e-01 2.62294875e-02 3.47422046e-03 1.00640272e+02] [-2.62284693e-02 9.99655917e-01 -3.38311264e-04 -6.71855907e+00] [-3.48189877e-03 2.47069340e-04 9.99993908e-01 -2.61933466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.142414037 meters 0.08483968127688807 Centerline is valid? [True, True] Translation: X:100.67, Y:-6.72, Z:-2.62 [[ 9.99589042e-01 2.85453893e-02 2.62846058e-03 1.00668502e+02] [-2.85448177e-02 9.99592481e-01 -2.54729187e-04 -6.72320388e+00] [-2.63466078e-03 1.79595576e-04 9.99996513e-01 -2.62408655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.172414037 meters 0.0854372972213364 Centerline is valid? [True, True] Translation: X:100.70, Y:-6.73, Z:-2.63 [[ 9.99570084e-01 2.90822705e-02 3.72397306e-03 1.00696449e+02] [-2.90811285e-02 9.99576990e-01 -3.60458183e-04 -6.72795866e+00] [-3.73288072e-03 2.52005878e-04 9.99993001e-01 -2.62561409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.202414037 meters 0.08061107102653443 Centerline is valid? [True, True] Translation: X:100.73, Y:-6.72, Z:-2.62 [[ 9.99524069e-01 3.00648784e-02 6.90925787e-03 1.00727252e+02] [-3.00609877e-02 9.99547844e-01 -6.66297142e-04 -6.72091741e+00] [-6.92616596e-03 4.58280915e-04 9.99975909e-01 -2.62071946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23241403699998 meters 0.08289445907551576 Centerline is valid? [True, True] Translation: X:100.75, Y:-6.73, Z:-2.62 [[ 9.99508518e-01 3.02500485e-02 8.22542794e-03 1.00753999e+02] [-3.02445369e-02 9.99542214e-01 -7.93664783e-04 -6.72938361e+00] [-8.24567085e-03 5.44500452e-04 9.99965856e-01 -2.62118234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26241403699999 meters 0.08313146852193443 Centerline is valid? [True, True] Translation: X:100.78, Y:-6.73, Z:-2.62 [[ 9.99491904e-01 3.04344959e-02 9.46965468e-03 1.00781930e+02] [-3.04272104e-02 9.99536569e-01 -9.12507012e-04 -6.73171192e+00] [-9.49303783e-03 6.23908196e-04 9.99954745e-01 -2.62088799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29241403699999 meters 0.0822386998886936 Centerline is valid? [True, True] Translation: X:100.81, Y:-6.73, Z:-2.62 [[ 9.99435367e-01 3.26358285e-02 7.99058241e-03 1.00811469e+02] [-3.26307211e-02 9.99467181e-01 -7.68747315e-04 -6.73135764e+00] [-8.01141358e-03 5.07574789e-04 9.99967779e-01 -2.62039729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32241403699999 meters 0.08170883563572824 Centerline is valid? [True, True] Translation: X:100.84, Y:-6.73, Z:-2.62 [[ 9.99339495e-01 3.58455690e-02 5.97238409e-03 1.00840770e+02] [-3.58427728e-02 9.99357276e-01 -5.74596050e-04 -6.73249740e+00] [-5.98914222e-03 3.60149721e-04 9.99982000e-01 -2.62266429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35241403699999 meters 0.07983485337663158 Centerline is valid? [True, True] Translation: X:100.87, Y:-6.73, Z:-2.62 [[ 9.99286270e-01 3.74492440e-02 4.95023821e-03 1.00870404e+02] [-3.74473409e-02 9.99298489e-01 -4.76602957e-04 -6.73003370e+00] [-4.96461398e-03 2.90889534e-04 9.99987634e-01 -2.62337245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38241403699999 meters 0.07934843202412921 Centerline is valid? [True, True] Translation: X:100.90, Y:-6.73, Z:-2.62 [[ 9.99225927e-01 3.91253884e-02 4.09285890e-03 1.00899125e+02] [-3.91240999e-02 9.99234281e-01 -3.94440520e-04 -6.73049398e+00] [-4.10515756e-03 2.34005774e-04 9.99991546e-01 -2.62416854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41241403699999 meters 0.07691912501396066 Centerline is valid? [True, True] Translation: X:100.93, Y:-6.73, Z:-2.62 [[ 9.99073799e-01 4.27247374e-02 5.11282321e-03 1.00929806e+02] [-4.27227831e-02 9.99086844e-01 -4.90908817e-04 -6.72556414e+00] [-5.12912836e-03 2.72020100e-04 9.99986809e-01 -2.62216581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44241403699999 meters 0.07897146494098886 Centerline is valid? [True, True] Translation: X:100.96, Y:-6.73, Z:-2.63 [[ 9.99029331e-01 4.36430280e-02 5.97339922e-03 1.00956973e+02] [-4.36403695e-02 9.99047140e-01 -5.74747424e-04 -6.73381438e+00] [-5.99279112e-03 3.13508186e-04 9.99981994e-01 -2.62503829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.472414037 meters 0.07724214632480335 Centerline is valid? [True, True] Translation: X:100.99, Y:-6.73, Z:-2.62 [[ 9.98999628e-01 4.40958456e-02 7.43631969e-03 1.00985782e+02] [-4.40917493e-02 9.99027231e-01 -7.13974970e-04 -6.73373361e+00] [-7.46056920e-03 3.85380386e-04 9.99972095e-01 -2.62404923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.502414037 meters 0.07741809564431193 Centerline is valid? [True, True] Translation: X:101.01, Y:-6.74, Z:-2.62 [[ 9.98984907e-01 4.42356861e-02 8.50642074e-03 1.01014123e+02] [-4.42303382e-02 9.99021027e-01 -8.15883773e-04 -6.73858509e+00] [-8.53418436e-03 4.38813708e-04 9.99963487e-01 -2.62432700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.532414037 meters 0.0778433194754094 Centerline is valid? [True, True] Translation: X:101.04, Y:-6.74, Z:-2.62 [[ 9.98966105e-01 4.44000722e-02 9.76494378e-03 1.01042058e+02] [-4.43930416e-02 9.99013705e-01 -9.35673868e-04 -6.74385552e+00] [-9.79685665e-03 5.01210925e-04 9.99951884e-01 -2.62494904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.562414037 meters 0.07641028257553313 Centerline is valid? [True, True] Translation: X:101.07, Y:-6.74, Z:-2.62 [[ 9.98968188e-01 4.44950210e-02 9.09688404e-03 1.01071510e+02] [-4.44889275e-02 9.99009498e-01 -8.71202621e-04 -6.74313598e+00] [-9.12663773e-03 4.65593089e-04 9.99958243e-01 -2.62403769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59241403699998 meters 0.07641528554280873 Centerline is valid? [True, True] Translation: X:101.10, Y:-6.75, Z:-2.62 [[ 9.98969743e-01 4.45357022e-02 8.71914297e-03 1.01099241e+02] [-4.45301053e-02 9.99007694e-01 -8.35083360e-04 -6.74638034e+00] [-8.74768193e-03 4.45958655e-04 9.99961639e-01 -2.62485894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62241403699998 meters 0.07676162448995828 Centerline is valid? [True, True] Translation: X:101.13, Y:-6.75, Z:-2.63 [[ 9.98914280e-01 4.60112782e-02 7.29543163e-03 1.01127033e+02] [-4.60074062e-02 9.98940855e-01 -6.97779201e-04 -6.75190929e+00] [-7.31981042e-03 3.61377722e-04 9.99973145e-01 -2.62666238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65241403699999 meters 0.07619842596800237 Centerline is valid? [True, True] Translation: X:101.16, Y:-6.75, Z:-2.63 [[ 9.98897358e-01 4.66027313e-02 5.67914757e-03 1.01155010e+02] [-4.66003906e-02 9.98913464e-01 -5.43860607e-04 -6.75374072e+00] [-5.69832236e-03 2.78610428e-04 9.99983726e-01 -2.62777544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68241403699999 meters 0.07615870463755858 Centerline is valid? [True, True] Translation: X:101.18, Y:-6.76, Z:-2.63 [[ 9.98841492e-01 4.78887904e-02 4.72619059e-03 1.01183429e+02] [-4.78871704e-02 9.98852648e-01 -4.55401579e-04 -6.75715275e+00] [-4.74257661e-03 2.28550099e-04 9.99988728e-01 -2.63078526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71241403699999 meters 0.07613118886811956 Centerline is valid? [True, True] Translation: X:101.21, Y:-6.76, Z:-2.63 [[ 9.98736160e-01 5.00799631e-02 4.25208176e-03 1.01211018e+02] [-5.00786873e-02 9.98745193e-01 -4.06038526e-04 -6.76190872e+00] [-4.26708061e-03 1.92586686e-04 9.99990877e-01 -2.63318599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74241403699999 meters 0.08304404429424316 Centerline is valid? [True, True] Translation: X:101.24, Y:-6.78, Z:-2.64 [[ 9.98675466e-01 5.08963515e-02 7.54155414e-03 1.01236946e+02] [-5.08923815e-02 9.98703885e-01 -7.17520392e-04 -6.78475996e+00] [-7.56829859e-03 3.32762361e-04 9.99971305e-01 -2.64051757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77241403699999 meters 0.07579789386728787 Centerline is valid? [True, True] Translation: X:101.27, Y:-6.77, Z:-2.63 [[ 9.98642824e-01 5.17761323e-02 5.63406173e-03 1.01267775e+02] [-5.17739115e-02 9.98658686e-01 -5.39404844e-04 -6.76817178e+00] [-5.65443298e-03 2.46975363e-04 9.99983983e-01 -2.63328137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80241403699999 meters 0.07541866125186977 Centerline is valid? [True, True] Translation: X:101.30, Y:-6.77, Z:-2.63 [[ 9.98538036e-01 5.36830195e-02 6.31856256e-03 1.01295052e+02] [-5.36802923e-02 9.98557993e-01 -6.00541264e-04 -6.77221071e+00] [-6.34169002e-03 2.60481009e-04 9.99979857e-01 -2.63318120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83241403699999 meters 0.07526665697639934 Centerline is valid? [True, True] Translation: X:101.32, Y:-6.78, Z:-2.63 [[ 9.98531366e-01 5.38112522e-02 6.28176265e-03 1.01323925e+02] [-5.38085499e-02 9.98551091e-01 -5.98530705e-04 -6.77517344e+00] [-6.30486864e-03 2.59639144e-04 9.99980090e-01 -2.63362794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.862414037 meters 0.07546387073382334 Centerline is valid? [True, True] Translation: X:101.35, Y:-6.78, Z:-2.64 [[ 9.98477515e-01 5.49854706e-02 4.38737817e-03 1.01351133e+02] [-5.49841741e-02 9.98487140e-01 -4.15671980e-04 -6.78115154e+00] [-4.40359660e-03 1.73802761e-04 9.99990289e-01 -2.63583359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.892414037 meters 0.07569159659874578 Centerline is valid? [True, True] Translation: X:101.38, Y:-6.79, Z:-2.64 [[ 9.98517621e-01 5.43495545e-02 2.94726971e-03 1.01379188e+02] [-5.43489558e-02 9.98521963e-01 -2.82931648e-04 -6.78547753e+00] [-2.95829075e-03 1.22331205e-04 9.99995617e-01 -2.63731059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.922414037 meters 0.07579953581039758 Centerline is valid? [True, True] Translation: X:101.41, Y:-6.79, Z:-2.64 [[ 9.98521369e-01 5.43279773e-02 1.88340568e-03 1.01407097e+02] [-5.43277361e-02 9.98523142e-01 -1.79021845e-04 -6.79014677e+00] [-1.89035005e-03 7.64359708e-05 9.99998210e-01 -2.63895136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.952414037 meters 0.07598635747121048 Centerline is valid? [True, True] Translation: X:101.44, Y:-6.80, Z:-2.64 [[ 9.98546014e-01 5.37834100e-02 3.63366286e-03 1.01435564e+02] [-5.37825052e-02 9.98552614e-01 -3.46336572e-04 -6.79745364e+00] [-3.64703071e-03 1.50405511e-04 9.99993338e-01 -2.63826318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98241403699998 meters 0.07448815599948573 Centerline is valid? [True, True] Translation: X:101.46, Y:-6.80, Z:-2.63 [[ 9.98613644e-01 5.24281569e-02 4.69886827e-03 1.01464866e+02] [-5.24266397e-02 9.98624679e-01 -4.45555242e-04 -6.79781294e+00] [-4.71576546e-03 1.98591669e-04 9.99988861e-01 -2.63355524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01241403699999 meters 0.07481192573799124 Centerline is valid? [True, True] Translation: X:101.49, Y:-6.80, Z:-2.63 [[ 9.98673311e-01 5.12793511e-02 4.69539542e-03 1.01492766e+02] [-5.12778289e-02 9.98684328e-01 -4.44075298e-04 -6.80330631e+00] [-4.71198971e-03 2.02716465e-04 9.99988878e-01 -2.63413126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04241403699999 meters 0.0772001409602289 Centerline is valid? [True, True] Translation: X:101.52, Y:-6.82, Z:-2.64 [[ 9.98737176e-01 5.00675420e-02 4.15857106e-03 1.01519210e+02] [-5.00663524e-02 9.98745818e-01 -3.89727500e-04 -6.81597093e+00] [-4.17286815e-03 1.81030858e-04 9.99991277e-01 -2.63906361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07241403699999 meters 0.07875269491275974 Centerline is valid? [True, True] Translation: X:101.55, Y:-6.83, Z:-2.64 [[ 9.98767165e-01 4.95083240e-02 3.61614862e-03 1.01545596e+02] [-4.95074215e-02 9.98773698e-01 -3.38724470e-04 -6.82701529e+00] [-3.62848381e-03 1.59280685e-04 9.99993404e-01 -2.64372357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10241403699999 meters 0.07602323380233009 Centerline is valid? [True, True] Translation: X:101.58, Y:-6.82, Z:-2.64 [[ 9.98801645e-01 4.88137638e-02 3.53414656e-03 1.01575263e+02] [-4.88128860e-02 9.98807885e-01 -3.34260259e-04 -6.82262418e+00] [-3.54624995e-03 1.61347804e-04 9.99993699e-01 -2.63926846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13241403699999 meters 0.07631595323673938 Centerline is valid? [True, True] Translation: X:101.60, Y:-6.83, Z:-2.64 [[ 9.98814080e-01 4.86496456e-02 1.90951970e-03 1.01602368e+02] [-4.86493915e-02 9.98815901e-01 -1.79333801e-04 -6.82999468e+00] [-1.91598317e-03 8.62241536e-05 9.99998161e-01 -2.64100120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16241403699999 meters 0.07551804254299484 Centerline is valid? [True, True] Translation: X:101.63, Y:-6.83, Z:-2.64 [[ 9.98760327e-01 4.97232824e-02 2.32489074e-03 1.01631665e+02] [-4.97229026e-02 9.98763027e-01 -2.20886685e-04 -6.83111115e+00] [-2.33299812e-03 1.05012542e-04 9.99997273e-01 -2.63991448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19241403699999 meters 0.07537896573604434 Centerline is valid? [True, True] Translation: X:101.66, Y:-6.83, Z:-2.64 [[ 9.98755942e-01 4.97913619e-02 2.71821967e-03 1.01659856e+02] [-4.97908462e-02 9.98759634e-01 -2.57093183e-04 -6.83477396e+00] [-2.72764910e-03 1.21430887e-04 9.99996273e-01 -2.63996193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.222414037 meters 0.07496523302422244 Centerline is valid? [True, True] Translation: X:101.69, Y:-6.84, Z:-2.64 [[ 9.98703625e-01 5.08338916e-02 2.64303857e-03 1.01688194e+02] [-5.08334087e-02 9.98707115e-01 -2.49585390e-04 -6.83892645e+00] [-2.65230882e-03 1.14907174e-04 9.99996476e-01 -2.63953428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.252414037 meters 0.0746287212462698 Centerline is valid? [True, True] Translation: X:101.72, Y:-6.84, Z:-2.64 [[ 9.98683520e-01 5.12208920e-02 2.76523094e-03 1.01716501e+02] [-5.12203674e-02 9.98687342e-01 -2.60259579e-04 -6.84224242e+00] [-2.77493186e-03 1.18280808e-04 9.99996143e-01 -2.63932475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.282414037 meters 0.07522259786592339 Centerline is valid? [True, True] Translation: X:101.74, Y:-6.85, Z:-2.64 [[ 9.98703792e-01 5.08854608e-02 1.18597750e-03 1.01743904e+02] [-5.08853635e-02 9.98704494e-01 -1.12097717e-04 -6.84938550e+00] [-1.19014521e-03 5.16035183e-05 9.99999290e-01 -2.64207015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.312414037 meters 0.0752621226638793 Centerline is valid? [True, True] Translation: X:101.77, Y:-6.85, Z:-2.64 [[ 9.98752343e-01 4.99365280e-02 -3.18049139e-04 1.01772580e+02] [-4.99365232e-02 9.98752393e-01 2.30092050e-05 -6.85324771e+00] [ 3.18801339e-04 -7.09822914e-06 9.99999949e-01 -2.64320346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34241403699998 meters 0.0755372439207844 Centerline is valid? [True, True] Translation: X:101.80, Y:-6.86, Z:-2.64 [[ 9.98816437e-01 4.86362548e-02 -4.90654067e-04 1.01800888e+02] [-4.86362416e-02 9.98816557e-01 3.86897213e-05 -6.85801403e+00] [ 4.91955129e-04 -1.47803598e-05 9.99999879e-01 -2.64459128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37241403699998 meters 0.07748689533312522 Centerline is valid? [True, True] Translation: X:101.83, Y:-6.87, Z:-2.65 [[ 9.98958757e-01 4.55916428e-02 -1.67427952e-03 1.01828964e+02] [-4.55914510e-02 9.98960158e-01 1.52574661e-04 -6.87007668e+00] [ 1.67949467e-03 -7.60829614e-05 9.99998587e-01 -2.64964796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40241403699999 meters 0.07692246572982163 Centerline is valid? [True, True] Translation: X:101.86, Y:-6.87, Z:-2.65 [[ 9.99038075e-01 4.37943892e-02 -2.23082742e-03 1.01858152e+02] [-4.37940466e-02 9.99040560e-01 2.02220647e-04 -6.87332758e+00] [ 2.23754321e-03 -1.04329166e-04 9.99997491e-01 -2.64908255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43241403699999 meters 0.07741712634068039 Centerline is valid? [True, True] Translation: X:101.89, Y:-6.88, Z:-2.65 [[ 9.99216565e-01 3.95759081e-02 -5.32862039e-05 1.01886744e+02] [-3.95759080e-02 9.99216567e-01 3.54197801e-06 -6.88086823e+00] [ 5.33846347e-05 -1.43035320e-06 9.99999999e-01 -2.64810746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46241403699999 meters 0.07880581961954855 Centerline is valid? [True, True] Translation: X:101.91, Y:-6.89, Z:-2.65 [[ 9.99322625e-01 3.67936722e-02 7.18808086e-04 1.01914505e+02] [-3.67936333e-02 9.99322883e-01 -6.72394116e-05 -6.88863451e+00] [-7.20795353e-04 4.07463041e-05 9.99999739e-01 -2.64882301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49241403699999 meters 0.08152353659258627 Centerline is valid? [True, True] Translation: X:101.94, Y:-6.90, Z:-2.65 [[ 9.99388834e-01 3.49266227e-02 1.44551760e-03 1.01942403e+02] [-3.49264669e-02 9.99389876e-01 -1.32902332e-04 -6.90017456e+00] [-1.44927748e-03 8.23342840e-05 9.99998946e-01 -2.65078509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52241403699999 meters 0.07944488580825408 Centerline is valid? [True, True] Translation: X:101.97, Y:-6.90, Z:-2.65 [[ 9.99549838e-01 2.99461862e-02 1.82980153e-03 1.01973241e+02] [-2.99459310e-02 9.99551506e-01 -1.66717473e-04 -6.89969813e+00] [-1.83397343e-03 1.11847313e-04 9.99998312e-01 -2.64703439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55241403699999 meters 0.08145087779176037 Centerline is valid? [True, True] Translation: X:102.00, Y:-6.91, Z:-2.65 [[ 9.99714338e-01 2.38983359e-02 3.35180133e-04 1.02002352e+02] [-2.38983269e-02 9.99714394e-01 -3.09134566e-05 -6.91017682e+00] [-3.35823183e-04 2.28943814e-05 9.99999943e-01 -2.64950869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58241403699999 meters 0.08347831549163214 Centerline is valid? [True, True] Translation: X:102.03, Y:-6.92, Z:-2.65 [[ 9.99786312e-01 2.06700900e-02 2.79225926e-04 1.02030773e+02] [-2.06700836e-02 9.99786351e-01 -2.59031190e-05 -6.91863481e+00] [-2.79701690e-04 2.01259606e-05 9.99999961e-01 -2.65190862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.612414037 meters 0.08479549742613438 Centerline is valid? [True, True] Translation: X:102.06, Y:-6.92, Z:-2.65 [[ 9.99833087e-01 1.82606069e-02 -5.89816469e-04 1.02059459e+02] [-1.82605787e-02 9.99833260e-01 5.32956005e-05 -6.92485945e+00] [ 5.90691333e-04 -4.25163147e-05 9.99999825e-01 -2.65378836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.642414037 meters 0.08452037695130318 Centerline is valid? [True, True] Translation: X:102.09, Y:-6.93, Z:-2.65 [[ 9.99869433e-01 1.61387005e-02 -8.11668176e-04 1.02089325e+02] [-1.61386462e-02 9.99869761e-01 7.34204532e-05 -6.92680413e+00] [ 8.12747375e-04 -6.03116414e-05 9.99999668e-01 -2.65470900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.672414037 meters 0.08713302239930623 Centerline is valid? [True, True] Translation: X:102.12, Y:-6.93, Z:-2.66 [[ 9.99900863e-01 1.40643200e-02 -6.76988619e-04 1.02118446e+02] [-1.40642818e-02 9.99901091e-01 6.11220453e-05 -6.93323764e+00] [ 6.77781299e-04 -5.15946271e-05 9.99999769e-01 -2.65691530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.702414037 meters 0.08839793753276046 Centerline is valid? [True, True] Translation: X:102.15, Y:-6.94, Z:-2.66 [[ 9.99921153e-01 1.25338634e-02 7.67864198e-04 1.02145992e+02] [-1.25338118e-02 9.99921446e-01 -7.18715592e-05 -6.93671350e+00] [-7.68704708e-04 6.22416269e-05 9.99999703e-01 -2.65672217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73241403699998 meters 0.09129482170466639 Centerline is valid? [True, True] Translation: X:102.17, Y:-6.94, Z:-2.66 [[ 9.99940243e-01 1.08947097e-02 9.03177246e-04 1.02174186e+02] [-1.08946389e-02 9.99940648e-01 -8.32917382e-05 -6.94472524e+00] [-9.04031080e-04 7.34469710e-05 9.99999589e-01 -2.65861163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76241403699999 meters 0.08881085798372083 Centerline is valid? [True, True] Translation: X:102.20, Y:-6.94, Z:-2.66 [[ 9.99957106e-01 9.26029550e-03 1.83085648e-04 1.02204699e+02] [-9.26029253e-03 9.99957122e-01 -1.70823107e-05 -6.94152096e+00] [-1.83235985e-04 1.53861513e-05 9.99999983e-01 -2.65869253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79241403699999 meters 0.08881085798372083 Centerline is valid? [True, True] Translation: X:102.23, Y:-6.94, Z:-2.66 [[ 9.99957702e-01 9.19565087e-03 1.82975612e-04 1.02232987e+02] [-9.19564767e-03 9.99957719e-01 -1.82944071e-05 -6.94401769e+00] [-1.83136105e-04 1.66110540e-05 9.99999983e-01 -2.65943100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82241403699999 meters 0.09165164724963043 Centerline is valid? [True, True] Translation: X:102.26, Y:-6.95, Z:-2.66 [[ 9.99978745e-01 6.45637227e-03 -9.08371589e-04 1.02262479e+02] [-6.45630048e-03 9.99979155e-01 8.19502236e-05 -6.94862016e+00] [ 9.08881755e-04 -7.60837618e-05 9.99999584e-01 -2.66237869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85241403699999 meters 0.09381583136737077 Centerline is valid? [True, True] Translation: X:102.29, Y:-6.95, Z:-2.66 [[ 9.99985924e-01 5.26995534e-03 -6.15120267e-04 1.02290973e+02] [-5.26992278e-03 9.99986112e-01 5.45425422e-05 -6.95279263e+00] [ 6.15399161e-04 -5.13001382e-05 9.99999809e-01 -2.66352753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88241403699999 meters 0.0894915275599609 Centerline is valid? [True, True] Translation: X:102.32, Y:-6.94, Z:-2.66 [[ 9.99992306e-01 3.91951978e-03 1.60495783e-04 1.02321124e+02] [-3.91951729e-03 9.99992319e-01 -1.58489011e-05 -6.94239224e+00] [-1.60556670e-04 1.52197132e-05 9.99999987e-01 -2.66077620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91241403699999 meters 0.08709167037225751 Centerline is valid? [True, True] Translation: X:102.35, Y:-6.94, Z:-2.66 [[ 9.99993463e-01 3.49289758e-03 9.34577292e-04 1.02350267e+02] [-3.49281830e-03 9.99993896e-01 -8.64443569e-05 -6.93808247e+00] [-9.34873529e-04 8.31794832e-05 9.99999560e-01 -2.65960703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94241403699999 meters 0.08914695950890052 Centerline is valid? [True, True] Translation: X:102.38, Y:-6.94, Z:-2.66 [[ 9.99992544e-01 2.75655276e-03 2.70444496e-03 1.02379179e+02] [-2.75589921e-03 9.99996172e-01 -2.45354680e-04 -6.94231363e+00] [-2.70511094e-03 2.37899673e-04 9.99996313e-01 -2.66072303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.972414037 meters 0.08973321844460697 Centerline is valid? [True, True] Translation: X:102.41, Y:-6.94, Z:-2.66 [[ 9.99991909e-01 2.30144732e-03 3.29942623e-03 1.02409334e+02] [-2.30047391e-03 9.99997309e-01 -2.98788270e-04 -6.94444771e+00] [-3.30010500e-03 2.91195608e-04 9.99994512e-01 -2.66137684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.002414037 meters 0.08885400634335736 Centerline is valid? [True, True] Translation: X:102.44, Y:-6.94, Z:-2.66 [[ 9.99991949e-01 2.13846282e-03 3.39538446e-03 1.02440449e+02] [-2.13743235e-03 9.99997669e-01 -3.07091166e-04 -6.94332082e+00] [-3.39603324e-03 2.99831289e-04 9.99994189e-01 -2.66118827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.032414037 meters 0.09028059529896776 Centerline is valid? [True, True] Translation: X:102.47, Y:-6.94, Z:-2.66 [[ 9.99994251e-01 2.08687870e-03 2.67273929e-03 1.02470987e+02] [-2.08624012e-03 9.99997795e-01 -2.41687137e-04 -6.94305679e+00] [-2.67323776e-03 2.36109772e-04 9.99996399e-01 -2.66273829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.062414037 meters 0.09011971352430592 Centerline is valid? [True, True] Translation: X:102.50, Y:-6.94, Z:-2.66 [[ 9.99995770e-01 1.60132634e-03 2.42806590e-03 1.02501993e+02] [-1.60080067e-03 9.99998695e-01 -2.18428282e-04 -6.94282606e+00] [-2.42841250e-03 2.14540508e-04 9.99997028e-01 -2.66426337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09241403699998 meters 0.10294179319466448 Centerline is valid? [True, False] Translation: X:102.50, Y:-6.94, Z:-2.67 [[ 9.99995430e-01 1.23982493e-03 2.75734355e-03 1.02501835e+02] [-1.23820953e-03 9.99999061e-01 -5.87482476e-04 -6.94086999e+00] [-2.75806934e-03 5.84065622e-04 9.99996026e-01 -2.66514491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12241403699998 meters 0.09729278260140363 Centerline is valid? [False, True] Translation: X:102.50, Y:-6.94, Z:-2.67 [[ 9.99994896e-01 1.28655848e-03 2.92443532e-03 1.02501922e+02] [-1.28537155e-03 9.99999091e-01 -4.07709017e-04 -6.94082693e+00] [-2.92495720e-03 4.03947950e-04 9.99995641e-01 -2.66583051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15241403699999 meters 0.09428472440250062 Centerline is valid? [True, True] Translation: X:102.53, Y:-6.94, Z:-2.67 [[ 9.99996454e-01 -1.36175190e-04 2.65943638e-03 1.02533375e+02] [ 1.36836034e-04 9.99999960e-01 -2.48309858e-04 -6.93696724e+00] [-2.65940246e-03 2.48672885e-04 9.99996433e-01 -2.66554033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18241403699999 meters 0.09244429805410445 Centerline is valid? [True, True] Translation: X:102.57, Y:-6.93, Z:-2.67 [[ 9.99997316e-01 -1.57869833e-03 1.69563707e-03 1.02565373e+02] [ 1.57896814e-03 9.99998741e-01 -1.57788714e-04 -6.93294919e+00] [-1.69538583e-03 1.60465647e-04 9.99998550e-01 -2.66635502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21241403699999 meters 0.09720521122987304 Centerline is valid? [True, True] Translation: X:102.60, Y:-6.94, Z:-2.67 [[ 9.99998015e-01 -1.79191335e-03 8.71157696e-04 1.02596019e+02] [ 1.79198395e-03 9.99998391e-01 -8.02686275e-05 -6.94252153e+00] [-8.71012460e-04 8.18295688e-05 9.99999617e-01 -2.67008837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24241403699999 meters 0.09868754115714114 Centerline is valid? [True, True] Translation: X:102.63, Y:-6.95, Z:-2.67 [[ 9.99997712e-01 -1.85922630e-03 1.05781383e-03 1.02626770e+02] [ 1.85933083e-03 9.99998267e-01 -9.78359374e-05 -6.94650771e+00] [-1.05763010e-03 9.98025394e-05 9.99999436e-01 -2.67134090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27241403699999 meters 0.09871332946921524 Centerline is valid? [True, True] Translation: X:102.66, Y:-6.95, Z:-2.67 [[ 9.99997956e-01 -1.84405685e-03 8.28676083e-04 1.02658354e+02] [ 1.84412114e-03 9.99998297e-01 -7.68301109e-05 -6.94731132e+00] [-8.28532993e-04 7.83581330e-05 9.99999654e-01 -2.67166628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30241403699999 meters 0.09301246529506255 Centerline is valid? [True, True] Translation: X:102.69, Y:-6.94, Z:-2.67 [[ 9.99998833e-01 -1.16173386e-03 9.92228918e-04 1.02690606e+02] [ 1.16182585e-03 9.99999321e-01 -9.21366272e-05 -6.93893327e+00] [-9.92121206e-04 9.32893169e-05 9.99999503e-01 -2.66975180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33241403699999 meters 0.09625848042935216 Centerline is valid? [True, True] Translation: X:102.72, Y:-6.95, Z:-2.67 [[ 9.99999967e-01 1.90738480e-04 -1.71563136e-04 1.02720716e+02] [-1.90735649e-04 9.99999982e-01 1.65161194e-05 -6.94521066e+00] [ 1.71566283e-04 -1.64833956e-05 9.99999985e-01 -2.67248839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.362414037 meters 0.09679225514249032 Centerline is valid? [True, True] Translation: X:102.75, Y:-6.95, Z:-2.67 [[ 9.99999241e-01 1.02015683e-03 -6.90883174e-04 1.02750528e+02] [-1.02011233e-03 9.99999478e-01 6.47702822e-05 -6.94746986e+00] [ 6.90948889e-04 -6.40654546e-05 9.99999759e-01 -2.67406203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.392414037 meters 0.09273509427146821 Centerline is valid? [True, True] Translation: X:102.78, Y:-6.94, Z:-2.67 [[ 9.99997608e-01 1.92920239e-03 1.03045757e-03 1.02781742e+02] [-1.92910344e-03 9.99998135e-01 -9.70153046e-05 -6.94023032e+00] [-1.03064281e-03 9.50272133e-05 9.99999464e-01 -2.67202170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.422414037 meters 0.09286038326002423 Centerline is valid? [True, True] Translation: X:102.81, Y:-6.94, Z:-2.67 [[ 9.99997023e-01 2.03386502e-03 1.34824645e-03 1.02812292e+02] [-2.03369647e-03 9.99997924e-01 -1.26374664e-04 -6.94245530e+00] [-1.34850068e-03 1.23632363e-04 9.99999083e-01 -2.67240102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.452414037 meters 0.09405561565853593 Centerline is valid? [True, True] Translation: X:102.84, Y:-6.95, Z:-2.67 [[ 9.99995953e-01 1.89413115e-03 2.12295759e-03 1.02841948e+02] [-1.89371211e-03 9.99998187e-01 -1.99378915e-04 -6.94697962e+00] [-2.12333140e-03 1.95357837e-04 9.99997727e-01 -2.67381710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48241403699998 meters 0.0949021036454904 Centerline is valid? [True, True] Translation: X:102.87, Y:-6.95, Z:-2.67 [[ 9.99992837e-01 2.42866739e-03 2.90302173e-03 1.02872629e+02] [-2.42788775e-03 9.99997016e-01 -2.72057720e-04 -6.95039001e+00] [-2.90367381e-03 2.65007560e-04 9.99995749e-01 -2.67352332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51241403699999 meters 0.09628456735212741 Centerline is valid? [True, True] Translation: X:102.90, Y:-6.95, Z:-2.67 [[ 9.99992528e-01 2.60790932e-03 2.85357260e-03 1.02902760e+02] [-2.60715778e-03 9.99996566e-01 -2.67056181e-04 -6.95465352e+00] [-2.85425926e-03 2.59614472e-04 9.99995893e-01 -2.67389468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54241403699999 meters 0.09926892817751452 Centerline is valid? [True, True] Translation: X:102.93, Y:-6.96, Z:-2.68 [[ 9.99992382e-01 2.65434487e-03 2.86179086e-03 1.02932759e+02] [-2.65358902e-03 9.99996443e-01 -2.67882075e-04 -6.96183501e+00] [-2.86249173e-03 2.60286018e-04 9.99995869e-01 -2.67618772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57241403699999 meters 0.09307744025787731 Centerline is valid? [True, True] Translation: X:102.96, Y:-6.95, Z:-2.68 [[ 9.99993706e-01 2.73326086e-03 2.26208446e-03 1.02963883e+02] [-2.73278808e-03 9.99996243e-01 -2.12067588e-04 -6.95291423e+00] [-2.26265560e-03 2.05884456e-04 9.99997419e-01 -2.67560596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60241403699999 meters 0.09708927405758878 Centerline is valid? [True, True] Translation: X:102.99, Y:-6.96, Z:-2.68 [[ 9.99996143e-01 2.50554798e-03 1.19813066e-03 1.02992791e+02] [-2.50541470e-03 9.99996855e-01 -1.12726899e-04 -6.96250336e+00] [-1.19840934e-03 1.09724650e-04 9.99999276e-01 -2.68001045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63241403699999 meters 0.0926114451969877 Centerline is valid? [True, True] Translation: X:103.02, Y:-6.96, Z:-2.68 [[ 9.99994293e-01 2.70464182e-03 -2.02443572e-03 1.03022867e+02] [-2.70426505e-03 9.99996326e-01 1.88826959e-04 -6.95632340e+00] [ 2.02493899e-03 -1.83351271e-04 9.99997933e-01 -2.68227388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66241403699999 meters 0.0934414530045889 Centerline is valid? [True, True] Translation: X:103.05, Y:-6.96, Z:-2.69 [[ 9.99991731e-01 2.92705772e-03 -2.82309702e-03 1.03051089e+02] [-2.92632789e-03 9.99995684e-01 2.62616374e-04 -6.96047867e+00] [ 2.82385353e-03 -2.54352895e-04 9.99995981e-01 -2.68536844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69241403699999 meters 0.09274174371945224 Centerline is valid? [True, True] Translation: X:103.08, Y:-6.96, Z:-2.68 [[ 9.99991770e-01 3.87478742e-03 -1.20274471e-03 1.03081371e+02] [-3.87465530e-03 9.99992487e-01 1.12162231e-04 -6.96004576e+00] [ 1.20317028e-03 -1.07501087e-04 9.99999270e-01 -2.68371954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.722414037 meters 0.09378509428571098 Centerline is valid? [True, True] Translation: X:103.11, Y:-6.96, Z:-2.68 [[ 9.99990164e-01 4.42493151e-03 3.02722567e-04 1.03108755e+02] [-4.42492251e-03 9.99990210e-01 -3.04250951e-05 -6.96297321e+00] [-3.02854232e-04 2.90852720e-05 9.99999954e-01 -2.68243869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.752414037 meters 0.09370153658090519 Centerline is valid? [True, True] Translation: X:103.14, Y:-6.96, Z:-2.68 [[ 9.99985601e-01 5.06261657e-03 1.77997605e-03 1.03137858e+02] [-5.06232455e-03 9.99987172e-01 -1.68529107e-04 -6.96474294e+00] [-1.78080641e-03 1.59515864e-04 9.99998402e-01 -2.68090960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.782414037 meters 0.09348875174857549 Centerline is valid? [True, True] Translation: X:103.17, Y:-6.97, Z:-2.68 [[ 9.99977341e-01 6.13582325e-03 2.76925053e-03 1.03166267e+02] [-6.13512700e-03 9.99981146e-01 -2.59847480e-04 -6.96793086e+00] [-2.77079270e-03 2.42851888e-04 9.99996132e-01 -2.68125316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.812414037 meters 0.09387415911986403 Centerline is valid? [True, True] Translation: X:103.20, Y:-6.97, Z:-2.68 [[ 9.99980779e-01 5.87838756e-03 1.97139806e-03 1.03196013e+02] [-5.87803446e-03 9.99982707e-01 -1.84855588e-04 -6.97158406e+00] [-1.97245062e-03 1.73264089e-04 9.99998040e-01 -2.68161273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84241403699998 meters 0.09513856763545216 Centerline is valid? [True, True] Translation: X:103.22, Y:-6.98, Z:-2.68 [[ 9.99981663e-01 6.00162204e-03 8.08221933e-04 1.03224101e+02] [-6.00156205e-03 9.99981988e-01 -7.66386569e-05 -6.97581629e+00] [-8.08667331e-04 7.17866575e-05 9.99999670e-01 -2.68415272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87241403699998 meters 0.09404957912871233 Centerline is valid? [True, True] Translation: X:103.25, Y:-6.98, Z:-2.69 [[ 9.99979459e-01 6.40461036e-03 -2.50088466e-04 1.03253199e+02] [-6.40460514e-03 9.99979490e-01 2.16621846e-05 -6.97582701e+00] [ 2.50222075e-04 -2.00600217e-05 9.99999968e-01 -2.68549760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90241403699999 meters 0.0951184511115653 Centerline is valid? [True, True] Translation: X:103.28, Y:-6.98, Z:-2.69 [[ 9.99967727e-01 8.03249204e-03 1.55200182e-04 1.03281985e+02] [-8.03248976e-03 9.99967739e-01 -1.52852178e-05 -6.98079953e+00] [-1.55317953e-04 1.40380807e-05 9.99999988e-01 -2.68708561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93241403699999 meters 0.0935584861569826 Centerline is valid? [True, True] Translation: X:103.31, Y:-6.98, Z:-2.69 [[ 9.99938315e-01 1.10713541e-02 -8.89616544e-04 1.03312024e+02] [-1.10712852e-02 9.99938708e-01 8.23861159e-05 -6.97875840e+00] [ 8.90474144e-04 -7.25318355e-05 9.99999601e-01 -2.68800733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96241403699999 meters 0.08937122453332279 Centerline is valid? [True, True] Translation: X:103.34, Y:-6.97, Z:-2.69 [[ 9.99897229e-01 1.39018891e-02 -3.50262867e-03 1.03342313e+02] [-1.39008338e-02 9.99903326e-01 3.25425931e-04 -6.97124129e+00] [ 3.50681409e-03 -2.76703027e-04 9.99993813e-01 -2.68826151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99241403699999 meters 0.08665962324262504 Centerline is valid? [True, True] Translation: X:103.37, Y:-6.97, Z:-2.69 [[ 9.99887408e-01 1.47473427e-02 -2.77267722e-03 1.03371252e+02] [-1.47466882e-02 9.99891229e-01 2.56358572e-04 -6.96848511e+00] [ 2.77615624e-03 -2.15441902e-04 9.99996123e-01 -2.68750643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02241403699999 meters 0.08653964836778111 Centerline is valid? [True, True] Translation: X:103.40, Y:-6.97, Z:-2.69 [[ 9.99880444e-01 1.51789245e-02 -2.94937339e-03 1.03399840e+02] [-1.51781860e-02 9.99884768e-01 2.72615647e-04 -6.97091305e+00] [ 2.95317154e-03 -2.27816916e-04 9.99995613e-01 -2.68778745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05241403699999 meters 0.08777287515626733 Centerline is valid? [True, True] Translation: X:103.43, Y:-6.98, Z:-2.69 [[ 9.99857409e-01 1.67996727e-02 -1.71241201e-03 1.03428117e+02] [-1.67994267e-02 9.99858867e-01 1.57922993e-04 -6.97551489e+00] [ 1.71482339e-03 -1.29132934e-04 9.99998521e-01 -2.68970034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08241403699999 meters 0.08820627058536108 Centerline is valid? [True, True] Translation: X:103.46, Y:-6.98, Z:-2.69 [[ 9.99857254e-01 1.68678665e-02 -9.72615859e-04 1.03457199e+02] [-1.68677881e-02 9.99857725e-01 8.86956361e-05 -6.97842522e+00] [ 9.73973586e-04 -7.22770970e-05 9.99999523e-01 -2.69012896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.112414037 meters 0.08777534821762861 Centerline is valid? [True, True] Translation: X:103.49, Y:-6.98, Z:-2.69 [[ 9.99866386e-01 1.63201483e-02 -9.28800635e-04 1.03485525e+02] [-1.63200772e-02 9.99866815e-01 8.41196710e-05 -6.97995632e+00] [ 9.30049778e-04 -6.89503334e-05 9.99999565e-01 -2.68986201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.142414037 meters 0.0944193333362465 Centerline is valid? [True, True] Translation: X:103.51, Y:-6.99, Z:-2.69 [[ 9.99860770e-01 1.66733597e-02 -6.63165422e-04 1.03511730e+02] [-1.66733239e-02 9.99860989e-01 5.94358749e-05 -6.99474321e+00] [ 6.64064230e-04 -4.83704277e-05 9.99999778e-01 -2.69449011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.172414037 meters 0.08847376431336916 Centerline is valid? [True, True] Translation: X:103.54, Y:-6.98, Z:-2.69 [[ 9.99842342e-01 1.77517041e-02 -4.08909390e-04 1.03542259e+02] [-1.77516906e-02 9.99842426e-01 3.66750780e-05 -6.98488455e+00] [ 4.09496002e-04 -2.94104629e-05 9.99999916e-01 -2.69137403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.202414037 meters 0.08727488650611694 Centerline is valid? [True, True] Translation: X:103.57, Y:-6.98, Z:-2.69 [[ 9.99824826e-01 1.86568808e-02 -1.49574619e-03 1.03571403e+02] [-1.86566968e-02 9.99825939e-01 1.36870623e-04 -6.98424657e+00] [ 1.49803941e-03 -1.08940964e-04 9.99998872e-01 -2.69197371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23241403699998 meters 0.08720470552597548 Centerline is valid? [True, True] Translation: X:103.60, Y:-6.99, Z:-2.70 [[ 9.99784509e-01 2.05215381e-02 -3.13067211e-03 1.03599673e+02] [-2.05207362e-02 9.99789386e-01 2.88073725e-04 -6.98626827e+00] [ 3.13592446e-03 -2.23767952e-04 9.99995058e-01 -2.69525340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26241403699999 meters 0.0861552661254466 Centerline is valid? [True, True] Translation: X:103.63, Y:-6.99, Z:-2.70 [[ 9.99757866e-01 2.16195493e-02 -4.09941151e-03 1.03628360e+02] [-2.16181825e-02 9.99766229e-01 3.77447919e-04 -6.98563440e+00] [ 4.10661344e-03 -2.88734700e-04 9.99991526e-01 -2.69699759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29241403699999 meters 0.08622722988904981 Centerline is valid? [True, True] Translation: X:103.66, Y:-6.99, Z:-2.70 [[ 9.99748348e-01 2.22001449e-02 -3.22391331e-03 1.03657111e+02] [-2.21993043e-02 9.99753521e-01 2.96284732e-04 -6.98816106e+00] [ 3.22969625e-03 -2.24641539e-04 9.99994759e-01 -2.69735959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32241403699999 meters 0.0853684487125292 Centerline is valid? [True, True] Translation: X:103.69, Y:-6.99, Z:-2.70 [[ 9.99730258e-01 2.31192556e-02 -2.21619429e-03 1.03686018e+02] [-2.31188621e-02 9.99732703e-01 2.03004241e-04 -6.98935169e+00] [ 2.22029522e-03 -1.51713592e-04 9.99997524e-01 -2.69643483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35241403699999 meters 0.08194735972348086 Centerline is valid? [True, True] Translation: X:103.72, Y:-6.98, Z:-2.69 [[ 9.99656787e-01 2.61899311e-02 6.29835867e-04 1.03716883e+02] [-2.61898996e-02 9.99656984e-01 -5.82287231e-05 -6.98470608e+00] [-6.31144829e-04 4.17134001e-05 9.99999800e-01 -2.69199556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38241403699999 meters 0.08118341510238371 Centerline is valid? [True, True] Translation: X:103.75, Y:-6.99, Z:-2.69 [[ 9.99612954e-01 2.77741267e-02 1.59377049e-03 1.03746795e+02] [-2.77739260e-02 9.99614219e-01 -1.47954604e-04 -6.98585174e+00] [-1.59726495e-03 1.03632075e-04 9.99998719e-01 -2.69096817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41241403699999 meters 0.07959491799014125 Centerline is valid? [True, True] Translation: X:103.78, Y:-6.98, Z:-2.69 [[ 9.99474199e-01 3.23988961e-02 1.27966720e-03 1.03777220e+02] [-3.23987712e-02 9.99475015e-01 -1.18189741e-04 -6.98484664e+00] [-1.28282461e-03 7.66679524e-05 9.99999174e-01 -2.69154505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44241403699999 meters 0.07992929329777411 Centerline is valid? [True, True] Translation: X:103.81, Y:-6.99, Z:-2.69 [[ 9.99375430e-01 3.53366949e-02 2.61861454e-04 1.03806300e+02] [-3.53366896e-02 9.99375464e-01 -2.49980033e-05 -6.98765386e+00] [-2.62581259e-04 1.57290734e-05 9.99999965e-01 -2.69435622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.472414037 meters 0.0789088948766748 Centerline is valid? [True, True] Translation: X:103.84, Y:-6.99, Z:-2.70 [[ 9.99268730e-01 3.82337134e-02 -4.35185874e-04 1.03836066e+02] [-3.82336998e-02 9.99268824e-01 3.93181536e-05 -6.98760094e+00] [ 4.36370955e-04 -2.26506353e-05 9.99999905e-01 -2.69577702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.502414037 meters 0.0765497242334276 Centerline is valid? [True, True] Translation: X:103.87, Y:-6.98, Z:-2.70 [[ 9.99031765e-01 4.39336478e-02 -2.31688400e-03 1.03867186e+02] [-4.39332707e-02 9.99034445e-01 2.13410493e-04 -6.98288930e+00] [ 2.32402282e-03 -1.11415570e-04 9.99997293e-01 -2.69721994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.532414037 meters 0.07631180835517228 Centerline is valid? [True, True] Translation: X:103.90, Y:-6.98, Z:-2.70 [[ 9.98875149e-01 4.73691845e-02 -2.14403762e-03 1.03896111e+02] [-4.73688709e-02 9.98877446e-01 1.96823930e-04 -6.98496847e+00] [ 2.15095421e-03 -9.50418913e-05 9.99997682e-01 -2.69905645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.562414037 meters 0.07415897440544833 Centerline is valid? [True, True] Translation: X:103.93, Y:-6.98, Z:-2.70 [[ 9.98527679e-01 5.42407008e-02 -6.48783818e-04 1.03927119e+02] [-5.42406736e-02 9.98527889e-01 5.94462504e-05 -6.98063670e+00] [ 6.51053143e-04 -2.41682551e-05 9.99999788e-01 -2.69669309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59241403699998 meters 0.07407408338711365 Centerline is valid? [True, True] Translation: X:103.96, Y:-6.98, Z:-2.70 [[ 9.98396833e-01 5.66009620e-02 3.07425901e-04 1.03955557e+02] [-5.66009556e-02 9.98396880e-01 -2.95490651e-05 -6.98312199e+00] [-3.08605566e-04 1.21010933e-05 9.99999952e-01 -2.69766357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62241403699998 meters 0.07379585220189279 Centerline is valid? [True, True] Translation: X:103.98, Y:-6.98, Z:-2.70 [[ 9.98293461e-01 5.83957235e-02 3.24347573e-04 1.03984648e+02] [-5.83957159e-02 9.98293514e-01 -3.26640583e-05 -6.98497361e+00] [-3.25701520e-04 1.36678070e-05 9.99999947e-01 -2.69766613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65241403699999 meters 0.07307844603922632 Centerline is valid? [True, True] Translation: X:104.01, Y:-6.99, Z:-2.70 [[ 9.98157044e-01 6.06600698e-02 -1.69474367e-03 1.04013185e+02] [-6.06599028e-02 9.98158481e-01 1.49763220e-04 -6.98658157e+00] [ 1.70070741e-03 -4.66842272e-05 9.99998553e-01 -2.69755324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68241403699999 meters 0.07300274947923584 Centerline is valid? [True, True] Translation: X:104.04, Y:-6.99, Z:-2.70 [[ 9.98154657e-01 6.07025549e-02 -1.57528824e-03 1.04041474e+02] [-6.07024120e-02 9.98155899e-01 1.38386816e-04 -6.99048899e+00] [ 1.58078369e-03 -4.25076488e-05 9.99998750e-01 -2.69832614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71241403699999 meters 0.07300274947923584 Centerline is valid? [True, True] Translation: X:104.07, Y:-6.99, Z:-2.70 [[ 9.98170871e-01 6.04353461e-02 -1.57540198e-03 1.04068732e+02] [-6.04352049e-02 9.98172113e-01 1.37133973e-04 -6.99288109e+00] [ 1.58081006e-03 -4.16733959e-05 9.99998750e-01 -2.69900658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74241403699999 meters 0.07311803171708622 Centerline is valid? [True, True] Translation: X:104.10, Y:-7.00, Z:-2.70 [[ 9.98184295e-01 6.01781970e-02 -2.58817952e-03 1.04097023e+02] [-6.01778033e-02 9.98187647e-01 2.29813862e-04 -6.99755342e+00] [ 2.59731861e-03 -7.36456304e-05 9.99996624e-01 -2.69994003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77241403699999 meters 0.07342409494572447 Centerline is valid? [True, True] Translation: X:104.12, Y:-7.01, Z:-2.70 [[ 9.98255419e-01 5.89735976e-02 -2.86935710e-03 1.04123756e+02] [-5.89730980e-02 9.98259539e-01 2.58456028e-04 -7.00500606e+00] [ 2.87960517e-03 -8.87902528e-05 9.99995850e-01 -2.70100569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80241403699999 meters 0.07344863518082395 Centerline is valid? [True, True] Translation: X:104.15, Y:-7.01, Z:-2.70 [[ 9.98371639e-01 5.68989594e-02 -4.07170992e-03 1.04152528e+02] [-5.68979280e-02 9.98379933e-01 3.68803520e-04 -7.00987824e+00] [ 4.08609801e-03 -1.36531117e-04 9.99991643e-01 -2.69994529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83241403699999 meters 0.07379593336999034 Centerline is valid? [True, True] Translation: X:104.18, Y:-7.02, Z:-2.70 [[ 9.98473899e-01 5.50676436e-02 -4.17472826e-03 1.04180344e+02] [-5.50665481e-02 9.98482615e-01 3.76989095e-04 -7.01672206e+00] [ 4.18915349e-03 -1.46525897e-04 9.99991215e-01 -2.70151729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.862414037 meters 0.07412777341089388 Centerline is valid? [True, True] Translation: X:104.21, Y:-7.02, Z:-2.70 [[ 9.98584240e-01 5.30981835e-02 -3.17777695e-03 1.04208324e+02] [-5.30975548e-02 9.98589290e-01 2.81934712e-04 -7.02418877e+00] [ 3.18826425e-03 -1.12803374e-04 9.99994911e-01 -2.70182476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.892414037 meters 0.07507468033452265 Centerline is valid? [True, True] Translation: X:104.24, Y:-7.04, Z:-2.70 [[ 9.98857760e-01 4.76940239e-02 -2.90766158e-03 1.04237781e+02] [-4.76934590e-02 9.98861985e-01 2.63323467e-04 -7.03785411e+00] [ 2.91691158e-03 -1.24346250e-04 9.99995738e-01 -2.70056378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.922414037 meters 0.07597357674329554 Centerline is valid? [True, True] Translation: X:104.27, Y:-7.05, Z:-2.70 [[ 9.98984400e-01 4.50023567e-02 -2.22632339e-03 1.04265292e+02] [-4.50020230e-02 9.98986876e-01 1.99812952e-04 -7.04544705e+00] [ 2.23305990e-03 -9.94209655e-05 9.99997502e-01 -2.70143096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.952414037 meters 0.07726078127100759 Centerline is valid? [True, True] Translation: X:104.29, Y:-7.06, Z:-2.70 [[ 9.99160367e-01 4.06835679e-02 -4.83819053e-03 1.04293721e+02] [-4.06819261e-02 9.99172052e-01 4.37318343e-04 -7.05735973e+00] [ 4.85197643e-03 -2.40124247e-04 9.99988200e-01 -2.70349787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98241403699998 meters 0.07780457197830487 Centerline is valid? [True, True] Translation: X:104.32, Y:-7.06, Z:-2.70 [[ 9.99236821e-01 3.85136657e-02 -6.51711367e-03 1.04323620e+02] [-3.85106403e-02 9.99258016e-01 5.89134660e-04 -7.06358697e+00] [ 6.53496782e-03 -3.37706825e-04 9.99978590e-01 -2.70409972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01241403699999 meters 0.07756332685342973 Centerline is valid? [True, True] Translation: X:104.35, Y:-7.07, Z:-2.70 [[ 9.99302514e-01 3.67834521e-02 -6.43916769e-03 1.04352663e+02] [-3.67804703e-02 9.99323201e-01 5.80914757e-04 -7.06826903e+00] [ 6.45617772e-03 -3.43673961e-04 9.99979100e-01 -2.70397651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04241403699999 meters 0.07843914829255721 Centerline is valid? [True, True] Translation: X:104.38, Y:-7.08, Z:-2.71 [[ 9.99389463e-01 3.45676742e-02 -5.07705181e-03 1.04379416e+02] [-3.45657997e-02 9.99402320e-01 4.56520729e-04 -7.07888179e+00] [ 5.08979822e-03 -2.80749651e-04 9.99987007e-01 -2.70516592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07241403699999 meters 0.07884295002903487 Centerline is valid? [True, True] Translation: X:104.41, Y:-7.08, Z:-2.71 [[ 9.99405754e-01 3.39511993e-02 -5.95439517e-03 1.04407632e+02] [-3.39486078e-02 9.99423436e-01 5.35792319e-04 -7.08490906e+00] [ 5.96915288e-03 -3.33330501e-04 9.99982129e-01 -2.70547730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10241403699999 meters 0.07990438427847288 Centerline is valid? [True, True] Translation: X:104.44, Y:-7.09, Z:-2.71 [[ 9.99394641e-01 3.43169526e-02 -5.71824448e-03 1.04435130e+02] [-3.43145710e-02 9.99410949e-01 5.14108788e-04 -7.09436600e+00] [ 5.73251879e-03 -3.17578461e-04 9.99983519e-01 -2.70675490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13241403699999 meters 0.07865487700443081 Centerline is valid? [True, True] Translation: X:104.46, Y:-7.10, Z:-2.70 [[ 9.99372457e-01 3.49155993e-02 -5.96597476e-03 1.04463887e+02] [-3.49130195e-02 9.99390211e-01 5.36054690e-04 -7.09537585e+00] [ 5.98105344e-03 -3.27428100e-04 9.99982060e-01 -2.70494264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16241403699999 meters 0.0787290849168787 Centerline is valid? [True, True] Translation: X:104.49, Y:-7.10, Z:-2.71 [[ 9.99341925e-01 3.57732847e-02 -5.99904893e-03 1.04492352e+02] [-3.57706939e-02 9.99359879e-01 5.38650530e-04 -7.09937395e+00] [ 6.01447811e-03 -3.23705914e-04 9.99981860e-01 -2.70616949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19241403699999 meters 0.07853717198224408 Centerline is valid? [True, True] Translation: X:104.52, Y:-7.10, Z:-2.71 [[ 9.99289754e-01 3.71430682e-02 -6.35452233e-03 1.04521045e+02] [-3.71401909e-02 9.99309902e-01 5.70252930e-04 -7.10421520e+00] [ 6.37131804e-03 -3.33839738e-04 9.99979647e-01 -2.70631434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.222414037 meters 0.07760168524374274 Centerline is valid? [True, True] Translation: X:104.55, Y:-7.11, Z:-2.70 [[ 9.99274023e-01 3.76411435e-02 -5.87975524e-03 1.04550168e+02] [-3.76387020e-02 9.99291275e-01 5.25382685e-04 -7.10788056e+00] [ 5.89536412e-03 -3.03694914e-04 9.99982576e-01 -2.70463135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.252414037 meters 0.076768903348783 Centerline is valid? [True, True] Translation: X:104.58, Y:-7.11, Z:-2.70 [[ 9.99272714e-01 3.77679084e-02 -5.25619143e-03 1.04578648e+02] [-3.77659556e-02 9.99286501e-01 4.70322196e-04 -7.10973632e+00] [ 5.27020423e-03 -2.71475045e-04 9.99986076e-01 -2.70345747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.282414037 meters 0.07720543410141514 Centerline is valid? [True, True] Translation: X:104.61, Y:-7.12, Z:-2.71 [[ 9.99276415e-01 3.76097777e-02 -5.67013365e-03 1.04605768e+02] [-3.76075070e-02 9.99292459e-01 5.06604154e-04 -7.11532899e+00] [ 5.68517507e-03 -2.92997992e-04 9.99983796e-01 -2.70540279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.312414037 meters 0.07836718582178864 Centerline is valid? [True, True] Translation: X:104.63, Y:-7.12, Z:-2.71 [[ 9.99284473e-01 3.72213018e-02 -6.71694548e-03 1.04632367e+02] [-3.72181112e-02 9.99306986e-01 5.99431534e-04 -7.12293545e+00] [ 6.73460217e-03 -3.49010600e-04 9.99977261e-01 -2.70854730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34241403699998 meters 0.07743888224079704 Centerline is valid? [True, True] Translation: X:104.66, Y:-7.12, Z:-2.71 [[ 9.99251866e-01 3.74958692e-02 -9.47456493e-03 1.04660647e+02] [-3.74895270e-02 9.99296662e-01 8.46176071e-04 -7.12487990e+00] [ 9.49962922e-03 -4.90346060e-04 9.99954757e-01 -2.70818532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37241403699998 meters 0.07778006034225282 Centerline is valid? [True, True] Translation: X:104.69, Y:-7.13, Z:-2.71 [[ 9.99287602e-01 3.62959589e-02 -1.03388293e-02 1.04690046e+02] [-3.62883313e-02 9.99340934e-01 9.24461782e-04 -7.13006045e+00] [ 1.03655696e-02 -5.48624334e-04 9.99946126e-01 -2.70910894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40241403699999 meters 0.07890161384968794 Centerline is valid? [True, True] Translation: X:104.72, Y:-7.14, Z:-2.71 [[ 9.99312755e-01 3.53105669e-02 -1.12774995e-02 1.04717786e+02] [-3.53014478e-02 9.99376203e-01 1.00671629e-03 -7.13684089e+00] [ 1.13060124e-02 -6.07912373e-04 9.99935900e-01 -2.71192346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43241403699999 meters 0.07954304059907294 Centerline is valid? [True, True] Translation: X:104.75, Y:-7.14, Z:-2.71 [[ 9.99378347e-01 3.31324243e-02 -1.20483321e-02 1.04746650e+02] [-3.31218572e-02 9.99450742e-01 1.07559241e-03 -7.14287456e+00] [ 1.20773515e-02 -6.75860624e-04 9.99926838e-01 -2.71488800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46241403699999 meters 0.08069967676557545 Centerline is valid? [True, True] Translation: X:104.78, Y:-7.15, Z:-2.72 [[ 9.99525742e-01 2.90616577e-02 -1.01838202e-02 1.04775852e+02] [-2.90538930e-02 9.99577433e-01 9.09601906e-04 -7.15218342e+00] [ 1.02059513e-02 -6.13290900e-04 9.99947730e-01 -2.71531879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49241403699999 meters 0.08003788834598978 Centerline is valid? [True, True] Translation: X:104.80, Y:-7.15, Z:-2.71 [[ 9.99593598e-01 2.72912448e-02 -8.23567412e-03 1.04804905e+02] [-2.72861225e-02 9.99627395e-01 7.33700277e-04 -7.15415446e+00] [ 8.25262906e-03 -5.08682487e-04 9.99965817e-01 -2.71330864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52241403699999 meters 0.08075331191930711 Centerline is valid? [True, True] Translation: X:104.83, Y:-7.16, Z:-2.71 [[ 9.99673348e-01 2.47970114e-02 -6.18914450e-03 1.04833890e+02] [-2.47940697e-02 9.99692428e-01 5.51591344e-04 -7.16018718e+00] [ 6.20091870e-03 -3.97957086e-04 9.99980695e-01 -2.71280989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55241403699999 meters 0.08234139263102502 Centerline is valid? [True, True] Translation: X:104.86, Y:-7.17, Z:-2.71 [[ 9.99694012e-01 2.41568088e-02 -5.32276739e-03 1.04861266e+02] [-2.41546336e-02 9.99708123e-01 4.72580339e-04 -7.16804482e+00] [ 5.33262983e-03 -3.43866239e-04 9.99985722e-01 -2.71409764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58241403699999 meters 0.08423475900027692 Centerline is valid? [True, True] Translation: X:104.89, Y:-7.18, Z:-2.72 [[ 9.99706028e-01 2.36222004e-02 -5.46338575e-03 1.04888561e+02] [-2.36199026e-02 9.99720894e-01 4.84734151e-04 -7.17585675e+00] [ 5.47331137e-03 -3.55547013e-04 9.99984958e-01 -2.71599766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.612414037 meters 0.0805376693941695 Centerline is valid? [True, True] Translation: X:104.92, Y:-7.17, Z:-2.71 [[ 9.99696287e-01 2.39903309e-02 -5.63898975e-03 1.04918108e+02] [-2.39878888e-02 9.99712124e-01 5.00321399e-04 -7.16996782e+00] [ 5.64936930e-03 -3.64901986e-04 9.99983976e-01 -2.71219523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.642414037 meters 0.0802224847935548 Centerline is valid? [True, True] Translation: X:104.95, Y:-7.17, Z:-2.71 [[ 9.99632505e-01 2.63945462e-02 -6.17920506e-03 1.04947683e+02] [-2.63916546e-02 9.99651529e-01 5.49050571e-04 -7.17259121e+00] [ 6.19154372e-03 -3.85769352e-04 9.99980758e-01 -2.71300592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.672414037 meters 0.0800508118828601 Centerline is valid? [True, True] Translation: X:104.98, Y:-7.17, Z:-2.72 [[ 9.99486631e-01 3.09145084e-02 -8.41230738e-03 1.04976291e+02] [-3.09093083e-02 9.99521914e-01 7.47494939e-04 -7.17471191e+00] [ 8.43139401e-03 -4.87092596e-04 9.99964337e-01 -2.71673596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.702414037 meters 0.07784877761874702 Centerline is valid? [True, True] Translation: X:105.01, Y:-7.17, Z:-2.72 [[ 9.99377911e-01 3.41489421e-02 -8.81145445e-03 1.05006524e+02] [-3.41433595e-02 9.99416639e-01 7.83256968e-04 -7.17151261e+00] [ 8.83306158e-03 -4.81917055e-04 9.99960872e-01 -2.71528039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73241403699998 meters 0.07828775222421414 Centerline is valid? [True, True] Translation: X:105.03, Y:-7.17, Z:-2.72 [[ 9.99291501e-01 3.62636464e-02 -1.00719100e-02 1.05033849e+02] [-3.62564844e-02 9.99342119e-01 8.92827575e-04 -7.17490899e+00] [ 1.00976610e-02 -5.27022961e-04 9.99948878e-01 -2.71867354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76241403699999 meters 0.07677856861218733 Centerline is valid? [True, True] Translation: X:105.06, Y:-7.17, Z:-2.72 [[ 9.99093669e-01 4.12458725e-02 -1.05175334e-02 1.05064488e+02] [-4.12383174e-02 9.99148902e-01 9.34288280e-04 -7.17472430e+00] [ 1.05471175e-02 -4.99716126e-04 9.99944253e-01 -2.72035434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79241403699999 meters 0.0768179404981134 Centerline is valid? [True, True] Translation: X:105.09, Y:-7.18, Z:-2.72 [[ 9.99005999e-01 4.30803520e-02 -1.14498021e-02 1.05093343e+02] [-4.30716149e-02 9.99071478e-01 1.00869248e-03 -7.17725923e+00] [ 1.14826256e-02 -5.14528368e-04 9.99933940e-01 -2.72274400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82241403699999 meters 0.07615402628960889 Centerline is valid? [True, True] Translation: X:105.12, Y:-7.18, Z:-2.72 [[ 9.98912953e-01 4.56717492e-02 -9.32756579e-03 1.05123376e+02] [-4.56660243e-02 9.98956422e-01 8.25931865e-04 -7.17801123e+00] [ 9.35555350e-03 -3.99081193e-04 9.99956156e-01 -2.72214433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85241403699999 meters 0.07585824865147593 Centerline is valid? [True, True] Translation: X:105.15, Y:-7.18, Z:-2.72 [[ 9.98896435e-01 4.64879144e-02 -6.69229719e-03 1.05152878e+02] [-4.64849908e-02 9.98918813e-01 5.91826449e-04 -7.18077931e+00] [ 6.71257434e-03 -2.80081957e-04 9.99977431e-01 -2.72062255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88241403699999 meters 0.07595217548310185 Centerline is valid? [True, True] Translation: X:105.18, Y:-7.19, Z:-2.72 [[ 9.98930610e-01 4.59901813e-02 -4.74754081e-03 1.05180221e+02] [-4.59887133e-02 9.98941872e-01 4.17973226e-04 -7.18590165e+00] [ 4.76173997e-03 -1.99192956e-04 9.99988643e-01 -2.71989057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91241403699999 meters 0.07582462815565612 Centerline is valid? [True, True] Translation: X:105.21, Y:-7.19, Z:-2.72 [[ 9.99026200e-01 4.39252467e-02 -4.15024122e-03 1.05208590e+02] [-4.39241280e-02 9.99034805e-01 3.60375406e-04 -7.19455618e+00] [ 4.16206501e-03 -1.77728746e-04 9.99991323e-01 -2.71803302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94241403699999 meters 0.07650797967334765 Centerline is valid? [True, True] Translation: X:105.24, Y:-7.20, Z:-2.72 [[ 9.99112585e-01 4.17775863e-02 -5.35504249e-03 1.05236516e+02] [-4.17756633e-02 9.99126905e-01 4.70505063e-04 -7.20075506e+00] [ 5.37002359e-03 -2.46377078e-04 9.99985551e-01 -2.71853160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.972414037 meters 0.07696900504964416 Centerline is valid? [True, True] Translation: X:105.27, Y:-7.21, Z:-2.72 [[ 9.99251322e-01 3.77583267e-02 -8.43227801e-03 1.05266512e+02] [-3.77533939e-02 9.99286810e-01 7.43460174e-04 -7.20762761e+00] [ 8.45433601e-03 -4.24556448e-04 9.99964171e-01 -2.71960359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.002414037 meters 0.07757211650952764 Centerline is valid? [True, True] Translation: X:105.30, Y:-7.21, Z:-2.72 [[ 9.99313919e-01 3.57998605e-02 -9.49005580e-03 1.05295829e+02] [-3.57935353e-02 9.99358857e-01 8.35577645e-04 -7.21284433e+00] [ 9.51388488e-03 -4.95321724e-04 9.99954619e-01 -2.72158852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.032414037 meters 0.07880946966245282 Centerline is valid? [True, True] Translation: X:105.32, Y:-7.22, Z:-2.73 [[ 9.99349908e-01 3.41516636e-02 -1.15509930e-02 1.05324452e+02] [-3.41421741e-02 9.99416468e-01 1.01779603e-03 -7.21980190e+00] [ 1.15790121e-02 -6.22758359e-04 9.99932767e-01 -2.72514587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.062414037 meters 0.07810629019451946 Centerline is valid? [True, True] Translation: X:105.35, Y:-7.22, Z:-2.72 [[ 9.99431959e-01 3.14019639e-02 -1.22342211e-02 1.05354884e+02] [-3.13911107e-02 9.99506596e-01 1.07818794e-03 -7.22219200e+00] [ 1.22620420e-02 -6.93529696e-04 9.99924578e-01 -2.72437579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09241403699998 meters 0.08105628629193719 Centerline is valid? [True, True] Translation: X:105.38, Y:-7.23, Z:-2.73 [[ 9.99477725e-01 2.97619210e-02 -1.25898950e-02 1.05382502e+02] [-2.97503222e-02 9.99556748e-01 1.10760415e-03 -7.23444367e+00] [ 1.26172789e-02 -7.32472241e-04 9.99920131e-01 -2.72989105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12241403699998 meters 0.07971732562508684 Centerline is valid? [True, True] Translation: X:105.41, Y:-7.24, Z:-2.73 [[ 9.99579720e-01 2.64442913e-02 -1.18778498e-02 1.05412248e+02] [-2.64337283e-02 9.99650021e-01 1.04543774e-03 -7.23678426e+00] [ 1.19013387e-02 -7.31022505e-04 9.99928909e-01 -2.72805291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15241403699999 meters 0.08254908146339998 Centerline is valid? [True, True] Translation: X:105.44, Y:-7.25, Z:-2.73 [[ 9.99631720e-01 2.45405346e-02 -1.15838494e-02 1.05439631e+02] [-2.45303841e-02 9.99698567e-01 1.01755524e-03 -7.24798058e+00] [ 1.16053289e-02 -7.33024221e-04 9.99932387e-01 -2.73152023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18241403699999 meters 0.08135408887839066 Centerline is valid? [True, True] Translation: X:105.47, Y:-7.25, Z:-2.73 [[ 9.99652215e-01 2.32953580e-02 -1.23602374e-02 1.05468713e+02] [-2.32837170e-02 9.99728309e-01 1.08489253e-03 -7.24898725e+00] [ 1.23821522e-02 -7.96722946e-04 9.99923021e-01 -2.72930145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21241403699999 meters 0.0799727518121831 Centerline is valid? [True, True] Translation: X:105.50, Y:-7.25, Z:-2.73 [[ 9.99646766e-01 2.34399172e-02 -1.25265308e-02 1.05497352e+02] [-2.34279820e-02 9.99724923e-01 1.09870280e-03 -7.24874876e+00] [ 1.25488386e-02 -8.04843359e-04 9.99920936e-01 -2.72797772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24241403699999 meters 0.08072518248704613 Centerline is valid? [True, True] Translation: X:105.53, Y:-7.25, Z:-2.73 [[ 9.99637429e-01 2.43685427e-02 -1.14535705e-02 1.05525211e+02] [-2.43586361e-02 9.99702781e-01 1.00366728e-03 -7.25340250e+00] [ 1.14746242e-02 -7.24310022e-04 9.99933902e-01 -2.72921637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27241403699999 meters 0.07906520219846686 Centerline is valid? [True, True] Translation: X:105.56, Y:-7.25, Z:-2.73 [[ 9.99612498e-01 2.59713731e-02 -1.00171042e-02 1.05555600e+02] [-2.59638669e-02 9.99662496e-01 8.78675409e-04 -7.25231368e+00] [ 1.00365437e-02 -6.18252161e-04 9.99949441e-01 -2.72675559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30241403699999 meters 0.07936959485628124 Centerline is valid? [True, True] Translation: X:105.58, Y:-7.26, Z:-2.73 [[ 9.99595766e-01 2.68457396e-02 -9.36003177e-03 1.05582772e+02] [-2.68392479e-02 9.99639427e-01 8.18500269e-04 -7.25615797e+00] [ 9.37863004e-03 -5.66953190e-04 9.99955859e-01 -2.72850672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33241403699999 meters 0.07818923845346025 Centerline is valid? [True, True] Translation: X:105.61, Y:-7.26, Z:-2.73 [[ 9.99518101e-01 2.88911634e-02 -1.13519549e-02 1.05611775e+02] [-2.88817453e-02 9.99582342e-01 9.92744924e-04 -7.25566517e+00] [ 1.13758952e-02 -6.64402251e-04 9.99935072e-01 -2.72848558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.362414037 meters 0.07947223683543528 Centerline is valid? [True, True] Translation: X:105.64, Y:-7.26, Z:-2.73 [[ 9.99477466e-01 3.03802766e-02 -1.10378495e-02 1.05639595e+02] [-3.03714718e-02 9.99538215e-01 9.64476463e-04 -7.26128230e+00] [ 1.10620535e-02 -6.28736755e-04 9.99938616e-01 -2.73254931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.392414037 meters 0.07796816158655866 Centerline is valid? [True, True] Translation: X:105.67, Y:-7.26, Z:-2.73 [[ 9.99435268e-01 3.17962465e-02 -1.08694316e-02 1.05669329e+02] [-3.17878603e-02 9.99494193e-01 9.43476220e-04 -7.25862733e+00] [ 1.08939327e-02 -5.97427436e-04 9.99940481e-01 -2.72968251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.422414037 meters 0.07916840710197981 Centerline is valid? [True, True] Translation: X:105.70, Y:-7.27, Z:-2.73 [[ 9.99441136e-01 3.21593528e-02 -9.12097125e-03 1.05696657e+02] [-3.21534574e-02 9.99482630e-01 7.92295139e-04 -7.26505054e+00] [ 9.14173203e-03 -4.98581592e-04 9.99958089e-01 -2.73120800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.452414037 meters 0.0790930177728467 Centerline is valid? [True, True] Translation: X:105.73, Y:-7.27, Z:-2.73 [[ 9.99546454e-01 2.90320705e-02 -8.00156600e-03 1.05726401e+02] [-2.90274215e-02 9.99578373e-01 6.96550828e-04 -7.26727329e+00] [ 8.01841464e-03 -4.63970081e-04 9.99967744e-01 -2.72949933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48241403699998 meters 0.07884622886818943 Centerline is valid? [True, True] Translation: X:105.76, Y:-7.27, Z:-2.73 [[ 9.99607880e-01 2.65716287e-02 -8.83367766e-03 1.05757050e+02] [-2.65658586e-02 9.99646769e-01 7.69907173e-04 -7.26904095e+00] [ 8.85101502e-03 -5.34931045e-04 9.99960686e-01 -2.72985512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51241403699999 meters 0.08418621546344981 Centerline is valid? [True, True] Translation: X:105.78, Y:-7.29, Z:-2.74 [[ 9.99664019e-01 2.42487592e-02 -9.15683401e-03 1.05784342e+02] [-2.42424782e-02 9.99705791e-01 7.96327527e-04 -7.28610563e+00] [ 9.17344994e-03 -5.74075627e-04 9.99957758e-01 -2.73790643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54241403699999 meters 0.08241125732878679 Centerline is valid? [True, True] Translation: X:105.81, Y:-7.29, Z:-2.74 [[ 9.99773446e-01 1.93465029e-02 -8.87522572e-03 1.05814855e+02] [-1.93403988e-02 9.99812658e-01 7.73082991e-04 -7.28597134e+00] [ 8.88851947e-03 -6.01257440e-04 9.99960316e-01 -2.73602450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57241403699999 meters 0.08242776290321559 Centerline is valid? [True, True] Translation: X:105.84, Y:-7.29, Z:-2.74 [[ 9.99810212e-01 1.71938577e-02 -9.16026545e-03 1.05844621e+02] [-1.71872707e-02 9.99851970e-01 7.97326475e-04 -7.28839409e+00] [ 9.17261857e-03 -6.39735191e-04 9.99957726e-01 -2.73576029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60241403699999 meters 0.08242776290321559 Centerline is valid? [True, True] Translation: X:105.87, Y:-7.29, Z:-2.74 [[ 9.99811948e-01 1.70925216e-02 -9.16052755e-03 1.05872058e+02] [-1.70859578e-02 9.99853709e-01 7.94314767e-04 -7.29068015e+00] [ 9.17276429e-03 -6.37649007e-04 9.99957726e-01 -2.73644217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63241403699999 meters 0.0845405618727563 Centerline is valid? [True, True] Translation: X:105.90, Y:-7.30, Z:-2.74 [[ 9.99885477e-01 1.29756388e-02 -7.78878264e-03 1.05900765e+02] [-1.29707583e-02 9.99915647e-01 6.76795663e-04 -7.29632153e+00] [ 7.79690749e-03 -5.75691737e-04 9.99969438e-01 -2.73782663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66241403699999 meters 0.08536486554351465 Centerline is valid? [True, True] Translation: X:105.93, Y:-7.30, Z:-2.74 [[ 9.99914213e-01 1.08350016e-02 -7.36002301e-03 1.05929848e+02] [-1.08305940e-02 9.99941144e-01 6.38446102e-04 -7.29953446e+00] [ 7.36650739e-03 -5.58677911e-04 9.99972711e-01 -2.73828222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69241403699999 meters 0.08502318107656652 Centerline is valid? [True, True] Translation: X:105.96, Y:-7.30, Z:-2.74 [[ 9.99940540e-01 8.92277706e-03 -6.26894908e-03 1.05959058e+02] [-8.91954536e-03 9.99960072e-01 5.43279889e-04 -7.30056510e+00] [ 6.27354634e-03 -4.87331410e-04 9.99980202e-01 -2.73753169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.722414037 meters 0.08710973878168127 Centerline is valid? [True, True] Translation: X:105.99, Y:-7.31, Z:-2.74 [[ 9.99961815e-01 5.09699929e-03 -7.09860083e-03 1.05987866e+02] [-5.09275069e-03 9.99986842e-01 6.16460481e-04 -7.30695271e+00] [ 7.10164952e-03 -5.80285536e-04 9.99974615e-01 -2.73937603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.752414037 meters 0.08683532894258078 Centerline is valid? [True, True] Translation: X:106.02, Y:-7.31, Z:-2.74 [[ 9.99975099e-01 3.68370265e-03 -6.01927570e-03 1.06016441e+02] [-3.68063435e-03 9.99993091e-01 5.20744609e-04 -7.30771512e+00] [ 6.02115238e-03 -4.98576890e-04 9.99981748e-01 -2.73894234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.782414037 meters 0.0872783617116951 Centerline is valid? [True, True] Translation: X:106.05, Y:-7.31, Z:-2.74 [[ 9.99986555e-01 1.94737122e-03 -4.80597177e-03 1.06046224e+02] [-1.94539371e-03 9.99998021e-01 4.16107979e-04 -7.30721473e+00] [ 4.80677257e-03 -4.06752877e-04 9.99988365e-01 -2.73818534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.812414037 meters 0.08878133964324732 Centerline is valid? [True, True] Translation: X:106.07, Y:-7.31, Z:-2.74 [[ 9.99985384e-01 1.69694155e-03 -5.13351757e-03 1.06073990e+02] [-1.69469035e-03 9.99998466e-01 4.42846691e-04 -7.30957392e+00] [ 5.13426118e-03 -4.34140495e-04 9.99986725e-01 -2.73876814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84241403699998 meters 0.09053546580166795 Centerline is valid? [True, True] Translation: X:106.10, Y:-7.31, Z:-2.74 [[ 9.99984131e-01 2.41341428e-03 -5.09040395e-03 1.06101631e+02] [-2.41121200e-03 9.99996997e-01 4.38726192e-04 -7.31259963e+00] [ 5.09144749e-03 -4.26445187e-04 9.99986948e-01 -2.74049652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87241403699998 meters 0.09098059404394272 Centerline is valid? [True, True] Translation: X:106.13, Y:-7.31, Z:-2.74 [[ 9.99977430e-01 4.08533768e-03 -5.33378609e-03 1.06130974e+02] [-4.08293713e-03 9.99991559e-01 4.60875896e-04 -7.31010950e+00] [ 5.33562390e-03 -4.39087980e-04 9.99985669e-01 -2.74192796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90241403699999 meters 0.08613310192995448 Centerline is valid? [True, True] Translation: X:106.16, Y:-7.30, Z:-2.74 [[ 9.99971609e-01 4.77234526e-03 -5.83144761e-03 1.06160908e+02] [-4.76949447e-03 9.99988500e-01 5.02673611e-04 -7.30019224e+00] [ 5.83377948e-03 -4.74846283e-04 9.99982871e-01 -2.73975849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93241403699999 meters 0.08598781998966638 Centerline is valid? [True, True] Translation: X:106.19, Y:-7.30, Z:-2.74 [[ 9.99966263e-01 4.66597951e-03 -6.76028126e-03 1.06189971e+02] [-4.66214719e-03 9.99988962e-01 5.82536436e-04 -7.29902303e+00] [ 6.76292474e-03 -5.50999357e-04 9.99976979e-01 -2.74249099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96241403699999 meters 0.08706246591862898 Centerline is valid? [True, True] Translation: X:106.22, Y:-7.30, Z:-2.74 [[ 9.99964285e-01 3.58458602e-03 -7.65367987e-03 1.06218202e+02] [-3.57964034e-03 9.99993375e-01 6.59784776e-04 -7.30215334e+00] [ 7.65599422e-03 -6.32363791e-04 9.99970492e-01 -2.74443346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99241403699999 meters 0.08650519937630216 Centerline is valid? [True, True] Translation: X:106.25, Y:-7.30, Z:-2.74 [[ 9.99971656e-01 2.61265077e-03 -7.06121767e-03 1.06247031e+02] [-2.60842425e-03 9.99996413e-01 6.07697996e-04 -7.30089956e+00] [ 7.06278005e-03 -5.89262120e-04 9.99974885e-01 -2.74449002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02241403699999 meters 0.0877968605216901 Centerline is valid? [True, True] Translation: X:106.27, Y:-7.30, Z:-2.74 [[ 9.99979716e-01 1.39980545e-03 -6.21355596e-03 1.06274465e+02] [-1.39651986e-03 9.99998883e-01 5.33084933e-04 -7.29915205e+00] [ 6.21429523e-03 -5.24396766e-04 9.99980554e-01 -2.74497557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05241403699999 meters 0.08688559850384404 Centerline is valid? [True, True] Translation: X:106.30, Y:-7.29, Z:-2.74 [[ 9.99992386e-01 1.24914472e-04 -3.90025721e-03 1.06304195e+02] [-1.23611773e-04 9.99999937e-01 3.34242525e-04 -7.29392851e+00] [ 3.90029871e-03 -3.33757863e-04 9.99992338e-01 -2.74269199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08241403699999 meters 0.0930710302994062 Centerline is valid? [True, True] Translation: X:106.33, Y:-7.31, Z:-2.75 [[ 9.99998419e-01 -5.89291987e-04 -1.67765163e-03 1.06331359e+02] [ 5.89532973e-04 9.99999816e-01 1.43154161e-04 -7.30606230e+00] [ 1.67756696e-03 -1.44142965e-04 9.99998582e-01 -2.74624596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.112414037 meters 0.08945092553729013 Centerline is valid? [True, True] Translation: X:106.36, Y:-7.30, Z:-2.74 [[ 9.99999045e-01 -1.32180171e-03 -4.02955268e-04 1.06362749e+02] [ 1.32181579e-03 9.99999126e-01 3.46860083e-05 -7.29951287e+00] [ 4.02909068e-04 -3.52186078e-05 9.99999918e-01 -2.74386981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.142414037 meters 0.08947559946376468 Centerline is valid? [True, True] Translation: X:106.39, Y:-7.30, Z:-2.74 [[ 9.99996458e-01 -2.57533638e-03 6.71985235e-04 1.06393568e+02] [ 2.57537583e-03 9.99996682e-01 -5.78438533e-05 -7.29736922e+00] [-6.71834038e-04 5.95742630e-05 9.99999773e-01 -2.74397343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.172414037 meters 0.09019627810224407 Centerline is valid? [True, True] Translation: X:106.43, Y:-7.30, Z:-2.75 [[ 9.99992577e-01 -3.39128476e-03 1.82884644e-03 1.06425188e+02] [ 3.39157617e-03 9.99994236e-01 -1.56264677e-04 -7.29933992e+00] [-1.82830596e-03 1.62466189e-04 9.99998315e-01 -2.74559773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.202414037 meters 0.09248631822851908 Centerline is valid? [True, True] Translation: X:106.45, Y:-7.30, Z:-2.75 [[ 9.99986202e-01 -5.25152496e-03 1.32674991e-04 1.06454694e+02] [ 5.25152652e-03 9.99986211e-01 -1.14354749e-05 -7.30014650e+00] [-1.32613108e-04 1.21320633e-05 9.99999991e-01 -2.74891178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23241403699998 meters 0.09430709894637977 Centerline is valid? [True, True] Translation: X:106.49, Y:-7.30, Z:-2.75 [[ 9.99984423e-01 -5.39549721e-03 -1.42928950e-03 1.06486031e+02] [ 5.39568051e-03 9.99985435e-01 1.24417504e-04 -7.30272257e+00] [ 1.42859739e-03 -1.32127556e-04 9.99998971e-01 -2.75147914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26241403699999 meters 0.09358591914431792 Centerline is valid? [True, True] Translation: X:106.52, Y:-7.30, Z:-2.75 [[ 9.99977963e-01 -5.92579932e-03 -2.99307816e-03 1.06517247e+02] [ 5.92659909e-03 9.99982404e-01 2.58408643e-04 -7.29961597e+00] [ 2.99149421e-03 -2.76141723e-04 9.99995487e-01 -2.75376610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29241403699999 meters 0.09207407001140794 Centerline is valid? [True, True] Translation: X:106.55, Y:-7.29, Z:-2.76 [[ 9.99983176e-01 -5.19756334e-03 -2.57542711e-03 1.06549116e+02] [ 5.19815458e-03 9.99986465e-01 2.22930870e-04 -7.29470360e+00] [ 2.57423355e-03 -2.36314587e-04 9.99996659e-01 -2.75528262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32241403699999 meters 0.09569447925175442 Centerline is valid? [True, True] Translation: X:106.58, Y:-7.30, Z:-2.76 [[ 9.99987963e-01 -4.90503442e-03 1.23349682e-04 1.06579351e+02] [ 4.90503567e-03 9.99987970e-01 -9.79447415e-06 -7.30041214e+00] [-1.23300156e-04 1.03993908e-05 9.99999992e-01 -2.75688196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35241403699999 meters 0.08921052690623278 Centerline is valid? [True, True] Translation: X:106.61, Y:-7.29, Z:-2.75 [[ 9.99992191e-01 -3.58670701e-03 1.65908046e-03 1.06612108e+02] [ 3.58694800e-03 9.99993557e-01 -1.42306549e-04 -7.28819232e+00] [-1.65855936e-03 1.48256473e-04 9.99998614e-01 -2.75326998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38241403699999 meters 0.08933786943610807 Centerline is valid? [True, True] Translation: X:106.64, Y:-7.29, Z:-2.75 [[ 9.99993246e-01 -2.86648856e-03 2.30014419e-03 1.06642611e+02] [ 2.86695178e-03 9.99995871e-01 -1.98112568e-04 -7.28806165e+00] [-2.29956680e-03 2.04705633e-04 9.99997335e-01 -2.75257173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41241403699999 meters 0.09088891492768816 Centerline is valid? [True, True] Translation: X:106.67, Y:-7.29, Z:-2.76 [[ 9.99995674e-01 -2.21569869e-03 1.93434311e-03 1.06673401e+02] [ 2.21602350e-03 9.99997531e-01 -1.65787808e-04 -7.29144580e+00] [-1.93397100e-03 1.70073641e-04 9.99998115e-01 -2.75502029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44241403699999 meters 0.09035138242892217 Centerline is valid? [True, True] Translation: X:106.70, Y:-7.29, Z:-2.76 [[ 9.99999032e-01 -1.37242783e-03 2.30846004e-04 1.06704731e+02] [ 1.37243218e-03 9.99999058e-01 -1.86802068e-05 -7.28895747e+00] [-2.30820150e-04 1.89970092e-05 9.99999973e-01 -2.75919716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.472414037 meters 0.09226817569205668 Centerline is valid? [True, True] Translation: X:106.74, Y:-7.29, Z:-2.76 [[ 9.99998522e-01 -1.60349318e-03 -6.19587158e-04 1.06735064e+02] [ 1.60352693e-03 9.99998713e-01 5.39803142e-05 -7.29401458e+00] [ 6.19499803e-04 -5.49737591e-05 9.99999807e-01 -2.76142518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.502414037 meters 0.09309243500510278 Centerline is valid? [True, True] Translation: X:106.77, Y:-7.30, Z:-2.76 [[ 9.99997361e-01 -1.83699719e-03 1.37969338e-03 1.06765839e+02] [ 1.83716292e-03 9.99998305e-01 -1.18865067e-04 -7.29538937e+00] [-1.37947269e-03 1.21399474e-04 9.99999041e-01 -2.76131027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.532414037 meters 0.09431136333389589 Centerline is valid? [True, True] Translation: X:106.80, Y:-7.30, Z:-2.76 [[ 9.99995529e-01 -1.94606350e-03 2.27030736e-03 1.06797171e+02] [ 1.94651154e-03 9.99998087e-01 -1.95157727e-04 -7.29854350e+00] [-2.26992323e-03 1.99576034e-04 9.99997404e-01 -2.76080349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.562414037 meters 0.0930567938849202 Centerline is valid? [True, True] Translation: X:106.83, Y:-7.30, Z:-2.76 [[ 9.99992922e-01 -1.86445695e-03 3.26790026e-03 1.06829820e+02] [ 1.86538591e-03 9.99998221e-01 -2.81243575e-04 -7.29697152e+00] [-3.26737008e-03 2.87337480e-04 9.99994621e-01 -2.75953388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59241403699998 meters 0.09679900370899072 Centerline is valid? [True, True] Translation: X:106.86, Y:-7.30, Z:-2.76 [[ 9.99990373e-01 -2.21578740e-03 3.78728849e-03 1.06860925e+02] [ 2.21704096e-03 9.99997489e-01 -3.26825658e-04 -7.30338341e+00] [-3.78655481e-03 3.35219086e-04 9.99992775e-01 -2.76190229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62241403699998 meters 0.09484638192657231 Centerline is valid? [True, True] Translation: X:106.89, Y:-7.30, Z:-2.76 [[ 9.99994349e-01 -2.25608713e-03 2.49220146e-03 1.06893683e+02] [ 2.25662843e-03 9.99997431e-01 -2.14404018e-04 -7.30011213e+00] [-2.49171134e-03 2.20026779e-04 9.99996871e-01 -2.76349380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65241403699999 meters 0.09562419098525253 Centerline is valid? [True, True] Translation: X:106.93, Y:-7.30, Z:-2.77 [[ 9.99998220e-01 -1.42885922e-03 1.23251126e-03 1.06925007e+02] [ 1.42898852e-03 9.99998974e-01 -1.04033076e-04 -7.30217926e+00] [-1.23236135e-03 1.05794135e-04 9.99999235e-01 -2.76707939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68241403699999 meters 0.09133114302073299 Centerline is valid? [True, True] Translation: X:106.96, Y:-7.29, Z:-2.77 [[ 9.99999252e-01 -6.20134110e-04 1.05417863e-03 1.06957479e+02] [ 6.20230057e-04 9.99999804e-01 -9.06912393e-05 -7.29489759e+00] [-1.05412219e-03 9.13450047e-05 9.99999440e-01 -2.76647642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71241403699999 meters 0.09333116567538824 Centerline is valid? [True, True] Translation: X:106.99, Y:-7.30, Z:-2.77 [[ 9.99999016e-01 -7.99795373e-05 1.40034080e-03 1.06987375e+02] [ 8.01476941e-05 9.99999990e-01 -1.20027074e-04 -7.30008923e+00] [-1.40033119e-03 1.20139190e-04 9.99999012e-01 -2.76970889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74241403699999 meters 0.08938723749710789 Centerline is valid? [True, True] Translation: X:107.02, Y:-7.29, Z:-2.77 [[ 9.99991749e-01 1.18543624e-03 3.88556278e-03 1.07019408e+02] [-1.18413433e-03 9.99999242e-01 -3.37344930e-04 -7.29248678e+00] [-3.88595974e-03 3.32741118e-04 9.99992394e-01 -2.76741920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77241403699999 meters 0.09239448326058003 Centerline is valid? [True, True] Translation: X:107.05, Y:-7.30, Z:-2.77 [[ 9.99978984e-01 2.11863826e-03 6.12731021e-03 1.07049376e+02] [-2.11541589e-03 9.99997621e-01 -5.32335488e-04 -7.29920915e+00] [-6.12842346e-03 5.19362490e-04 9.99981086e-01 -2.76715788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80241403699999 meters 0.08959333976936473 Centerline is valid? [True, True] Translation: X:107.08, Y:-7.29, Z:-2.76 [[ 9.99960189e-01 3.63311916e-03 8.14992453e-03 1.07081001e+02] [-3.62746571e-03 9.99993170e-01 -7.08356492e-04 -7.29420382e+00] [-8.15244241e-03 6.78764720e-04 9.99966538e-01 -2.76401917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83241403699999 meters 0.08900412279746965 Centerline is valid? [True, True] Translation: X:107.11, Y:-7.29, Z:-2.76 [[ 9.99948412e-01 6.48632569e-03 7.81664769e-03 1.07111727e+02] [-6.48120851e-03 9.99978766e-01 -6.79805697e-04 -7.29133339e+00] [-7.82089115e-03 6.29109304e-04 9.99969218e-01 -2.76392782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.862414037 meters 0.08854711119257011 Centerline is valid? [True, True] Translation: X:107.14, Y:-7.29, Z:-2.77 [[ 9.99939809e-01 7.47513634e-03 8.03128469e-03 1.07142688e+02] [-7.46976834e-03 9.99971857e-01 -6.98175728e-04 -7.29116299e+00] [-8.03627762e-03 6.38141868e-04 9.99967505e-01 -2.76512707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.892414037 meters 0.09148727051345372 Centerline is valid? [True, True] Translation: X:107.17, Y:-7.30, Z:-2.77 [[ 9.99948508e-01 8.41926719e-03 5.66536482e-03 1.07172124e+02] [-8.41660946e-03 9.99964458e-01 -4.92798118e-04 -7.29702513e+00] [-5.66931246e-03 4.45089580e-04 9.99983830e-01 -2.77079737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.922414037 meters 0.08986977096347597 Centerline is valid? [True, True] Translation: X:107.20, Y:-7.30, Z:-2.77 [[ 9.99954322e-01 8.67549120e-03 4.01108283e-03 1.07202204e+02] [-8.67415822e-03 9.99962318e-01 -3.49602320e-04 -7.29577680e+00] [-4.01396465e-03 3.14793584e-04 9.99991894e-01 -2.77385417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.952414037 meters 0.08983681597360675 Centerline is valid? [True, True] Translation: X:107.23, Y:-7.30, Z:-2.78 [[ 9.99958545e-01 8.61535603e-03 2.94689076e-03 1.07230804e+02] [-8.61463370e-03 9.99962860e-01 -2.57719546e-04 -7.29725115e+00] [-2.94900166e-03 2.32322477e-04 9.99995625e-01 -2.77750288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98241403699998 meters 0.09008598691211492 Centerline is valid? [True, True] Translation: X:107.26, Y:-7.30, Z:-2.78 [[ 9.99956767e-01 8.29875971e-03 4.19461466e-03 1.07259291e+02] [-8.29729765e-03 9.99965510e-01 -3.65838208e-04 -7.29894442e+00] [-4.19750599e-03 3.31018425e-04 9.99991136e-01 -2.77601202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01241403699999 meters 0.09081835209091606 Centerline is valid? [True, True] Translation: X:107.29, Y:-7.30, Z:-2.77 [[ 9.99931175e-01 9.03038364e-03 7.48987862e-03 1.07287803e+02] [-9.02575846e-03 9.99959055e-01 -6.51096392e-04 -7.30194222e+00] [-7.49545159e-03 5.83449745e-04 9.99971738e-01 -2.77336134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04241403699999 meters 0.08457194466348647 Centerline is valid? [True, True] Translation: X:107.32, Y:-7.29, Z:-2.77 [[ 9.99911348e-01 1.02002171e-02 8.55867324e-03 1.07318654e+02] [-1.01942275e-02 9.99947761e-01 -7.43152582e-04 -7.29112051e+00] [-8.56580646e-03 6.55837638e-04 9.99963098e-01 -2.76828637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07241403699999 meters 0.08593098911555709 Centerline is valid? [True, True] Translation: X:107.35, Y:-7.30, Z:-2.77 [[ 9.99904797e-01 1.14124726e-02 7.75573700e-03 1.07347327e+02] [-1.14075920e-02 9.99934705e-01 -6.73229291e-04 -7.29667820e+00] [-7.76291379e-03 5.84690914e-04 9.99969697e-01 -2.77066273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10241403699999 meters 0.08584126725319505 Centerline is valid? [True, True] Translation: X:107.38, Y:-7.30, Z:-2.77 [[ 9.99895599e-01 1.28806425e-02 6.54826489e-03 1.07376062e+02] [-1.28771934e-02 9.99916924e-01 -5.68618061e-04 -7.29890638e+00] [-6.55504506e-03 4.84235424e-04 9.99978398e-01 -2.77293636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13241403699999 meters 0.08467660326784586 Centerline is valid? [True, True] Translation: X:107.41, Y:-7.30, Z:-2.78 [[ 9.99892124e-01 1.40796075e-02 4.18384013e-03 1.07405170e+02] [-1.40782074e-02 9.99900831e-01 -3.63911791e-04 -7.29769984e+00] [-4.18854896e-03 3.04971565e-04 9.99991181e-01 -2.77548867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16241403699999 meters 0.08469168591557175 Centerline is valid? [True, True] Translation: X:107.43, Y:-7.30, Z:-2.78 [[ 9.99878973e-01 1.52507107e-02 3.07494893e-03 1.07434242e+02] [-1.52499603e-02 9.99883677e-01 -2.67320302e-04 -7.29987442e+00] [-3.07866807e-03 2.20395099e-04 9.99995237e-01 -2.77761056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19241403699999 meters 0.08633097812376352 Centerline is valid? [True, True] Translation: X:107.46, Y:-7.30, Z:-2.78 [[ 9.99862474e-01 1.64934240e-02 1.73193222e-03 1.07461610e+02] [-1.64931854e-02 9.99863967e-01 -1.51962533e-04 -7.30483002e+00] [-1.73420300e-03 1.23376555e-04 9.99998489e-01 -2.78056037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.222414037 meters 0.08482164341854843 Centerline is valid? [True, True] Translation: X:107.49, Y:-7.30, Z:-2.78 [[ 9.99856139e-01 1.68849372e-02 1.61236534e-03 1.07490185e+02] [-1.68847318e-02 9.99857433e-01 -1.40924014e-04 -7.30420889e+00] [-1.61451496e-03 1.13679384e-04 9.99998690e-01 -2.78031549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.252414037 meters 0.08524166336020267 Centerline is valid? [True, True] Translation: X:107.52, Y:-7.31, Z:-2.78 [[ 9.99853117e-01 1.68699829e-02 3.02469000e-03 1.07517917e+02] [-1.68692640e-02 9.99857669e-01 -2.63029171e-04 -7.30748545e+00] [-3.02869679e-03 2.11966242e-04 9.99995391e-01 -2.78095955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.282414037 meters 0.08405270945573802 Centerline is valid? [True, True] Translation: X:107.55, Y:-7.31, Z:-2.78 [[ 9.99838016e-01 1.77385073e-02 3.04743626e-03 1.07547291e+02] [-1.77377846e-02 9.99842638e-01 -2.64018070e-04 -7.30766524e+00] [-3.05164000e-03 2.09920536e-04 9.99995322e-01 -2.78143872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.312414037 meters 0.08174298986740984 Centerline is valid? [True, True] Translation: X:107.58, Y:-7.30, Z:-2.78 [[ 9.99793329e-01 1.99886741e-02 3.70840703e-03 1.07577625e+02] [-1.99876236e-02 9.99800176e-01 -3.20106334e-04 -7.30490025e+00] [-3.71406450e-03 2.45917933e-04 9.99993073e-01 -2.78122788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34241403699998 meters 0.0822890852887809 Centerline is valid? [True, True] Translation: X:107.61, Y:-7.31, Z:-2.78 [[ 9.99770138e-01 2.09296774e-02 4.64964643e-03 1.07605457e+02] [-2.09280306e-02 9.99780904e-01 -4.02545537e-04 -7.30771525e+00] [-4.65705286e-03 3.05145064e-04 9.99989109e-01 -2.78252693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37241403699998 meters 0.08171693175329489 Centerline is valid? [True, True] Translation: X:107.64, Y:-7.31, Z:-2.78 [[ 9.99732273e-01 2.19512934e-02 7.31588471e-03 1.07635609e+02] [-2.19472622e-02 9.99758931e-01 -6.30853409e-04 -7.30781421e+00] [-7.32796913e-03 4.70120873e-04 9.99973040e-01 -2.78036907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40241403699999 meters 0.08261041360815505 Centerline is valid? [True, True] Translation: X:107.66, Y:-7.31, Z:-2.78 [[ 9.99730733e-01 2.18347024e-02 7.85539846e-03 1.07663043e+02] [-2.18300501e-02 9.99761466e-01 -6.77516767e-04 -7.31295905e+00] [-7.86831806e-03 5.05850593e-04 9.99968916e-01 -2.78112090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43241403699999 meters 0.08298180254542069 Centerline is valid? [True, True] Translation: X:107.69, Y:-7.32, Z:-2.78 [[ 9.99733667e-01 2.16137688e-02 8.08950332e-03 1.07691491e+02] [-2.16088363e-02 9.99766259e-01 -6.96659698e-04 -7.31700905e+00] [-8.10266991e-03 5.21669402e-04 9.99967037e-01 -2.78288315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46241403699999 meters 0.08418689062795749 Centerline is valid? [True, True] Translation: X:107.72, Y:-7.32, Z:-2.78 [[ 9.99778810e-01 1.98816999e-02 6.85920362e-03 1.07719973e+02] [-1.98781166e-02 9.99802237e-01 -5.90200078e-04 -7.32325678e+00] [-6.86958130e-03 4.53721483e-04 9.99976301e-01 -2.78468963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49241403699999 meters 0.08324617963796056 Centerline is valid? [True, True] Translation: X:107.75, Y:-7.32, Z:-2.78 [[ 9.99812189e-01 1.83202851e-02 6.32083821e-03 1.07749969e+02] [-1.83172143e-02 9.99832078e-01 -5.43367180e-04 -7.32428140e+00] [-6.32973144e-03 4.27484982e-04 9.99979876e-01 -2.78470939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52241403699999 meters 0.08324617963796056 Centerline is valid? [True, True] Translation: X:107.78, Y:-7.33, Z:-2.79 [[ 9.99813437e-01 1.82520678e-02 6.32080326e-03 1.07778228e+02] [-1.82489931e-02 9.99833325e-01 -5.43774837e-04 -7.32662950e+00] [-6.32967476e-03 4.28325094e-04 9.99979876e-01 -2.78541194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55241403699999 meters 0.08618049241432899 Centerline is valid? [True, True] Translation: X:107.81, Y:-7.34, Z:-2.79 [[ 9.99823758e-01 1.79557462e-02 5.48122986e-03 1.07805302e+02] [-1.79534288e-02 9.99838713e-01 -4.71712759e-04 -7.33524053e+00] [-5.48881576e-03 3.73222754e-04 9.99984867e-01 -2.78861781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58241403699999 meters 0.08520190201516492 Centerline is valid? [True, True] Translation: X:107.83, Y:-7.33, Z:-2.79 [[ 9.99843900e-01 1.71849595e-02 4.10518425e-03 1.07834231e+02] [-1.71836482e-02 9.99852287e-01 -3.54492327e-04 -7.33457278e+00] [-4.11066980e-03 2.83894949e-04 9.99991511e-01 -2.78980374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.612414037 meters 0.08465012899526787 Centerline is valid? [True, True] Translation: X:107.86, Y:-7.34, Z:-2.79 [[ 9.99843622e-01 1.70996701e-02 4.50921137e-03 1.07862725e+02] [-1.70980974e-02 9.99853742e-01 -3.87095628e-04 -7.33635827e+00] [-4.51517107e-03 3.09936160e-04 9.99989759e-01 -2.79076618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.642414037 meters 0.08514532069350625 Centerline is valid? [True, True] Translation: X:107.89, Y:-7.34, Z:-2.79 [[ 9.99840610e-01 1.73002231e-02 4.41105698e-03 1.07890016e+02] [-1.72987199e-02 9.99850294e-01 -3.78720595e-04 -7.34008694e+00] [-4.41694857e-03 3.02354592e-04 9.99990200e-01 -2.79178858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.672414037 meters 0.08605088891652016 Centerline is valid? [True, True] Translation: X:107.92, Y:-7.34, Z:-2.79 [[ 9.99827813e-01 1.78149531e-02 5.19340459e-03 1.07917309e+02] [-1.78128812e-02 9.99841239e-01 -4.44932051e-04 -7.34411645e+00] [-5.20050652e-03 3.52345941e-04 9.99986415e-01 -2.79278505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.702414037 meters 0.08632458901723418 Centerline is valid? [True, True] Translation: X:107.95, Y:-7.35, Z:-2.79 [[ 9.99833288e-01 1.75296869e-02 5.10938364e-03 1.07945817e+02] [-1.75276806e-02 9.99846283e-01 -4.37186100e-04 -7.34723758e+00] [-5.11626197e-03 3.47557571e-04 9.99986851e-01 -2.79350756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73241403699998 meters 0.08661582913965807 Centerline is valid? [True, True] Translation: X:107.97, Y:-7.35, Z:-2.79 [[ 9.99851917e-01 1.62474593e-02 5.67139868e-03 1.07974322e+02] [-1.62449700e-02 9.99867924e-01 -4.84724363e-04 -7.35059097e+00] [-5.67852516e-03 3.92520882e-04 9.99983800e-01 -2.79412948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76241403699999 meters 0.08724844480351514 Centerline is valid? [True, True] Translation: X:108.00, Y:-7.36, Z:-2.80 [[ 9.99889860e-01 1.39776174e-02 4.98931566e-03 1.08003718e+02] [-1.39756682e-02 9.99902245e-01 -4.25322427e-04 -7.35570869e+00] [-4.99477293e-03 3.55546562e-04 9.99987463e-01 -2.79546072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79241403699999 meters 0.08610817072151712 Centerline is valid? [True, True] Translation: X:108.03, Y:-7.36, Z:-2.80 [[ 9.99919146e-01 1.21914508e-02 3.61515304e-03 1.08034487e+02] [-1.21904170e-02 9.99925647e-01 -3.07882413e-04 -7.35668989e+00] [-3.61863777e-03 2.63787297e-04 9.99993418e-01 -2.79597998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82241403699999 meters 0.08688867468533552 Centerline is valid? [True, True] Translation: X:108.06, Y:-7.36, Z:-2.80 [[ 9.99939399e-01 1.05671263e-02 3.08758547e-03 1.08063231e+02] [-1.05663604e-02 9.99944140e-01 -2.64281026e-04 -7.36153190e+00] [-3.09020569e-03 2.31640470e-04 9.99995198e-01 -2.79790756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85241403699999 meters 0.08898423345619041 Centerline is valid? [True, True] Translation: X:108.09, Y:-7.37, Z:-2.80 [[ 9.99965756e-01 7.61090789e-03 3.24984470e-03 1.08091372e+02] [-7.61004661e-03 9.99971005e-01 -2.77304227e-04 -7.36868387e+00] [-3.25186100e-03 2.52563261e-04 9.99994681e-01 -2.80011305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88241403699999 meters 0.09006787188027135 Centerline is valid? [True, True] Translation: X:108.12, Y:-7.37, Z:-2.80 [[ 9.99975940e-01 6.12895395e-03 3.24893544e-03 1.08119129e+02] [-6.12808340e-03 9.99981185e-01 -2.77833857e-04 -7.37379581e+00] [-3.25057714e-03 2.57917424e-04 9.99994684e-01 -2.80099549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91241403699999 meters 0.08850901076632396 Centerline is valid? [True, True] Translation: X:108.15, Y:-7.37, Z:-2.80 [[ 9.99975760e-01 4.46234226e-03 5.34475286e-03 1.08148482e+02] [-4.45997197e-03 9.99989951e-01 -4.55316686e-04 -7.37404173e+00] [-5.34673093e-03 4.31468201e-04 9.99985613e-01 -2.79920923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94241403699999 meters 0.09130030143481313 Centerline is valid? [True, True] Translation: X:108.18, Y:-7.38, Z:-2.80 [[ 9.99974108e-01 3.70653340e-03 6.16802142e-03 1.08177720e+02] [-3.70337154e-03 9.99993005e-01 -5.23964587e-04 -7.38254140e+00] [-6.16992037e-03 5.01108546e-04 9.99980840e-01 -2.79988637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.972414037 meters 0.08958632268208741 Centerline is valid? [True, True] Translation: X:108.21, Y:-7.38, Z:-2.80 [[ 9.99967496e-01 3.74732389e-03 7.13893426e-03 1.08209013e+02] [-3.74309356e-03 9.99992811e-01 -6.05840518e-04 -7.38243277e+00] [-7.14115321e-03 5.79099127e-04 9.99974334e-01 -2.79903656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.002414037 meters 0.09239071620042545 Centerline is valid? [True, True] Translation: X:108.24, Y:-7.39, Z:-2.80 [[ 9.99960302e-01 3.71255167e-03 8.10014126e-03 1.08239307e+02] [-3.70712623e-03 9.99992894e-01 -6.84707840e-04 -7.39105331e+00] [-8.10262571e-03 6.54652412e-04 9.99966959e-01 -2.80005923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.032414037 meters 0.09124234849785362 Centerline is valid? [True, True] Translation: X:108.27, Y:-7.39, Z:-2.80 [[ 9.99974766e-01 3.54774765e-03 6.15470405e-03 1.08271703e+02] [-3.54461384e-03 9.99993583e-01 -5.20007353e-04 -7.39186904e+00] [-6.15650941e-03 4.98178182e-04 9.99980924e-01 -2.80229284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.062414037 meters 0.09106906986199748 Centerline is valid? [True, True] Translation: X:108.30, Y:-7.39, Z:-2.80 [[ 9.99982326e-01 3.57251132e-03 4.75238061e-03 1.08302655e+02] [-3.57062487e-03 9.99993543e-01 -4.05373333e-04 -7.39402158e+00] [-4.75379812e-03 3.88397200e-04 9.99988625e-01 -2.80426442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09241403699998 meters 0.0912909394640237 Centerline is valid? [True, True] Translation: X:108.33, Y:-7.40, Z:-2.81 [[ 9.99984747e-01 4.21055821e-03 3.57435333e-03 1.08334017e+02] [-4.20949544e-03 9.99991094e-01 -3.04802863e-04 -7.39662048e+00] [-3.57560488e-03 2.89751990e-04 9.99993566e-01 -2.80615174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12241403699998 meters 0.0893290325444859 Centerline is valid? [True, True] Translation: X:108.36, Y:-7.39, Z:-2.81 [[ 9.99974944e-01 5.85782911e-03 3.97453653e-03 1.08364700e+02] [-5.85652425e-03 9.99982793e-01 -3.39863593e-04 -7.39493040e+00] [-3.97645900e-03 3.16578108e-04 9.99992044e-01 -2.80658427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15241403699999 meters 0.08917095180683829 Centerline is valid? [True, True] Translation: X:108.39, Y:-7.40, Z:-2.81 [[ 9.99932739e-01 1.07021596e-02 4.47008783e-03 1.08394121e+02] [-1.07005554e-02 9.99942674e-01 -3.82639794e-04 -7.39630244e+00] [-4.47392665e-03 3.34781635e-04 9.99989936e-01 -2.80713615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18241403699999 meters 0.08403997225093239 Centerline is valid? [True, True] Translation: X:108.43, Y:-7.39, Z:-2.81 [[ 9.99891449e-01 1.39220291e-02 4.82360079e-03 1.08425751e+02] [-1.39202005e-02 9.99903024e-01 -4.12457307e-04 -7.38750150e+00] [-4.82887527e-03 3.45267044e-04 9.99988281e-01 -2.80503857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21241403699999 meters 0.08360240317812553 Centerline is valid? [True, True] Translation: X:108.45, Y:-7.39, Z:-2.81 [[ 9.99792531e-01 1.95384184e-02 5.75711179e-03 1.08454625e+02] [-1.95359018e-02 9.99809034e-01 -4.93047379e-04 -7.38843946e+00] [-5.76564575e-03 3.80474716e-04 9.99983306e-01 -2.80531340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24241403699999 meters 0.08156680022290107 Centerline is valid? [True, True] Translation: X:108.48, Y:-7.39, Z:-2.80 [[ 9.99745023e-01 2.18274968e-02 5.78360974e-03 1.08484997e+02] [-2.18249971e-02 9.99761684e-01 -4.94972090e-04 -7.38542666e+00] [-5.79303541e-03 3.68618617e-04 9.99983152e-01 -2.80462094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27241403699999 meters 0.0821432593134214 Centerline is valid? [True, True] Translation: X:108.51, Y:-7.39, Z:-2.81 [[ 9.99690428e-01 2.43885344e-02 4.92420323e-03 1.08513242e+02] [-2.43867529e-02 9.99702510e-01 -4.21514143e-04 -7.38943428e+00] [-4.93301844e-03 3.01298327e-04 9.99987787e-01 -2.80674648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30241403699999 meters 0.07957005246550852 Centerline is valid? [True, True] Translation: X:108.54, Y:-7.38, Z:-2.81 [[ 9.99581622e-01 2.88041415e-02 2.62712390e-03 1.08543272e+02] [-2.88036494e-02 9.99585064e-01 -2.24955543e-04 -7.38499545e+00] [-2.63251346e-03 1.49190671e-04 9.99996524e-01 -2.80866845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33241403699999 meters 0.08050196229832368 Centerline is valid? [True, True] Translation: X:108.57, Y:-7.39, Z:-2.81 [[ 9.99486609e-01 3.20382804e-02 2.59403641e-04 1.08571786e+02] [-3.20382755e-02 9.99486642e-01 -2.29538132e-05 -7.38968306e+00] [-2.60005875e-04 1.46311836e-05 9.99999966e-01 -2.81373759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.362414037 meters 0.0780527563132622 Centerline is valid? [True, True] Translation: X:108.60, Y:-7.39, Z:-2.81 [[ 9.99440676e-01 3.34413120e-02 1.16929479e-04 1.08601066e+02] [-3.34413109e-02 9.99440683e-01 -1.16580847e-05 -7.38544527e+00] [-1.17253940e-04 7.74128904e-06 9.99999993e-01 -2.81183054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.392414037 meters 0.07810349253279274 Centerline is valid? [True, True] Translation: X:108.63, Y:-7.39, Z:-2.81 [[ 9.99398286e-01 3.46841650e-02 2.73718397e-04 1.08628674e+02] [-3.46841593e-02 9.99398323e-01 -2.54027250e-05 -7.38847620e+00] [-2.74434779e-04 1.58937474e-05 9.99999962e-01 -2.81225097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.422414037 meters 0.07721879136326432 Centerline is valid? [True, True] Translation: X:108.66, Y:-7.39, Z:-2.81 [[ 9.99367089e-01 3.55652618e-02 7.30916865e-04 1.08657461e+02] [-3.55652246e-02 9.99367355e-01 -6.38773624e-05 -7.38900437e+00] [-7.32726270e-04 3.78417112e-05 9.99999731e-01 -2.81187376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.452414037 meters 0.07697977675738389 Centerline is valid? [True, True] Translation: X:108.69, Y:-7.39, Z:-2.81 [[ 9.99313167e-01 3.69003752e-02 3.39942845e-03 1.08686129e+02] [-3.68996022e-02 9.99318936e-01 -2.89857212e-04 -7.39274876e+00] [-3.40780906e-03 1.64220571e-04 9.99994180e-01 -2.81179627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48241403699998 meters 0.07774427522086653 Centerline is valid? [True, True] Translation: X:108.71, Y:-7.40, Z:-2.81 [[ 9.99290703e-01 3.73267145e-02 4.98066903e-03 1.08713531e+02] [-3.73250582e-02 9.99303087e-01 -4.25112642e-04 -7.39873982e+00] [-4.99306599e-03 2.38907350e-04 9.99987506e-01 -2.81091836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51241403699999 meters 0.07680542024873156 Centerline is valid? [True, True] Translation: X:108.74, Y:-7.40, Z:-2.81 [[ 9.99282978e-01 3.69140402e-02 8.41928465e-03 1.08742691e+02] [-3.69092925e-02 9.99318362e-01 -7.18643890e-04 -7.40094469e+00] [-8.44007379e-03 4.07378766e-04 9.99964299e-01 -2.80634975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54241403699999 meters 0.07679896197702123 Centerline is valid? [True, True] Translation: X:108.77, Y:-7.40, Z:-2.81 [[ 9.99311644e-01 3.63195557e-02 7.55832915e-03 1.08771194e+02] [-3.63157405e-02 9.99340160e-01 -6.41443418e-04 -7.40462426e+00] [-7.57663881e-03 3.66515557e-04 9.99971230e-01 -2.80684285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57241403699999 meters 0.07829221282478382 Centerline is valid? [True, True] Translation: X:108.80, Y:-7.41, Z:-2.81 [[ 9.99402093e-01 3.44209430e-02 3.26438163e-03 1.08799738e+02] [-3.44202213e-02 9.99407410e-01 -2.77028665e-04 -7.41286594e+00] [-3.27198278e-03 1.64502289e-04 9.99994634e-01 -2.81122977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60241403699999 meters 0.07770083089831807 Centerline is valid? [True, True] Translation: X:108.83, Y:-7.42, Z:-2.81 [[ 9.99444158e-01 3.32559986e-02 2.32659347e-03 1.08828440e+02] [-3.32556268e-02 9.99446859e-01 -1.98354141e-04 -7.41535484e+00] [-2.33190300e-03 1.20871563e-04 9.99997274e-01 -2.81157201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63241403699999 meters 0.0781835383083048 Centerline is valid? [True, True] Translation: X:108.86, Y:-7.42, Z:-2.81 [[ 9.99464824e-01 3.25624234e-02 3.12326872e-03 1.08856285e+02] [-3.25617483e-02 9.99469690e-01 -2.66775188e-04 -7.42022889e+00] [-3.13029927e-03 1.64933326e-04 9.99995087e-01 -2.81224393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66241403699999 meters 0.07983345272545248 Centerline is valid? [True, True] Translation: X:108.88, Y:-7.43, Z:-2.82 [[ 9.99492124e-01 3.18426039e-02 1.24196614e-03 1.08883302e+02] [-3.18424957e-02 9.99492893e-01 -1.06762762e-04 -7.42938272e+00] [-1.24473594e-03 6.71612378e-05 9.99999223e-01 -2.81554874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69241403699999 meters 0.07930917151807225 Centerline is valid? [True, True] Translation: X:108.91, Y:-7.43, Z:-2.82 [[ 9.99483485e-01 3.21270550e-02 7.84750612e-04 1.08912131e+02] [-3.21270117e-02 9.99483792e-01 -6.77377443e-05 -7.43135781e+00] [-7.86521731e-04 4.24910647e-05 9.99999690e-01 -2.81648188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.722414037 meters 0.07910882708561857 Centerline is valid? [True, True] Translation: X:108.94, Y:-7.44, Z:-2.82 [[ 9.99451456e-01 3.30802284e-02 1.57671302e-03 1.08940752e+02] [-3.30800575e-02 9.99452696e-01 -1.34368082e-04 -7.43635682e+00] [-1.58029501e-03 8.21366176e-05 9.99998748e-01 -2.81717188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.752414037 meters 0.07906806377639432 Centerline is valid? [True, True] Translation: X:108.97, Y:-7.44, Z:-2.82 [[ 9.99429120e-01 3.37000625e-02 2.39565861e-03 1.08969624e+02] [-3.36996721e-02 9.99431984e-01 -2.03164144e-04 -7.43958337e+00] [-2.40114448e-03 1.22315252e-04 9.99997110e-01 -2.81774114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.782414037 meters 0.07802666500981165 Centerline is valid? [True, True] Translation: X:109.00, Y:-7.44, Z:-2.82 [[ 9.99329148e-01 3.65427394e-02 2.42550607e-03 1.08999353e+02] [-3.65423497e-02 9.99332084e-01 -2.04807066e-04 -7.44089413e+00] [-2.43137024e-03 1.16035980e-04 9.99997037e-01 -2.81708082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.812414037 meters 0.07609411616285479 Centerline is valid? [True, True] Translation: X:109.03, Y:-7.44, Z:-2.82 [[ 9.99306243e-01 3.71909074e-02 1.96722556e-03 1.09028791e+02] [-3.71906505e-02 9.99308174e-01 -1.67009836e-04 -7.43702274e+00] [-1.97207583e-03 9.37315736e-05 9.99998051e-01 -2.81583037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84241403699998 meters 0.07701486512604695 Centerline is valid? [True, True] Translation: X:109.06, Y:-7.44, Z:-2.82 [[ 9.99312632e-01 3.70626581e-02 7.88716824e-04 1.09056476e+02] [-3.70626157e-02 9.99312943e-01 -6.82938190e-05 -7.44396639e+00] [-7.90706081e-04 3.90149675e-05 9.99999687e-01 -2.81844694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87241403699998 meters 0.07765352113413745 Centerline is valid? [True, True] Translation: X:109.08, Y:-7.45, Z:-2.82 [[ 9.99351685e-01 3.59863926e-02 1.09027443e-03 1.09084025e+02] [-3.59863120e-02 9.99352279e-01 -9.34618277e-05 -7.44937199e+00] [-1.09293159e-03 5.41662792e-05 9.99999401e-01 -2.81853862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90241403699999 meters 0.07696979687000702 Centerline is valid? [True, True] Translation: X:109.11, Y:-7.45, Z:-2.82 [[ 9.99435640e-01 3.34809175e-02 2.72555755e-03 1.09113130e+02] [-3.34804152e-02 9.99439347e-01 -2.29741304e-04 -7.45284306e+00] [-2.73172141e-03 1.38358849e-04 9.99996259e-01 -2.81673279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93241403699999 meters 0.0776885545424577 Centerline is valid? [True, True] Translation: X:109.14, Y:-7.46, Z:-2.82 [[ 9.99493026e-01 3.17508981e-02 2.36032115e-03 1.09141327e+02] [-3.17505164e-02 9.99495805e-01 -1.98992017e-04 -7.45940612e+00] [-2.36544926e-03 1.23949718e-04 9.99997195e-01 -2.81822516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96241403699999 meters 0.07934558097415784 Centerline is valid? [True, True] Translation: X:109.17, Y:-7.47, Z:-2.82 [[ 9.99524303e-01 3.08008603e-02 1.57281458e-03 1.09168782e+02] [-3.08006880e-02 9.99525537e-01 -1.33688149e-04 -7.46781430e+00] [-1.57618605e-03 8.51807829e-05 9.99998754e-01 -2.82064750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99241403699999 meters 0.07819674987688492 Centerline is valid? [True, True] Translation: X:109.20, Y:-7.47, Z:-2.82 [[ 9.99546084e-01 3.01136662e-02 8.91009751e-04 1.09197803e+02] [-3.01136102e-02 9.99546479e-01 -7.61538935e-05 -7.46710347e+00] [-8.92898933e-04 4.92878056e-05 9.99999600e-01 -2.81908477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02241403699999 meters 0.07789982832682354 Centerline is valid? [True, True] Translation: X:109.23, Y:-7.47, Z:-2.82 [[ 9.99549612e-01 3.00092078e-02 1.41228169e-04 1.09226756e+02] [-3.00092062e-02 9.99549622e-01 -1.34648389e-05 -7.47002308e+00] [-1.41568633e-04 9.22062920e-06 9.99999990e-01 -2.81972686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05241403699999 meters 0.07860802311462817 Centerline is valid? [True, True] Translation: X:109.25, Y:-7.48, Z:-2.82 [[ 9.99539763e-01 3.03287553e-02 6.55158399e-04 1.09254718e+02] [-3.03287248e-02 9.99539977e-01 -5.63516269e-05 -7.47533633e+00] [-6.56566086e-04 3.64555730e-05 9.99999784e-01 -2.82121336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08241403699999 meters 0.07751433478534521 Centerline is valid? [True, True] Translation: X:109.28, Y:-7.48, Z:-2.82 [[ 9.99536815e-01 3.04159414e-02 1.01322856e-03 1.09283949e+02] [-3.04158696e-02 9.99537327e-01 -8.61861621e-05 -7.47592746e+00] [-1.01538120e-03 5.53280141e-05 9.99999483e-01 -2.81916856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.112414037 meters 0.07739303716626533 Centerline is valid? [True, True] Translation: X:109.31, Y:-7.48, Z:-2.82 [[ 9.99539375e-01 3.01526468e-02 3.44320990e-03 1.09312045e+02] [-3.01518307e-02 9.99545289e-01 -2.88687563e-04 -7.48136472e+00] [-3.45034893e-03 1.84735504e-04 9.99994030e-01 -2.81935758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.142414037 meters 0.07773776444608366 Centerline is valid? [True, True] Translation: X:109.34, Y:-7.49, Z:-2.82 [[ 9.99548318e-01 2.99395910e-02 2.60406135e-03 1.09338983e+02] [-2.99391210e-02 9.99551700e-01 -2.19288743e-04 -7.48576345e+00] [-2.60945937e-03 1.41226386e-04 9.99996585e-01 -2.82120548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.172414037 meters 0.07752900937888113 Centerline is valid? [True, True] Translation: X:109.37, Y:-7.49, Z:-2.82 [[ 9.99500293e-01 3.16094851e-02 -7.09803001e-05 1.09368139e+02] [-3.16094848e-02 9.99500295e-01 4.68117014e-06 -7.48757153e+00] [ 7.10928003e-05 -2.43518021e-06 9.99999997e-01 -2.82393464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20241403699998 meters 0.07764873670113068 Centerline is valid? [True, True] Translation: X:109.40, Y:-7.49, Z:-2.83 [[ 9.99455053e-01 3.29961036e-02 -9.24641861e-04 1.09395717e+02] [-3.29960484e-02 9.99455479e-01 7.48409376e-05 -7.49001470e+00] [ 9.26607834e-04 -4.42906256e-05 9.99999570e-01 -2.82637982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23241403699998 meters 0.07732731490037205 Centerline is valid? [True, True] Translation: X:109.42, Y:-7.49, Z:-2.83 [[ 9.99394639e-01 3.47493396e-02 -1.68505695e-03 1.09424534e+02] [-3.47491556e-02 9.99396056e-01 1.38351074e-04 -7.49168328e+00] [ 1.68884688e-03 -7.97130156e-05 9.99998571e-01 -2.82823530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26241403699999 meters 0.0764895963405253 Centerline is valid? [True, True] Translation: X:109.45, Y:-7.49, Z:-2.83 [[ 9.99339531e-01 3.62732506e-02 -2.18028705e-03 1.09453564e+02] [-3.62729455e-02 9.99341904e-01 1.79310994e-04 -7.49187294e+00] [ 2.18535641e-03 -1.00107131e-04 9.99997607e-01 -2.82780401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29241403699999 meters 0.07722787156287966 Centerline is valid? [True, True] Translation: X:109.48, Y:-7.50, Z:-2.83 [[ 9.99189792e-01 4.01950323e-02 -2.02976306e-03 1.09482252e+02] [-4.01947746e-02 9.99191849e-01 1.67580517e-04 -7.49864061e+00] [ 2.03485861e-03 -8.58588728e-05 9.99997926e-01 -2.83289144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32241403699999 meters 0.07502404875984797 Centerline is valid? [True, True] Translation: X:109.51, Y:-7.49, Z:-2.83 [[ 9.99061161e-01 4.32628363e-02 -2.26336942e-03 1.09512582e+02] [-4.32625238e-02 9.99063721e-01 1.86869043e-04 -7.49472904e+00] [ 2.26933476e-03 -8.87745304e-05 9.99997421e-01 -2.83058047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35241403699999 meters 0.0748304975210522 Centerline is valid? [True, True] Translation: X:109.54, Y:-7.50, Z:-2.83 [[ 9.99035417e-01 4.38825079e-02 -1.60028748e-03 1.09541069e+02] [-4.38823614e-02 9.99036697e-01 1.26528758e-04 -7.49618973e+00] [ 1.60429832e-03 -5.61823171e-05 9.99998712e-01 -2.83013322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38241403699999 meters 0.07437024447488588 Centerline is valid? [True, True] Translation: X:109.57, Y:-7.50, Z:-2.83 [[ 9.98999202e-01 4.47147136e-02 -1.09054314e-03 1.09569730e+02] [-4.47146484e-02 9.98999796e-01 8.40700829e-05 -7.49764011e+00] [ 1.09321155e-03 -3.52226925e-05 9.99999402e-01 -2.82838504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41241403699999 meters 0.07437024447488588 Centerline is valid? [True, True] Translation: X:109.60, Y:-7.50, Z:-2.83 [[ 9.99011224e-01 4.44453055e-02 -1.09063559e-03 1.09597023e+02] [-4.44452414e-02 9.99011819e-01 8.29375250e-05 -7.49979163e+00] [ 1.09324402e-03 -3.43819564e-05 9.99999402e-01 -2.82906568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44241403699999 meters 0.07456170931949874 Centerline is valid? [True, True] Translation: X:109.62, Y:-7.50, Z:-2.83 [[ 9.98975777e-01 4.52477831e-02 1.87371179e-04 1.09624880e+02] [-4.52477799e-02 9.98975794e-01 -2.10757670e-05 -7.50458201e+00] [-1.88132904e-04 1.25760509e-05 9.99999982e-01 -2.82932177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.472414037 meters 0.07441266502468924 Centerline is valid? [True, True] Translation: X:109.65, Y:-7.51, Z:-2.83 [[ 9.98985224e-01 4.50320562e-02 7.97228474e-04 1.09653914e+02] [-4.50320139e-02 9.98985542e-01 -7.09346066e-05 -7.50750081e+00] [-7.99614050e-04 3.49618202e-05 9.99999680e-01 -2.82912201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.502414037 meters 0.07566205612073673 Centerline is valid? [True, True] Translation: X:109.68, Y:-7.52, Z:-2.83 [[ 9.99109373e-01 4.21954826e-02 4.15666899e-05 1.09681680e+02] [-4.21954825e-02 9.99109374e-01 -4.62339678e-06 -7.51691293e+00] [-4.17247560e-05 2.86535252e-06 9.99999999e-01 -2.83145556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.532414037 meters 0.07597071921357823 Centerline is valid? [True, True] Translation: X:109.71, Y:-7.52, Z:-2.83 [[ 9.99191571e-01 4.01865093e-02 -1.11794796e-03 1.09711077e+02] [-4.01864332e-02 9.99192195e-01 9.04571132e-05 -7.52247827e+00] [ 1.12068004e-03 -4.54576438e-05 9.99999371e-01 -2.83308959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.562414037 meters 0.07595189527282219 Centerline is valid? [True, True] Translation: X:109.74, Y:-7.53, Z:-2.83 [[ 9.99349434e-01 3.59352885e-02 -3.06016919e-03 1.09741312e+02] [-3.59346924e-02 9.99354109e-01 2.49549283e-04 -7.52801065e+00] [ 3.06716028e-03 -1.39420696e-04 9.99995287e-01 -2.83391737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59241403699998 meters 0.0778801436720651 Centerline is valid? [True, True] Translation: X:109.77, Y:-7.54, Z:-2.84 [[ 9.99424447e-01 3.36802048e-02 -4.05192780e-03 1.09768869e+02] [-3.36791493e-02 9.99432643e-01 3.28451459e-04 -7.53706451e+00] [ 4.06069122e-03 -1.91796936e-04 9.99991737e-01 -2.83827138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62241403699998 meters 0.07739052959030891 Centerline is valid? [True, True] Translation: X:109.80, Y:-7.54, Z:-2.84 [[ 9.99482704e-01 3.17962524e-02 -4.82928938e-03 1.09798152e+02] [-3.17947300e-02 9.99494343e-01 3.91709961e-04 -7.53879028e+00] [ 4.83930232e-03 -2.37961379e-04 9.99988262e-01 -2.83737911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65241403699999 meters 0.07770731277958526 Centerline is valid? [True, True] Translation: X:109.83, Y:-7.54, Z:-2.84 [[ 9.99541252e-01 2.98731792e-02 -4.98781665e-03 1.09827079e+02] [-2.98715297e-02 9.99553664e-01 4.04889309e-04 -7.54261655e+00] [ 4.99768574e-03 -2.55709853e-04 9.99987479e-01 -2.83769203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68241403699999 meters 0.07868470484275121 Centerline is valid? [True, True] Translation: X:109.86, Y:-7.55, Z:-2.84 [[ 9.99619013e-01 2.73830038e-02 -3.46416306e-03 1.09856075e+02] [-2.73821935e-02 9.99624998e-01 2.81131581e-04 -7.54903318e+00] [ 3.47056222e-03 -1.86168091e-04 9.99993960e-01 -2.83822341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71241403699999 meters 0.07873400763632428 Centerline is valid? [True, True] Translation: X:109.88, Y:-7.55, Z:-2.84 [[ 9.99653226e-01 2.62212601e-02 -2.42361581e-03 1.09884155e+02] [-2.62208642e-02 9.99656155e-01 1.94996417e-04 -7.55278453e+00] [ 2.42789551e-03 -1.31379496e-04 9.99997044e-01 -2.83864987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74241403699999 meters 0.08011839604507247 Centerline is valid? [True, True] Translation: X:109.91, Y:-7.56, Z:-2.84 [[ 9.99735711e-01 2.29888360e-02 1.47138582e-04 1.09912185e+02] [-2.29888343e-02 9.99735722e-01 -1.31842556e-05 -7.56193288e+00] [-1.47402787e-04 9.79822666e-06 9.99999989e-01 -2.83845714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77241403699999 meters 0.08109602567589794 Centerline is valid? [True, True] Translation: X:109.94, Y:-7.57, Z:-2.84 [[ 9.99776567e-01 2.10729661e-02 1.65687447e-03 1.09940129e+02] [-2.10727687e-02 9.99777935e-01 -1.36522418e-04 -7.56851647e+00] [-1.65938347e-03 1.01576982e-04 9.99998618e-01 -2.83862568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80241403699999 meters 0.08211851139082894 Centerline is valid? [True, True] Translation: X:109.97, Y:-7.57, Z:-2.84 [[ 9.99819045e-01 1.88980743e-02 2.17721965e-03 1.09968370e+02] [-1.88977317e-02 9.99821406e-01 -1.77840888e-04 -7.57379181e+00] [-2.18019167e-03 1.36664194e-04 9.99997614e-01 -2.83948167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83241403699999 meters 0.08338267043623135 Centerline is valid? [True, True] Translation: X:110.00, Y:-7.58, Z:-2.84 [[ 9.99880621e-01 1.53654888e-02 1.62639940e-03 1.09998734e+02] [-1.53652942e-02 9.99881938e-01 -1.32049136e-04 -7.57881301e+00] [-1.62823638e-03 1.07043267e-04 9.99998669e-01 -2.83905597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.862414037 meters 0.08180394150346013 Centerline is valid? [True, True] Translation: X:110.03, Y:-7.58, Z:-2.84 [[ 9.99898374e-01 1.42563045e-02 1.61798729e-05 1.10028499e+02] [-1.42563045e-02 9.99898374e-01 -2.13865080e-06 -7.57649651e+00] [-1.62087179e-05 1.90776826e-06 1.00000000e+00 -2.83941271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.892414037 meters 0.08391168987043722 Centerline is valid? [True, True] Translation: X:110.06, Y:-7.58, Z:-2.84 [[ 9.99900882e-01 1.39048196e-02 -2.20949845e-03 1.10055590e+02] [-1.39044624e-02 9.99903313e-01 1.76939846e-04 -7.58358099e+00] [ 2.21174514e-03 -1.46200421e-04 9.99997543e-01 -2.84436209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.922414037 meters 0.0820203166558563 Centerline is valid? [True, True] Translation: X:110.08, Y:-7.58, Z:-2.84 [[ 9.99904450e-01 1.36991952e-02 -1.85035689e-03 1.10083517e+02] [-1.36989461e-02 9.99906154e-01 1.47210281e-04 -7.58113900e+00] [ 1.85219991e-03 -1.21848276e-04 9.99998277e-01 -2.84324384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95241403699998 meters 0.08046531569046389 Centerline is valid? [True, True] Translation: X:110.11, Y:-7.58, Z:-2.84 [[ 9.99892538e-01 1.45878251e-02 -1.45188985e-03 1.10112733e+02] [-1.45876724e-02 9.99893588e-01 1.15665667e-04 -7.57961011e+00] [ 1.45342266e-03 -9.44735441e-05 9.99998939e-01 -2.84203353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98241403699998 meters 0.08052693969682784 Centerline is valid? [True, True] Translation: X:110.14, Y:-7.58, Z:-2.84 [[ 9.99874019e-01 1.58126077e-02 -1.38078929e-03 1.10140531e+02] [-1.58124717e-02 9.99874969e-01 1.09396403e-04 -7.58115722e+00] [ 1.38234649e-03 -8.75489298e-05 9.99999041e-01 -2.84327070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01241403699999 meters 0.08111616492228836 Centerline is valid? [True, True] Translation: X:110.17, Y:-7.58, Z:-2.85 [[ 9.99859602e-01 1.65257269e-02 -2.77065068e-03 1.10167952e+02] [-1.65251765e-02 9.99863425e-01 2.21423341e-04 -7.58390058e+00] [ 2.77393146e-03 -1.75606762e-04 9.99996137e-01 -2.84547990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04241403699999 meters 0.07997763279437108 Centerline is valid? [True, True] Translation: X:110.20, Y:-7.58, Z:-2.85 [[ 9.99839228e-01 1.75237601e-02 -3.79957195e-03 1.10196546e+02] [-1.75227287e-02 9.99846419e-01 3.04563398e-04 -7.58229012e+00] [ 3.80432551e-03 -2.37935564e-04 9.99992735e-01 -2.84562515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07241403699999 meters 0.08048108604918351 Centerline is valid? [True, True] Translation: X:110.22, Y:-7.59, Z:-2.85 [[ 9.99836571e-01 1.79775908e-02 -1.90726532e-03 1.10224725e+02] [-1.79773336e-02 9.99838383e-01 1.51931165e-04 -7.58608697e+00] [ 1.90968843e-03 -1.17618790e-04 9.99998170e-01 -2.84664608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10241403699999 meters 0.08058862292720695 Centerline is valid? [True, True] Translation: X:110.25, Y:-7.59, Z:-2.85 [[ 9.99832770e-01 1.82502929e-02 -1.16576078e-03 1.10253729e+02] [-1.82501978e-02 9.99833447e-01 9.21546121e-05 -7.58910575e+00] [ 1.16724847e-03 -7.08638362e-05 9.99999316e-01 -2.84689271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13241403699999 meters 0.07929836846894825 Centerline is valid? [True, True] Translation: X:110.28, Y:-7.59, Z:-2.85 [[ 9.99812589e-01 1.93578840e-02 2.43304117e-04 1.10283162e+02] [-1.93578795e-02 9.99812618e-01 -2.08273796e-05 -7.58823820e+00] [-2.43661700e-04 1.61136245e-05 9.99999970e-01 -2.84655341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16241403699999 meters 0.0815206628572927 Centerline is valid? [True, True] Translation: X:110.31, Y:-7.60, Z:-2.85 [[ 9.99804472e-01 1.97053514e-02 1.64845076e-03 1.10310400e+02] [-1.97051552e-02 9.99805825e-01 -1.35178916e-04 -7.59664505e+00] [-1.65079442e-03 1.02669507e-04 9.99998632e-01 -2.84891254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19241403699999 meters 0.07914029542908678 Centerline is valid? [True, True] Translation: X:110.34, Y:-7.59, Z:-2.85 [[ 9.99775217e-01 2.10065733e-02 2.87031685e-03 1.10339876e+02] [-2.10059937e-02 9.99779323e-01 -2.31933406e-04 -7.59192445e+00] [-2.87455556e-03 1.71587413e-04 9.99995854e-01 -2.84676969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.222414037 meters 0.08004691330284293 Centerline is valid? [True, True] Translation: X:110.37, Y:-7.59, Z:-2.85 [[ 9.99719454e-01 2.36520663e-02 1.26208573e-03 1.10368240e+02] [-2.36519558e-02 9.99720248e-01 -1.02428795e-04 -7.59446479e+00] [-1.26415531e-03 7.25492635e-05 9.99999198e-01 -2.84917692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.252414037 meters 0.07851078936466284 Centerline is valid? [True, True] Translation: X:110.40, Y:-7.59, Z:-2.85 [[ 9.99678248e-01 2.53645440e-02 -2.00613581e-04 1.10397069e+02] [-2.53645416e-02 9.99678268e-01 1.44323792e-05 -7.59221487e+00] [ 2.00915108e-04 -9.33926407e-06 9.99999980e-01 -2.85040343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.282414037 meters 0.07815287256521598 Centerline is valid? [True, True] Translation: X:110.43, Y:-7.59, Z:-2.85 [[ 9.99634857e-01 2.69988934e-02 -1.10090459e-03 1.10425681e+02] [-2.69988144e-02 9.99635462e-01 8.64950945e-05 -7.59378155e+00] [ 1.10283854e-03 -5.67403926e-05 9.99999390e-01 -2.85129968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.312414037 meters 0.07699308248334381 Centerline is valid? [True, True] Translation: X:110.46, Y:-7.59, Z:-2.85 [[ 9.99553650e-01 2.98514276e-02 1.18012155e-03 1.10455740e+02] [-2.98513363e-02 9.99554345e-01 -9.48611616e-05 -7.59288148e+00] [-1.18242736e-03 5.95906151e-05 9.99999299e-01 -2.85022584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34241403699998 meters 0.0761235744033644 Centerline is valid? [True, True] Translation: X:110.48, Y:-7.59, Z:-2.85 [[ 9.99504623e-01 3.14115299e-02 1.95583857e-03 1.10484583e+02] [-3.14112806e-02 9.99506531e-01 -1.58070505e-04 -7.59165875e+00] [-1.95983866e-03 9.65568058e-05 9.99998075e-01 -2.84830225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37241403699998 meters 0.07549261277762799 Centerline is valid? [True, True] Translation: X:110.51, Y:-7.59, Z:-2.85 [[ 9.99407890e-01 3.43859822e-02 1.21377780e-03 1.10514107e+02] [-3.43858887e-02 9.99408626e-01 -9.78490430e-05 -7.59129423e+00] [-1.21642464e-03 5.60542772e-05 9.99999259e-01 -2.84875662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40241403699999 meters 0.07561798301158455 Centerline is valid? [True, True] Translation: X:110.54, Y:-7.59, Z:-2.85 [[ 9.99354125e-01 3.59304351e-02 5.80719584e-04 1.10541484e+02] [-3.59304130e-02 9.99354293e-01 -4.84267819e-05 -7.59390649e+00] [-5.82084604e-04 2.75300097e-05 9.99999830e-01 -2.85085137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43241403699999 meters 0.0750845330179297 Centerline is valid? [True, True] Translation: X:110.57, Y:-7.59, Z:-2.85 [[ 9.99322169e-01 3.67893131e-02 -1.32275400e-03 1.10570720e+02] [-3.67892078e-02 9.99323043e-01 1.03846123e-04 -7.59452118e+00] [ 1.32567898e-03 -5.51126607e-05 9.99999120e-01 -2.85092473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46241403699999 meters 0.0755585604257431 Centerline is valid? [True, True] Translation: X:110.60, Y:-7.60, Z:-2.85 [[ 9.99293553e-01 3.75656067e-02 -1.10487147e-03 1.10598008e+02] [-3.75655346e-02 9.99294163e-01 8.59622750e-05 -7.59921051e+00] [ 1.10732084e-03 -4.43964597e-05 9.99999386e-01 -2.85320861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49241403699999 meters 0.07443321027406995 Centerline is valid? [True, True] Translation: X:110.63, Y:-7.60, Z:-2.85 [[ 9.99178897e-01 4.05157657e-02 -7.20072801e-05 1.10628485e+02] [-4.05157654e-02 9.99178899e-01 4.64228561e-06 -7.59895855e+00] [ 7.21362406e-05 -1.72104374e-06 9.99999997e-01 -2.85172701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52241403699999 meters 0.0745102430613082 Centerline is valid? [True, True] Translation: X:110.66, Y:-7.60, Z:-2.85 [[ 9.99140845e-01 4.14417561e-02 -3.90419373e-04 1.10656354e+02] [-4.14417479e-02 9.99140921e-01 2.89637576e-05 -7.60143624e+00] [ 3.91284281e-04 -1.27592120e-05 9.99999923e-01 -2.85330741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55241403699999 meters 0.07501828468409312 Centerline is valid? [True, True] Translation: X:110.68, Y:-7.61, Z:-2.86 [[ 9.99131665e-01 4.16248277e-02 -1.81372987e-03 1.10683365e+02] [-4.16246383e-02 9.99133309e-01 1.42081134e-04 -7.60644436e+00] [ 1.81807203e-03 -6.64619098e-05 9.99998345e-01 -2.85544674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58241403699999 meters 0.07581333539617652 Centerline is valid? [True, True] Translation: X:110.71, Y:-7.61, Z:-2.86 [[ 9.99162370e-01 4.09091254e-02 -1.00066539e-03 1.10710167e+02] [-4.09090691e-02 9.99162871e-01 7.65976540e-05 -7.61261757e+00] [ 1.00296125e-03 -3.55972038e-05 9.99999496e-01 -2.85764002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.612414037 meters 0.07499129426134453 Centerline is valid? [True, True] Translation: X:110.74, Y:-7.61, Z:-2.86 [[ 9.99221752e-01 3.94443152e-02 1.91381017e-04 1.10738570e+02] [-3.94443119e-02 9.99221770e-01 -2.09309075e-05 -7.61366165e+00] [-1.92057684e-04 1.33657255e-05 9.99999981e-01 -2.85504992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.642414037 meters 0.0753469911770072 Centerline is valid? [True, True] Translation: X:110.77, Y:-7.62, Z:-2.85 [[ 9.99346027e-01 3.60981336e-02 2.10764462e-03 1.10767715e+02] [-3.60978604e-02 9.99348246e-01 -1.67552042e-04 -7.62280000e+00] [-2.11231927e-03 9.13610067e-05 9.99997765e-01 -2.85432188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.672414037 meters 0.07627878957430392 Centerline is valid? [True, True] Translation: X:110.80, Y:-7.63, Z:-2.86 [[ 9.99408186e-01 3.42888841e-02 2.74776890e-03 1.10795052e+02] [-3.42884082e-02 9.99411955e-01 -2.20132702e-04 -7.63084518e+00] [-2.75370120e-03 1.25785803e-04 9.99996201e-01 -2.85591970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70241403699998 meters 0.07670058927555219 Centerline is valid? [True, True] Translation: X:110.83, Y:-7.64, Z:-2.85 [[ 9.99573453e-01 2.89150112e-02 4.10298981e-03 1.10825205e+02] [-2.89139242e-02 9.99581853e-01 -3.24013637e-04 -7.63802786e+00] [-4.11064301e-03 2.05241894e-04 9.99991530e-01 -2.85460382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73241403699998 meters 0.07866152604398287 Centerline is valid? [True, True] Translation: X:110.85, Y:-7.65, Z:-2.86 [[ 9.99658800e-01 2.58811518e-02 3.52849833e-03 1.10854109e+02] [-2.58803275e-02 9.99665009e-01 -2.79067663e-04 -7.64757254e+00] [-3.53453891e-03 1.87653752e-04 9.99993736e-01 -2.85716984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76241403699999 meters 0.07974204188467406 Centerline is valid? [True, True] Translation: X:110.88, Y:-7.65, Z:-2.86 [[ 9.99731693e-01 2.30000579e-02 2.74579100e-03 1.10883900e+02] [-2.29995479e-02 9.99735452e-01 -2.17145377e-04 -7.65396563e+00] [-2.75005896e-03 1.53935163e-04 9.99996207e-01 -2.85874242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79241403699999 meters 0.0808659014996787 Centerline is valid? [True, True] Translation: X:110.91, Y:-7.66, Z:-2.86 [[ 9.99794655e-01 2.02279516e-02 1.21549389e-03 1.10913190e+02] [-2.02278493e-02 9.99795391e-01 -9.63272314e-05 -7.66162150e+00] [-1.21719369e-03 7.17206238e-05 9.99999257e-01 -2.86170921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82241403699999 meters 0.08013873274344814 Centerline is valid? [True, True] Translation: X:110.94, Y:-7.67, Z:-2.86 [[ 9.99878246e-01 1.56017683e-02 -2.77981487e-04 1.10943041e+02] [-1.56017629e-02 9.99878285e-01 2.15231521e-05 -7.66570632e+00] [ 2.78283451e-04 -1.71835303e-05 9.99999961e-01 -2.86215484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85241403699999 meters 0.08386029034279731 Centerline is valid? [True, True] Translation: X:110.97, Y:-7.68, Z:-2.87 [[ 9.99900631e-01 1.40945019e-02 -2.69098920e-04 1.10970782e+02] [-1.40944971e-02 9.99900667e-01 1.99643554e-05 -7.67764339e+00] [ 2.69353577e-04 -1.61695576e-05 9.99999964e-01 -2.86619822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88241403699999 meters 0.08483359135961777 Centerline is valid? [True, True] Translation: X:111.00, Y:-7.68, Z:-2.87 [[ 9.99922501e-01 1.24477519e-02 -2.11403065e-04 1.10998478e+02] [-1.24477490e-02 9.99922524e-01 1.50920160e-05 -7.68255648e+00] [ 2.11574548e-04 -1.24593541e-05 9.99999978e-01 -2.86634366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91241403699999 meters 0.080931670635163 Centerline is valid? [True, True] Translation: X:111.03, Y:-7.67, Z:-2.86 [[ 9.99940060e-01 1.09439306e-02 -3.27677277e-04 1.11028402e+02] [-1.09439232e-02 9.99940113e-01 2.45328793e-05 -7.67468816e+00] [ 3.27926140e-04 -2.09453339e-05 9.99999946e-01 -2.86287242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94241403699999 meters 0.08350723534772851 Centerline is valid? [True, True] Translation: X:111.06, Y:-7.68, Z:-2.87 [[ 9.99970357e-01 7.37416319e-03 -2.21528950e-03 1.11057490e+02] [-7.37379581e-03 9.99972798e-01 1.73960070e-04 -7.68277778e+00] [ 2.21651205e-03 -1.57619821e-04 9.99997531e-01 -2.86568238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.972414037 meters 0.08379618795934898 Centerline is valid? [True, True] Translation: X:111.09, Y:-7.69, Z:-2.87 [[ 9.99982528e-01 5.30391258e-03 -2.60988862e-03 1.11087933e+02] [-5.30339433e-03 9.99985916e-01 2.05451685e-04 -7.68678071e+00] [ 2.61094156e-03 -1.91606827e-04 9.99996573e-01 -2.86729833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.002414037 meters 0.08471312708314487 Centerline is valid? [True, True] Translation: X:111.12, Y:-7.69, Z:-2.87 [[ 9.99990613e-01 2.72467316e-03 -3.36897486e-03 1.11117427e+02] [-2.72379720e-03 9.99996255e-01 2.64569497e-04 -7.69197788e+00] [ 3.36968311e-03 -2.55390609e-04 9.99994290e-01 -2.86857234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.032414037 meters 0.0852900114618479 Centerline is valid? [True, True] Translation: X:111.15, Y:-7.70, Z:-2.87 [[ 9.99996351e-01 6.99849331e-04 -2.60940266e-03 1.11146840e+02] [-6.99318240e-04 9.99999735e-01 2.04436719e-04 -7.69581409e+00] [ 2.60954505e-03 -2.02611170e-04 9.99996575e-01 -2.86949739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.062414037 meters 0.08602169478167392 Centerline is valid? [True, True] Translation: X:111.18, Y:-7.70, Z:-2.87 [[ 9.99996952e-01 -2.24665943e-03 -1.02358637e-03 1.11177112e+02] [ 2.24674258e-03 9.99997473e-01 8.00868876e-05 -7.69724097e+00] [ 1.02340386e-03 -8.23863786e-05 9.99999473e-01 -2.86746874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09241403699998 meters 0.08808680835104224 Centerline is valid? [True, True] Translation: X:111.21, Y:-7.70, Z:-2.87 [[ 9.99997293e-01 -2.27151550e-03 -5.04509068e-04 1.11207054e+02] [ 2.27153602e-03 9.99997419e-01 4.00981439e-05 -7.70256536e+00] [ 5.04416683e-04 -4.12440459e-05 9.99999872e-01 -2.86874508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12241403699998 meters 0.08537187066126234 Centerline is valid? [True, True] Translation: X:111.24, Y:-7.70, Z:-2.87 [[ 9.99992560e-01 -3.19514402e-03 -2.16102828e-03 1.11238782e+02] [ 3.19552077e-03 9.99994880e-01 1.70906735e-04 -7.69700484e+00] [ 2.16047115e-03 -1.77811074e-04 9.99997650e-01 -2.86741847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15241403699999 meters 0.08554100398816464 Centerline is valid? [True, True] Translation: X:111.27, Y:-7.70, Z:-2.87 [[ 9.99986847e-01 -3.87005551e-03 -3.36574198e-03 1.11269729e+02] [ 3.87097252e-03 9.99992472e-01 2.65982631e-04 -7.69814626e+00] [ 3.36468727e-03 -2.79007828e-04 9.99994301e-01 -2.86985962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18241403699999 meters 0.087200261069519 Centerline is valid? [True, True] Translation: X:111.30, Y:-7.70, Z:-2.87 [[ 9.99966823e-01 -6.93051472e-03 -4.28035753e-03 1.11299927e+02] [ 6.93202054e-03 9.99975916e-01 3.37061635e-04 -7.70302071e+00] [ 4.27791843e-03 -3.66721978e-04 9.99990782e-01 -2.87357647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21241403699999 meters 0.09144650676102725 Centerline is valid? [True, True] Translation: X:111.33, Y:-7.71, Z:-2.88 [[ 9.99951342e-01 -8.79919296e-03 -4.45960866e-03 1.11329056e+02] [ 8.80084584e-03 9.99961210e-01 3.51143631e-04 -7.71330492e+00] [ 4.45634590e-03 -3.90374873e-04 9.99989994e-01 -2.87704591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24241403699999 meters 0.08753677077691303 Centerline is valid? [True, True] Translation: X:111.36, Y:-7.71, Z:-2.87 [[ 9.99938088e-01 -1.06585358e-02 -3.19631396e-03 1.11361370e+02] [ 1.06593973e-02 9.99943155e-01 2.52637409e-04 -7.70619348e+00] [ 3.19343952e-03 -2.86692549e-04 9.99994860e-01 -2.87413914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27241403699999 meters 0.08998242863109407 Centerline is valid? [True, True] Translation: X:111.39, Y:-7.71, Z:-2.87 [[ 9.99916674e-01 -1.28076175e-02 -1.61557910e-03 1.11390779e+02] [ 1.28078429e-02 9.99917968e-01 1.29257718e-04 -7.71212054e+00] [ 1.61379109e-03 -1.49939031e-04 9.99998687e-01 -2.87471034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30241403699999 meters 0.09221293350923417 Centerline is valid? [True, True] Translation: X:111.42, Y:-7.72, Z:-2.87 [[ 9.99879660e-01 -1.54752086e-02 1.08787857e-03 1.11421162e+02] [ 1.54753106e-02 9.99880247e-01 -8.53810228e-05 -7.71598755e+00] [-1.08642700e-03 1.02206007e-04 9.99999405e-01 -2.87255874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33241403699999 meters 0.09221293350923417 Centerline is valid? [True, True] Translation: X:111.45, Y:-7.72, Z:-2.87 [[ 9.99880704e-01 -1.54076075e-02 1.08797185e-03 1.11452895e+02] [ 1.54077082e-02 9.99881291e-01 -8.41988874e-05 -7.71856342e+00] [-1.08654540e-03 1.00951996e-04 9.99999405e-01 -2.87334691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.362414037 meters 0.09127683584156304 Centerline is valid? [True, True] Translation: X:111.48, Y:-7.72, Z:-2.87 [[ 9.99859296e-01 -1.67066932e-02 1.50799951e-03 1.11484291e+02] [ 1.67068903e-02 9.99860423e-01 -1.18234362e-04 -7.71745525e+00] [-1.50581373e-03 1.43411708e-04 9.99998856e-01 -2.87319368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.392414037 meters 0.0925593406753388 Centerline is valid? [True, True] Translation: X:111.51, Y:-7.72, Z:-2.87 [[ 9.99841845e-01 -1.77638315e-02 8.54817720e-04 1.11514408e+02] [ 1.77638953e-02 9.99842207e-01 -6.70957110e-05 -7.72060174e+00] [-8.53490959e-04 8.22699919e-05 9.99999632e-01 -2.87469458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.422414037 meters 0.09336127083221009 Centerline is valid? [True, True] Translation: X:111.55, Y:-7.72, Z:-2.88 [[ 9.99809959e-01 -1.93769286e-02 -2.14031144e-03 1.11545615e+02] [ 1.93773357e-02 9.99812227e-01 1.69637717e-04 -7.72038369e+00] [ 2.13662249e-03 -2.11079012e-04 9.99997695e-01 -2.87737218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45241403699998 meters 0.09515096727594537 Centerline is valid? [True, True] Translation: X:111.58, Y:-7.72, Z:-2.88 [[ 9.99801112e-01 -1.96098350e-02 -3.63178269e-03 1.11576040e+02] [ 1.96110177e-02 9.99807643e-01 2.90327521e-04 -7.72395023e+00] [ 3.62539082e-03 -3.61492733e-04 9.99993363e-01 -2.87984301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48241403699998 meters 0.09588308278819978 Centerline is valid? [True, True] Translation: X:111.61, Y:-7.72, Z:-2.88 [[ 9.99825129e-01 -1.80334383e-02 -4.95034645e-03 1.11606473e+02] [ 1.80355992e-02 9.99837268e-01 3.92215581e-04 -7.72233490e+00] [ 4.94246788e-03 -4.81429458e-04 9.99987670e-01 -2.88178502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51241403699999 meters 0.09294043453735085 Centerline is valid? [True, True] Translation: X:111.64, Y:-7.72, Z:-2.88 [[ 9.99842111e-01 -1.71625428e-02 -4.60445993e-03 1.11638855e+02] [ 1.71644083e-02 9.99852614e-01 3.65943016e-04 -7.71634787e+00] [ 4.59750078e-03 -4.44918067e-04 9.99989332e-01 -2.88135209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54241403699999 meters 0.09706294762060134 Centerline is valid? [True, True] Translation: X:111.67, Y:-7.72, Z:-2.88 [[ 9.99861118e-01 -1.62878372e-02 -3.52870086e-03 1.11669116e+02] [ 1.62889274e-02 9.99867287e-01 2.80434159e-04 -7.72349252e+00] [ 3.52366489e-03 -3.37873964e-04 9.99993735e-01 -2.88377350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57241403699999 meters 0.0972588629032646 Centerline is valid? [True, True] Translation: X:111.70, Y:-7.72, Z:-2.88 [[ 9.99872446e-01 -1.56747751e-02 -3.06489800e-03 1.11701154e+02] [ 1.56755980e-02 9.99877100e-01 2.44666637e-04 -7.72374593e+00] [ 3.06068623e-03 -2.92679538e-04 9.99995273e-01 -2.88424357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60241403699999 meters 0.09210311471325236 Centerline is valid? [True, True] Translation: X:111.73, Y:-7.71, Z:-2.88 [[ 9.99895192e-01 -1.41737832e-02 -2.95103932e-03 1.11733801e+02] [ 1.41745392e-02 9.99899508e-01 2.35442429e-04 -7.71268518e+00] [ 2.94740565e-03 -2.77247375e-04 9.99995618e-01 -2.88401885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63241403699999 meters 0.09709663782717465 Centerline is valid? [True, True] Translation: X:111.76, Y:-7.72, Z:-2.89 [[ 9.99894305e-01 -1.41601112e-02 -3.29704436e-03 1.11763888e+02] [ 1.41610549e-02 9.99899693e-01 2.63060317e-04 -7.72172583e+00] [ 3.29298868e-03 -3.09722139e-04 9.99994530e-01 -2.88878693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66241403699999 meters 0.093874509680521 Centerline is valid? [True, True] Translation: X:111.80, Y:-7.72, Z:-2.89 [[ 9.99914877e-01 -1.26870643e-02 -3.04589590e-03 1.11795891e+02] [ 1.26878623e-02 9.99919476e-01 2.42794800e-04 -7.71607133e+00] [ 3.04257028e-03 -2.81420041e-04 9.99995332e-01 -2.88814063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69241403699999 meters 0.09672346295079386 Centerline is valid? [True, True] Translation: X:111.83, Y:-7.72, Z:-2.89 [[ 9.99927502e-01 -1.19401661e-02 -1.55662690e-03 1.11825884e+02] [ 1.19403736e-02 9.99928703e-01 1.24099107e-04 -7.72065085e+00] [ 1.55503415e-03 -1.42676816e-04 9.99998781e-01 -2.89041662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.722414037 meters 0.09529464003769073 Centerline is valid? [True, True] Translation: X:111.86, Y:-7.72, Z:-2.89 [[ 9.99941705e-01 -1.07609193e-02 8.88021109e-04 1.11856711e+02] [ 1.07609862e-02 9.99942096e-01 -7.05549910e-05 -7.71775460e+00] [-8.87210453e-04 8.01068610e-05 9.99999603e-01 -2.88819594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.752414037 meters 0.09273978324902307 Centerline is valid? [True, True] Translation: X:111.89, Y:-7.71, Z:-2.89 [[ 9.99949919e-01 -9.66396383e-03 2.60157165e-03 1.11889056e+02] [ 9.66453114e-03 9.99953276e-01 -2.05578375e-04 -7.71281955e+00] [-2.59946339e-03 2.30711050e-04 9.99996595e-01 -2.88517667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.782414037 meters 0.091467798313409 Centerline is valid? [True, True] Translation: X:111.92, Y:-7.71, Z:-2.88 [[ 9.99953078e-01 -7.86684152e-03 5.65289698e-03 1.11920566e+02] [ 7.86950437e-03 9.99968934e-01 -4.48970877e-04 -7.70781304e+00] [-5.64918939e-03 4.93435308e-04 9.99983921e-01 -2.88309849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.812414037 meters 0.09149078200665503 Centerline is valid? [True, True] Translation: X:111.95, Y:-7.71, Z:-2.88 [[ 9.99959690e-01 -7.36519126e-03 5.13534850e-03 1.11952479e+02] [ 7.36737817e-03 9.99972778e-01 -4.07065544e-04 -7.70905702e+00] [-5.13221059e-03 4.44883189e-04 9.99986731e-01 -2.88493493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84241403699998 meters 0.08915120418090412 Centerline is valid? [True, True] Translation: X:111.98, Y:-7.71, Z:-2.89 [[ 9.99956717e-01 -7.79271513e-03 5.08312901e-03 1.11984541e+02] [ 7.79486647e-03 9.99969538e-01 -4.03556561e-04 -7.70597034e+00] [-5.07982937e-03 4.43161406e-04 9.99986999e-01 -2.88531858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87241403699998 meters 0.09385914967890069 Centerline is valid? [True, True] Translation: X:112.01, Y:-7.72, Z:-2.89 [[ 9.99955057e-01 -8.39183692e-03 4.41138982e-03 1.12014630e+02] [ 8.39346332e-03 9.99964713e-01 -3.50298778e-04 -7.71673936e+00] [-4.40829451e-03 3.87309874e-04 9.99990208e-01 -2.88945858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90241403699999 meters 0.09268743017004236 Centerline is valid? [True, True] Translation: X:112.05, Y:-7.71, Z:-2.89 [[ 9.99957709e-01 -8.89711385e-03 2.32854693e-03 1.12046703e+02] [ 8.89756729e-03 9.99960399e-01 -1.84447015e-04 -7.71334797e+00] [-2.32681367e-03 2.05157617e-04 9.99997272e-01 -2.89116892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93241403699999 meters 0.09090419199669479 Centerline is valid? [True, True] Translation: X:112.08, Y:-7.71, Z:-2.89 [[ 9.99964351e-01 -8.33708113e-03 1.33784484e-03 1.12079205e+02] [ 8.33722911e-03 9.99965239e-01 -1.05075401e-04 -7.70984299e+00] [-1.33692232e-03 1.16225574e-04 9.99999100e-01 -2.89190423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96241403699999 meters 0.09581550300434293 Centerline is valid? [True, True] Translation: X:112.11, Y:-7.72, Z:-2.90 [[ 9.99963992e-01 -8.05819842e-03 2.66094535e-03 1.12109824e+02] [ 8.05878788e-03 9.99967505e-01 -2.10876444e-04 -7.71878262e+00] [-2.65915960e-03 2.32312844e-04 9.99996437e-01 -2.89529544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99241403699999 meters 0.09526272103545633 Centerline is valid? [True, True] Translation: X:112.14, Y:-7.72, Z:-2.90 [[ 9.99967390e-01 -7.33816490e-03 3.37210428e-03 1.12142298e+02] [ 7.33910998e-03 9.99973032e-01 -2.67977147e-04 -7.72010789e+00] [-3.37004688e-03 2.92716652e-04 9.99994279e-01 -2.89571111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02241403699999 meters 0.08925924303877376 Centerline is valid? [True, True] Translation: X:112.17, Y:-7.71, Z:-2.89 [[ 9.99969909e-01 -6.00577601e-03 4.91043549e-03 1.12174300e+02] [ 6.00777241e-03 9.99981876e-01 -3.91914885e-04 -7.71083977e+00] [-4.90799275e-03 4.21403871e-04 9.99987867e-01 -2.89387656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05241403699999 meters 0.0942302520147612 Centerline is valid? [True, True] Translation: X:112.20, Y:-7.72, Z:-2.90 [[ 9.99982279e-01 -4.47914060e-03 3.92169121e-03 1.12203779e+02] [ 4.48040360e-03 9.99989914e-01 -3.13328290e-04 -7.72170640e+00] [-3.92024822e-03 3.30893497e-04 9.99992261e-01 -2.89779960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08241403699999 meters 0.09209218139334202 Centerline is valid? [True, True] Translation: X:112.24, Y:-7.72, Z:-2.90 [[ 9.99988552e-01 -2.78102029e-03 3.89392838e-03 1.12236072e+02] [ 2.78225026e-03 9.99996081e-01 -3.10487918e-04 -7.71838932e+00] [-3.89304965e-03 3.21318247e-04 9.99992370e-01 -2.89880562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.112414037 meters 0.0892444107768748 Centerline is valid? [True, True] Translation: X:112.27, Y:-7.71, Z:-2.90 [[ 9.99996337e-01 4.03358620e-04 2.67634568e-03 1.12267399e+02] [-4.02787574e-04 9.99999896e-01 -2.13903464e-04 -7.70988831e+00] [-2.67643168e-03 2.12824682e-04 9.99996396e-01 -2.89978876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.142414037 meters 0.09407385065222315 Centerline is valid? [True, True] Translation: X:112.30, Y:-7.72, Z:-2.90 [[ 9.99994536e-01 1.46603954e-03 2.96292091e-03 1.12296866e+02] [-1.46534404e-03 9.99998898e-01 -2.36891172e-04 -7.71953709e+00] [-2.96326493e-03 2.32548179e-04 9.99995582e-01 -2.90274438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.172414037 meters 0.08905439623928443 Centerline is valid? [True, True] Translation: X:112.33, Y:-7.71, Z:-2.90 [[ 9.99991086e-01 2.66691777e-03 3.27340437e-03 1.12328153e+02] [-2.66607495e-03 9.99996412e-01 -2.61809808e-04 -7.71057418e+00] [-3.27409085e-03 2.53080332e-04 9.99994608e-01 -2.90065049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20241403699998 meters 0.08787258271563088 Centerline is valid? [True, True] Translation: X:112.36, Y:-7.71, Z:-2.90 [[ 9.99989901e-01 3.59659613e-03 2.69480647e-03 1.12359439e+02] [-3.59602837e-03 9.99993511e-01 -2.15501305e-04 -7.70826820e+00] [-2.69556405e-03 2.05808528e-04 9.99996346e-01 -2.90266553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23241403699998 meters 0.0884962911985276 Centerline is valid? [True, True] Translation: X:112.39, Y:-7.71, Z:-2.90 [[ 9.99989656e-01 3.45250382e-03 2.96126788e-03 1.12388759e+02] [-3.45181250e-03 9.99994014e-01 -2.38532898e-04 -7.71027235e+00] [-2.96207369e-03 2.28308689e-04 9.99995587e-01 -2.90417427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26241403699999 meters 0.0890155867651673 Centerline is valid? [True, True] Translation: X:112.42, Y:-7.71, Z:-2.90 [[ 9.99989808e-01 3.27333450e-03 3.10948959e-03 1.12418058e+02] [-3.27257703e-03 9.99994614e-01 -2.48655927e-04 -7.71231311e+00] [-3.11028677e-03 2.38477348e-04 9.99995135e-01 -2.90499218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29241403699999 meters 0.08952317795366842 Centerline is valid? [True, True] Translation: X:112.45, Y:-7.71, Z:-2.91 [[ 9.99986930e-01 3.41210748e-03 3.80743558e-03 1.12448216e+02] [-3.41097111e-03 9.99994136e-01 -3.04914341e-04 -7.71297786e+00] [-3.80845365e-03 2.91923303e-04 9.99992705e-01 -2.90575226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32241403699999 meters 0.09061855101909543 Centerline is valid? [True, True] Translation: X:112.48, Y:-7.72, Z:-2.91 [[ 9.99983118e-01 4.66397997e-03 3.46557878e-03 1.12478179e+02] [-4.66304723e-03 9.99989090e-01 -2.77174976e-04 -7.71695827e+00] [-3.46683371e-03 2.61010140e-04 9.99993956e-01 -2.90891745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35241403699999 meters 0.08943365501007952 Centerline is valid? [True, True] Translation: X:112.51, Y:-7.72, Z:-2.91 [[ 9.99978058e-01 5.56353419e-03 3.59593299e-03 1.12507725e+02] [-5.56253162e-03 9.99984487e-01 -2.88746374e-04 -7.71628023e+00] [-3.59748366e-03 2.68737547e-04 9.99993493e-01 -2.91015335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38241403699999 meters 0.08894132728910181 Centerline is valid? [True, True] Translation: X:112.54, Y:-7.72, Z:-2.91 [[ 9.99964145e-01 7.09994050e-03 4.61517609e-03 1.12537530e+02] [-7.09830714e-03 9.99974738e-01 -3.70194458e-04 -7.71691106e+00] [-4.61768786e-03 3.37421247e-04 9.99989281e-01 -2.90983438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41241403699999 meters 0.08476153561226693 Centerline is valid? [True, True] Translation: X:112.57, Y:-7.71, Z:-2.91 [[ 9.99921611e-01 9.86496256e-03 7.71070043e-03 1.12569288e+02] [-9.86049518e-03 9.99951194e-01 -6.17176277e-04 -7.70821821e+00] [-7.71641252e-03 5.41096573e-04 9.99970082e-01 -2.90588281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44241403699999 meters 0.08378978449737622 Centerline is valid? [True, True] Translation: X:112.60, Y:-7.71, Z:-2.91 [[ 9.99913282e-01 1.03532623e-02 8.13870632e-03 1.12599370e+02] [-1.03482972e-02 9.99946242e-01 -6.51932801e-04 -7.70742961e+00] [-8.14501843e-03 5.67654515e-04 9.99966668e-01 -2.90512654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.472414037 meters 0.08330555846799978 Centerline is valid? [True, True] Translation: X:112.63, Y:-7.71, Z:-2.91 [[ 9.99886539e-01 1.34553814e-02 6.77216613e-03 1.12629117e+02] [-1.34520152e-02 9.99909370e-01 -5.42368049e-04 -7.70716072e+00] [-6.77885014e-03 4.51207230e-04 9.99976922e-01 -2.90569997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.502414037 meters 0.08208174221983726 Centerline is valid? [True, True] Translation: X:112.66, Y:-7.71, Z:-2.91 [[ 9.99867631e-01 1.53836412e-02 5.29759459e-03 1.12658762e+02] [-1.53816065e-02 9.99881606e-01 -4.24622404e-04 -7.70556988e+00] [-5.30349962e-03 3.43080682e-04 9.99985877e-01 -2.90639521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.532414037 meters 0.08358169181179467 Centerline is valid? [True, True] Translation: X:112.69, Y:-7.71, Z:-2.91 [[ 9.99849564e-01 1.69299827e-02 3.77148197e-03 1.12686557e+02] [-1.69289604e-02 9.99856649e-01 -3.02820916e-04 -7.71000046e+00] [-3.77606807e-03 2.38928092e-04 9.99992842e-01 -2.91030237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.562414037 meters 0.08157261885052765 Centerline is valid? [True, True] Translation: X:112.72, Y:-7.71, Z:-2.91 [[ 9.99793269e-01 2.02285431e-02 2.05563748e-03 1.12716806e+02] [-2.02282475e-02 9.99795375e-01 -1.64503548e-04 -7.70728997e+00] [-2.05854451e-03 1.22887596e-04 9.99997874e-01 -2.91376072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59241403699998 meters 0.07897171325333063 Centerline is valid? [True, True] Translation: X:112.75, Y:-7.70, Z:-2.91 [[ 9.99759878e-01 2.17092809e-02 2.98211514e-03 1.12745820e+02] [-2.17086626e-02 9.99764311e-01 -2.39568818e-04 -7.70333181e+00] [-2.98661315e-03 1.74773561e-04 9.99995525e-01 -2.91433141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62241403699998 meters 0.07888936243505387 Centerline is valid? [True, True] Translation: X:112.77, Y:-7.71, Z:-2.91 [[ 9.99724569e-01 2.31969695e-02 3.56180466e-03 1.12774623e+02] [-2.31960990e-02 9.99730894e-01 -2.85538296e-04 -7.70604284e+00] [-3.56746978e-03 2.02839677e-04 9.99993616e-01 -2.91483282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65241403699999 meters 0.08014934631197665 Centerline is valid? [True, True] Translation: X:112.80, Y:-7.71, Z:-2.92 [[ 9.99674943e-01 2.50227745e-02 4.88563573e-03 1.12802870e+02] [-2.50211649e-02 9.99686845e-01 -3.90319973e-04 -7.71204640e+00] [-4.89387266e-03 2.67948800e-04 9.99987989e-01 -2.91635094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68241403699999 meters 0.07811539286466737 Centerline is valid? [True, True] Translation: X:112.83, Y:-7.71, Z:-2.91 [[ 9.99531350e-01 2.94861959e-02 8.22469469e-03 1.12834092e+02] [-2.94818017e-02 9.99565103e-01 -6.55020404e-04 -7.71052948e+00] [-8.24043185e-03 4.12234610e-04 9.99965962e-01 -2.91347264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71241403699999 meters 0.07655180435700663 Centerline is valid? [True, True] Translation: X:112.86, Y:-7.71, Z:-2.91 [[ 9.99484501e-01 3.10824604e-02 8.03819940e-03 1.12863114e+02] [-3.10783070e-02 9.99516747e-01 -6.41124519e-04 -7.70867010e+00] [-8.05424264e-03 3.90980391e-04 9.99967488e-01 -2.91141128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74241403699999 meters 0.0755030264346992 Centerline is valid? [True, True] Translation: X:112.89, Y:-7.71, Z:-2.91 [[ 9.99434011e-01 3.26458981e-02 8.11808926e-03 1.12892068e+02] [-3.26417176e-02 9.99466908e-01 -6.46956097e-04 -7.70775642e+00] [-8.13488203e-03 3.81601550e-04 9.99966838e-01 -2.91083371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77241403699999 meters 0.07612455669183443 Centerline is valid? [True, True] Translation: X:112.92, Y:-7.71, Z:-2.91 [[ 9.99353047e-01 3.54124304e-02 6.28064597e-03 1.12919692e+02] [-3.54099811e-02 9.99372744e-01 -5.00789648e-04 -7.71364601e+00] [-6.29444058e-03 2.78068106e-04 9.99980151e-01 -2.91322833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80241403699999 meters 0.07518215463685235 Centerline is valid? [True, True] Translation: X:112.95, Y:-7.71, Z:-2.91 [[ 9.99340482e-01 3.59876195e-02 4.84679773e-03 1.12948098e+02] [-3.59861659e-02 9.99352213e-01 -3.86817419e-04 -7.71300086e+00] [-4.85757868e-03 2.12144639e-04 9.99988179e-01 -2.91340912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83241403699999 meters 0.07496971215957234 Centerline is valid? [True, True] Translation: X:112.98, Y:-7.71, Z:-2.91 [[ 9.99325969e-01 3.64913253e-02 3.99879115e-03 1.12976839e+02] [-3.64903425e-02 9.99333955e-01 -3.18477351e-04 -7.71446374e+00] [-4.00774943e-03 1.72345429e-04 9.99991954e-01 -2.91477733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.862414037 meters 0.07511256430125547 Centerline is valid? [True, True] Translation: X:113.01, Y:-7.72, Z:-2.92 [[ 9.99330227e-01 3.64615113e-02 3.10735864e-03 1.13005434e+02] [-3.64609172e-02 9.99335049e-01 -2.47646386e-04 -7.71720219e+00] [-3.11432196e-03 1.34183373e-04 9.99995141e-01 -2.91652763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.892414037 meters 0.07567271445858995 Centerline is valid? [True, True] Translation: X:113.03, Y:-7.72, Z:-2.92 [[ 9.99339678e-01 3.62110635e-02 2.99452116e-03 1.13033307e+02] [-3.62105100e-02 9.99344156e-01 -2.38875983e-04 -7.72255632e+00] [-3.00120718e-03 1.30285110e-04 9.99995488e-01 -2.91914101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.922414037 meters 0.07518747227702109 Centerline is valid? [True, True] Translation: X:113.06, Y:-7.73, Z:-2.92 [[ 9.99369364e-01 3.53241386e-02 3.61645712e-03 1.13062114e+02] [-3.53233293e-02 9.99375895e-01 -2.87419836e-04 -7.72582927e+00] [-3.62435293e-03 1.59493273e-04 9.99993419e-01 -2.91933650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95241403699998 meters 0.0756519826741014 Centerline is valid? [True, True] Translation: X:113.09, Y:-7.73, Z:-2.92 [[ 9.99431752e-01 3.33498334e-02 4.89517077e-03 1.13089931e+02] [-3.33483316e-02 9.99443714e-01 -3.88114719e-04 -7.73440512e+00] [-4.90539122e-03 2.24648396e-04 9.99987943e-01 -2.92144502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98241403699998 meters 0.07614049877667614 Centerline is valid? [True, True] Translation: X:113.12, Y:-7.74, Z:-2.92 [[ 9.99451250e-01 3.25464046e-02 6.15875373e-03 1.13117453e+02] [-3.25440106e-02 9.99470184e-01 -4.88552704e-04 -7.73970649e+00] [-6.17139136e-03 2.87854064e-04 9.99980915e-01 -2.92157307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01241403699999 meters 0.07679756394585292 Centerline is valid? [True, True] Translation: X:113.15, Y:-7.74, Z:-2.92 [[ 9.99472736e-01 3.16930406e-02 7.05697366e-03 1.13145257e+02] [-3.16898916e-02 9.99497594e-01 -5.57628032e-04 -7.74421306e+00] [-7.07110112e-03 3.33699285e-04 9.99974944e-01 -2.92073264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04241403699999 meters 0.07589539945526443 Centerline is valid? [True, True] Translation: X:113.17, Y:-7.74, Z:-2.92 [[ 9.99478424e-01 3.13214601e-02 7.86417307e-03 1.13172920e+02] [-3.13175428e-02 9.99509293e-01 -6.20804036e-04 -7.74408622e+00] [-7.87975855e-03 3.74193663e-04 9.99968884e-01 -2.91904762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07241403699999 meters 0.0762649889652754 Centerline is valid? [True, True] Translation: X:113.20, Y:-7.75, Z:-2.92 [[ 9.99483739e-01 3.13191992e-02 7.16681010e-03 1.13200230e+02] [-3.13159516e-02 9.99509376e-01 -5.64941110e-04 -7.74813917e+00] [-7.18098740e-03 3.40213975e-04 9.99974159e-01 -2.91956352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10241403699999 meters 0.07587127075087492 Centerline is valid? [True, True] Translation: X:113.23, Y:-7.75, Z:-2.92 [[ 9.99491215e-01 3.12194698e-02 6.53108516e-03 1.13228436e+02] [-3.12167730e-02 9.99512505e-01 -5.14483794e-04 -7.75013171e+00] [-6.54396320e-03 3.10342630e-04 9.99978540e-01 -2.92064639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13241403699999 meters 0.07595305984114424 Centerline is valid? [True, True] Translation: X:113.26, Y:-7.76, Z:-2.92 [[ 9.99486170e-01 3.11760911e-02 7.44624306e-03 1.13256446e+02] [-3.11725934e-02 9.99513845e-01 -5.85356336e-04 -7.75719592e+00] [-7.46087215e-03 3.52936855e-04 9.99972105e-01 -2.92226517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16241403699999 meters 0.07547760334593522 Centerline is valid? [True, True] Translation: X:113.28, Y:-7.76, Z:-2.92 [[ 9.99489299e-01 3.10061201e-02 7.73061283e-03 1.13284317e+02] [-3.10023450e-02 9.99519127e-01 -6.07710974e-04 -7.76037047e+00] [-7.74573815e-03 3.67733489e-04 9.99969934e-01 -2.92167252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19241403699999 meters 0.07572486023724598 Centerline is valid? [True, True] Translation: X:113.31, Y:-7.77, Z:-2.92 [[ 9.99459131e-01 3.17786297e-02 8.45961850e-03 1.13312393e+02] [-3.17741509e-02 9.99494854e-01 -6.63341581e-04 -7.76525792e+00] [-8.47642525e-03 3.94185605e-04 9.99963997e-01 -2.92108727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.222414037 meters 0.07572486023724598 Centerline is valid? [True, True] Translation: X:113.34, Y:-7.77, Z:-2.92 [[ 9.99462318e-01 3.16782056e-02 8.45962131e-03 1.13339787e+02] [-3.16737235e-02 9.99498042e-01 -6.63306760e-04 -7.76729336e+00] [-8.47638730e-03 3.95002405e-04 9.99963997e-01 -2.92176827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.252414037 meters 0.07532754021022801 Centerline is valid? [True, True] Translation: X:113.37, Y:-7.77, Z:-2.92 [[ 9.99419440e-01 3.29264547e-02 8.75393682e-03 1.13368613e+02] [-3.29217163e-02 9.99457699e-01 -6.84875621e-04 -7.76935395e+00] [-8.77174007e-03 3.96283385e-04 9.99961449e-01 -2.92188818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.282414037 meters 0.07525591969512335 Centerline is valid? [True, True] Translation: X:113.40, Y:-7.77, Z:-2.92 [[ 9.99373541e-01 3.46436382e-02 7.23491969e-03 1.13396285e+02] [-3.46404459e-02 9.99399679e-01 -5.66119354e-04 -7.77126130e+00] [-7.25018885e-03 3.15143859e-04 9.99973667e-01 -2.92294525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.312414037 meters 0.07462895380166036 Centerline is valid? [True, True] Translation: X:113.43, Y:-7.77, Z:-2.93 [[ 9.99300379e-01 3.70970902e-02 4.74965566e-03 1.13425318e+02] [-3.70957422e-02 9.99311647e-01 -3.71626187e-04 -7.77183639e+00] [-4.76017247e-03 1.95174188e-04 9.99988651e-01 -2.92501726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34241403699998 meters 0.07391646016301577 Centerline is valid? [True, True] Translation: X:113.45, Y:-7.77, Z:-2.93 [[ 9.99198262e-01 3.99133534e-02 3.12370610e-03 1.13453951e+02] [-3.99127828e-02 9.99203137e-01 -2.44788508e-04 -7.77210953e+00] [-3.13098727e-03 1.19916448e-04 9.99995091e-01 -2.92728561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37241403699998 meters 0.07394341879261133 Centerline is valid? [True, True] Translation: X:113.48, Y:-7.78, Z:-2.93 [[ 9.99074028e-01 4.29889026e-02 1.74394548e-03 1.13481198e+02] [-4.29887277e-02 9.99075548e-01 -1.37663873e-04 -7.77687654e+00] [-1.74825130e-03 6.25664029e-05 9.99998470e-01 -2.93076008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40241403699999 meters 0.07264073362414172 Centerline is valid? [True, True] Translation: X:113.51, Y:-7.78, Z:-2.93 [[ 9.98760275e-01 4.97537700e-02 1.57350877e-03 1.13511071e+02] [-4.97536377e-02 9.98761513e-01 -1.23106053e-04 -7.77592009e+00] [-1.57768500e-03 4.46656502e-05 9.99998754e-01 -2.92965681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43241403699999 meters 0.07231938388956939 Centerline is valid? [True, True] Translation: X:113.54, Y:-7.78, Z:-2.93 [[ 9.98552756e-01 5.37031981e-02 2.89138833e-03 1.13540052e+02] [-5.37027704e-02 9.98556940e-01 -2.25415474e-04 -7.77790246e+00] [-2.89932142e-03 6.98136788e-05 9.99995795e-01 -2.93122592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46241403699999 meters 0.07185530441127519 Centerline is valid? [True, True] Translation: X:113.57, Y:-7.78, Z:-2.93 [[ 9.98464357e-01 5.53360953e-02 2.61631330e-03 1.13569438e+02] [-5.53357401e-02 9.98467782e-01 -2.08019312e-04 -7.77803500e+00] [-2.62381551e-03 6.29242358e-05 9.99996556e-01 -2.92898104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49241403699999 meters 0.07185161078746644 Centerline is valid? [True, True] Translation: X:113.60, Y:-7.78, Z:-2.93 [[ 9.98375368e-01 5.68340801e-02 4.06339706e-03 1.13597301e+02] [-5.68332502e-02 9.98383633e-01 -3.19528170e-04 -7.78305136e+00] [-4.07498921e-03 8.80729926e-05 9.99991693e-01 -2.93009958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52241403699999 meters 0.07173886555033354 Centerline is valid? [True, True] Translation: X:113.63, Y:-7.79, Z:-2.93 [[ 9.98387182e-01 5.66217353e-02 4.12468910e-03 1.13625161e+02] [-5.66208794e-02 9.98395699e-01 -3.24082929e-04 -7.78967868e+00] [-4.13642199e-03 9.00167183e-05 9.99991441e-01 -2.92922156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55241403699999 meters 0.07228438328687445 Centerline is valid? [True, True] Translation: X:113.65, Y:-7.80, Z:-2.93 [[ 9.98461761e-01 5.53093243e-02 3.87183735e-03 1.13652194e+02] [-5.53085745e-02 9.98469264e-01 -3.00556794e-04 -7.79895409e+00] [-3.88253418e-03 8.59486610e-05 9.99992459e-01 -2.93215300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58241403699999 meters 0.07252870860964683 Centerline is valid? [True, True] Translation: X:113.68, Y:-7.81, Z:-2.93 [[ 9.98605180e-01 5.27457056e-02 2.36339137e-03 1.13681188e+02] [-5.27454217e-02 9.98607975e-01 -1.82322484e-04 -7.80651999e+00] [-2.36971820e-03 5.74101017e-05 9.99997191e-01 -2.93275321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.612414037 meters 0.07278024359997459 Centerline is valid? [True, True] Translation: X:113.71, Y:-7.81, Z:-2.93 [[ 9.98703627e-01 5.08479553e-02 2.35607847e-03 1.13709544e+02] [-5.08476576e-02 9.98706404e-01 -1.86125102e-04 -7.81323908e+00] [-2.36249474e-03 6.60827429e-05 9.99997207e-01 -2.93400885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.642414037 meters 0.0728066090184704 Centerline is valid? [True, True] Translation: X:113.74, Y:-7.82, Z:-2.93 [[ 9.98887223e-01 4.71537271e-02 9.17544769e-04 1.13738163e+02] [-4.71536813e-02 9.98887644e-01 -7.14589987e-05 -7.82041934e+00] [-9.19893691e-04 2.81138671e-05 9.99999577e-01 -2.93274305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.672414037 meters 0.0728989158409537 Centerline is valid? [True, True] Translation: X:113.77, Y:-7.82, Z:-2.93 [[ 9.98957432e-01 4.56415313e-02 9.48622416e-04 1.13766345e+02] [-4.56414775e-02 9.98957882e-01 -7.82880450e-05 -7.82496115e+00] [-9.51207026e-04 3.49098957e-05 9.99999547e-01 -2.93260306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70241403699998 meters 0.0735797959424753 Centerline is valid? [True, True] Translation: X:113.79, Y:-7.83, Z:-2.94 [[ 9.99007059e-01 4.45448291e-02 8.08300655e-04 1.13793557e+02] [-4.45447922e-02 9.99007386e-01 -6.36850514e-05 -7.83327135e+00] [-8.10335164e-04 2.76162313e-05 9.99999671e-01 -2.93502754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73241403699998 meters 0.07361471068593833 Centerline is valid? [True, True] Translation: X:113.82, Y:-7.84, Z:-2.93 [[ 9.99082287e-01 4.28300963e-02 4.07081963e-04 1.13821769e+02] [-4.28300849e-02 9.99082370e-01 -3.67090527e-05 -7.83873562e+00] [-4.08280665e-04 1.92400093e-05 9.99999916e-01 -2.93464570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76241403699999 meters 0.07530355790029915 Centerline is valid? [True, True] Translation: X:113.85, Y:-7.86, Z:-2.94 [[ 9.99207413e-01 3.97817319e-02 1.39963667e-03 1.13849492e+02] [-3.97816204e-02 9.99208392e-01 -1.07471521e-04 -7.85518461e+00] [-1.40280411e-03 5.17065257e-05 9.99999015e-01 -2.93870828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79241403699999 meters 0.07469574849186449 Centerline is valid? [True, True] Translation: X:113.88, Y:-7.86, Z:-2.94 [[ 9.99295363e-01 3.75097825e-02 1.33941990e-03 1.13879256e+02] [-3.75096788e-02 9.99296259e-01 -1.02458029e-04 -7.85855658e+00] [-1.34232047e-03 5.21446232e-05 9.99999098e-01 -2.93624971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82241403699999 meters 0.07482233212096136 Centerline is valid? [True, True] Translation: X:113.91, Y:-7.86, Z:-2.94 [[ 9.99342021e-01 3.62148941e-02 2.00147155e-03 1.13907428e+02] [-3.62146594e-02 9.99344022e-01 -1.53386609e-04 -7.86400591e+00] [-2.00571351e-03 8.08030731e-05 9.99997985e-01 -2.93523628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85241403699999 meters 0.07472867829400341 Centerline is valid? [True, True] Translation: X:113.94, Y:-7.87, Z:-2.93 [[ 9.99382495e-01 3.50081857e-02 3.00926684e-03 1.13935933e+02] [-3.50076529e-02 9.99387018e-01 -2.29585309e-04 -7.86768495e+00] [-3.01545958e-03 1.24096170e-04 9.99995446e-01 -2.93458790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88241403699999 meters 0.07546846685287457 Centerline is valid? [True, True] Translation: X:113.96, Y:-7.88, Z:-2.94 [[ 9.99440408e-01 3.34438822e-02 6.15254963e-04 1.13963764e+02] [-3.34438589e-02 9.99440597e-01 -4.82155848e-05 -7.87543679e+00] [-6.16523304e-04 2.76121036e-05 9.99999810e-01 -2.93660837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91241403699999 meters 0.07554574536301345 Centerline is valid? [True, True] Translation: X:113.99, Y:-7.88, Z:-2.94 [[ 9.99454384e-01 3.30251237e-02 -5.25399902e-04 1.13992134e+02] [-3.30251082e-02 9.99454522e-01 3.80691254e-05 -7.88058163e+00] [ 5.26370545e-04 -2.06969657e-05 9.99999861e-01 -2.93801898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94241403699999 meters 0.07559621957616541 Centerline is valid? [True, True] Translation: X:114.02, Y:-7.89, Z:-2.94 [[ 9.99451945e-01 3.31029878e-02 3.20607250e-05 1.14020253e+02] [-3.31029877e-02 9.99451946e-01 -4.07940146e-06 -7.88566797e+00] [-3.21781944e-05 3.01585995e-06 9.99999999e-01 -2.93895587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.972414037 meters 0.0752861905984291 Centerline is valid? [True, True] Translation: X:114.05, Y:-7.89, Z:-2.94 [[ 9.99429853e-01 3.37610244e-02 4.03905269e-04 1.14048433e+02] [-3.37610141e-02 9.99429934e-01 -3.21497417e-05 -7.89158758e+00] [-4.04760425e-04 1.84951601e-05 9.99999918e-01 -2.93947637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.002414037 meters 0.07587501908072503 Centerline is valid? [True, True] Translation: X:114.08, Y:-7.90, Z:-2.94 [[ 9.99406620e-01 3.44217366e-02 1.24581110e-03 1.14075587e+02] [-3.44216436e-02 9.99407395e-01 -9.59843549e-05 -7.89728111e+00] [-1.24837677e-03 5.30445340e-05 9.99999219e-01 -2.93996861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.032414037 meters 0.07501277971094104 Centerline is valid? [True, True] Translation: X:114.11, Y:-7.90, Z:-2.94 [[ 9.99375910e-01 3.52510963e-02 2.26946611e-03 1.14105014e+02] [-3.52507960e-02 9.99378483e-01 -1.72207666e-04 -7.89761624e+00] [-2.27412611e-03 9.20997062e-05 9.99997410e-01 -2.93773235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.062414037 meters 0.07500123998966285 Centerline is valid? [True, True] Translation: X:114.13, Y:-7.90, Z:-2.94 [[ 9.99366600e-01 3.54695114e-02 2.88329117e-03 1.14133600e+02] [-3.54690279e-02 9.99370752e-01 -2.18666946e-04 -7.90168446e+00] [-2.88923288e-03 1.16260908e-04 9.99995819e-01 -2.93796202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09241403699998 meters 0.0754627200946405 Centerline is valid? [True, True] Translation: X:114.16, Y:-7.91, Z:-2.94 [[ 9.99466003e-01 3.26699716e-02 6.18576588e-04 1.14163606e+02] [-3.26699491e-02 9.99466194e-01 -4.65587453e-05 -7.91166488e+00] [-6.19767461e-04 2.63250174e-05 9.99999808e-01 -2.94011911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12241403699998 meters 0.07663031401275532 Centerline is valid? [True, True] Translation: X:114.19, Y:-7.92, Z:-2.94 [[ 9.99541467e-01 3.02760777e-02 -4.64193448e-04 1.14191844e+02] [-3.02760653e-02 9.99541574e-01 3.36650654e-05 -7.92087454e+00] [ 4.64999896e-04 -1.95956777e-05 9.99999892e-01 -2.94268198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15241403699999 meters 0.07585789004810871 Centerline is valid? [True, True] Translation: X:114.22, Y:-7.92, Z:-2.94 [[ 9.99592563e-01 2.85426006e-02 1.64646256e-04 1.14220464e+02] [-2.85425987e-02 9.99592577e-01 -1.40729939e-05 -7.92385190e+00] [-1.64980855e-04 9.36782802e-06 9.99999986e-01 -2.94151735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18241403699999 meters 0.0777183647696224 Centerline is valid? [True, True] Translation: X:114.25, Y:-7.93, Z:-2.94 [[ 9.99645530e-01 2.66088000e-02 8.86954246e-04 1.14247316e+02] [-2.66087487e-02 9.99645922e-01 -6.96092945e-05 -7.93425322e+00] [-8.88492415e-04 4.59838774e-05 9.99999604e-01 -2.94461433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21241403699999 meters 0.07906785450001202 Centerline is valid? [True, True] Translation: X:114.28, Y:-7.94, Z:-2.95 [[ 9.99732454e-01 2.31246191e-02 5.22738330e-04 1.14275746e+02] [-2.31246013e-02 9.99732590e-01 -4.00007123e-05 -7.94411051e+00] [-5.23523546e-04 2.79018948e-05 9.99999863e-01 -2.94605708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24241403699999 meters 0.07727042048113104 Centerline is valid? [True, True] Translation: X:114.31, Y:-7.94, Z:-2.94 [[ 9.99767024e-01 2.15841889e-02 1.40625526e-04 1.14306032e+02] [-2.15841875e-02 9.99767034e-01 -1.13894351e-05 -7.94223900e+00] [-1.40838597e-04 8.35149397e-06 9.99999990e-01 -2.94427973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27241403699999 meters 0.07846589185985602 Centerline is valid? [True, True] Translation: X:114.33, Y:-7.95, Z:-2.95 [[ 9.99793867e-01 2.03032600e-02 4.45207925e-05 1.14333054e+02] [-2.03032598e-02 9.99793868e-01 -5.43767855e-06 -7.95054079e+00] [-4.46220180e-05 4.53264044e-06 9.99999999e-01 -2.94731952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30241403699999 meters 0.07935543434456514 Centerline is valid? [True, True] Translation: X:114.36, Y:-7.96, Z:-2.95 [[ 9.99869274e-01 1.61288575e-02 -1.13794246e-03 1.14363302e+02] [-1.61287711e-02 9.99869919e-01 8.50816743e-05 -7.95973601e+00] [ 1.13916671e-03 -6.67169384e-05 9.99999349e-01 -2.94937654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33241403699999 meters 0.08051330892413464 Centerline is valid? [True, True] Translation: X:114.39, Y:-7.97, Z:-2.95 [[ 9.99893726e-01 1.45618034e-02 -7.00079718e-04 1.14390405e+02] [-1.45617717e-02 9.99893971e-01 5.02839803e-05 -7.96746248e+00] [ 7.00737715e-04 -4.00842354e-05 9.99999754e-01 -2.95146880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.362414037 meters 0.08017457077196863 Centerline is valid? [True, True] Translation: X:114.42, Y:-7.97, Z:-2.95 [[ 9.99922524e-01 1.24268481e-02 -7.20135893e-04 1.14419767e+02] [-1.24268135e-02 9.99922783e-01 5.25608678e-05 -7.96964754e+00] [ 7.20733452e-04 -4.36078012e-05 9.99999739e-01 -2.95044240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.392414037 meters 0.08184131586768278 Centerline is valid? [True, True] Translation: X:114.45, Y:-7.98, Z:-2.95 [[ 9.99943886e-01 1.05751011e-02 6.25962203e-04 1.14448071e+02] [-1.05750729e-02 9.99944081e-01 -4.82704264e-05 -7.97625384e+00] [-6.26437665e-04 4.16481218e-05 9.99999803e-01 -2.95150112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.422414037 meters 0.08166778567065221 Centerline is valid? [True, True] Translation: X:114.48, Y:-7.98, Z:-2.95 [[ 9.99965406e-01 8.28473179e-03 -7.41312862e-04 1.14477798e+02] [-8.28469334e-03 9.99965680e-01 5.49277314e-05 -7.97851736e+00] [ 7.41742482e-04 -4.87842815e-05 9.99999724e-01 -2.94968688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45241403699998 meters 0.08222469416034343 Centerline is valid? [True, True] Translation: X:114.51, Y:-7.98, Z:-2.95 [[ 9.99973968e-01 7.16518283e-03 -8.50344981e-04 1.14507483e+02] [-7.16513215e-03 9.99974328e-01 6.26290498e-05 -7.98319508e+00] [ 8.50771900e-04 -5.65345853e-05 9.99999636e-01 -2.95250574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48241403699998 meters 0.0830401250986414 Centerline is valid? [True, True] Translation: X:114.54, Y:-7.99, Z:-2.95 [[ 9.99980915e-01 5.44420113e-03 -2.92070907e-03 1.14537401e+02] [-5.44358903e-03 9.99985160e-01 2.17483580e-04 -7.98791679e+00] [ 2.92184975e-03 -2.01580289e-04 9.99995711e-01 -2.95479255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51241403699999 meters 0.08104236119240237 Centerline is valid? [True, True] Translation: X:114.57, Y:-7.99, Z:-2.95 [[ 9.99987205e-01 4.11211447e-03 -2.94640702e-03 1.14566841e+02] [-4.11148883e-03 9.99991524e-01 2.18365214e-04 -7.98604045e+00] [ 2.94727999e-03 -2.06248300e-04 9.99995635e-01 -2.95373098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54241403699999 meters 0.08309459770496877 Centerline is valid? [True, True] Translation: X:114.60, Y:-7.99, Z:-2.96 [[ 9.99995334e-01 1.79127703e-03 -2.47466166e-03 1.14595073e+02] [-1.79082943e-03 9.99998380e-01 1.83078393e-04 -7.99287344e+00] [ 2.47498560e-03 -1.78645842e-04 9.99996921e-01 -2.95584070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57241403699999 meters 0.08499339680841468 Centerline is valid? [True, True] Translation: X:114.62, Y:-8.00, Z:-2.96 [[ 9.99994891e-01 7.60032842e-04 -3.10477653e-03 1.14622676e+02] [-7.59320717e-04 9.99999685e-01 2.30536536e-04 -7.99899361e+00] [ 3.10495077e-03 -2.28177837e-04 9.99995154e-01 -2.95857290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60241403699999 meters 0.08472468541982903 Centerline is valid? [True, True] Translation: X:114.65, Y:-8.00, Z:-2.96 [[ 9.99985125e-01 -9.51736823e-04 -5.37063245e-03 1.14653213e+02] [ 9.53898537e-04 9.99999465e-01 3.99959205e-04 -8.00041286e+00] [ 5.37024893e-03 -4.05076294e-04 9.99985498e-01 -2.96236979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63241403699999 meters 0.08274867051315095 Centerline is valid? [True, True] Translation: X:114.68, Y:-8.00, Z:-2.96 [[ 9.99988162e-01 -1.61479592e-03 -4.59005841e-03 1.14681891e+02] [ 1.61637246e-03 9.99998636e-01 3.39779614e-04 -7.99799364e+00] [ 4.58950347e-03 -3.47194836e-04 9.99989408e-01 -2.96112803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66241403699999 meters 0.08593251255388755 Centerline is valid? [True, True] Translation: X:114.71, Y:-8.01, Z:-2.96 [[ 9.99994523e-01 -2.18421208e-03 -2.48643714e-03 1.14709934e+02] [ 2.18467526e-03 9.99997597e-01 1.83580669e-04 -8.00699572e+00] [ 2.48603019e-03 -1.89011722e-04 9.99996892e-01 -2.96265643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69241403699999 meters 0.0840392121237627 Centerline is valid? [True, True] Translation: X:114.74, Y:-8.00, Z:-2.96 [[ 9.99998377e-01 -1.66733346e-03 6.82237548e-04 1.14740868e+02] [ 1.66736845e-03 9.99998609e-01 -5.07239886e-05 -8.00386957e+00] [-6.82152025e-04 5.18614476e-05 9.99999766e-01 -2.95910296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.722414037 meters 0.08418540122572045 Centerline is valid? [True, True] Translation: X:114.77, Y:-8.01, Z:-2.96 [[ 9.99999210e-01 -1.00864087e-03 7.49928145e-04 1.14772516e+02] [ 1.00868236e-03 9.99999490e-01 -5.49483808e-05 -8.00554567e+00] [-7.49872339e-04 5.57047767e-05 9.99999717e-01 -2.95956842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.752414037 meters 0.08257559991046613 Centerline is valid? [True, True] Translation: X:114.80, Y:-8.00, Z:-2.96 [[ 9.99999665e-01 -7.95729572e-04 -1.93294633e-04 1.14803929e+02] [ 7.95732533e-04 9.99999683e-01 1.52410920e-05 -8.00167206e+00] [ 1.93282444e-04 -1.53948977e-05 9.99999981e-01 -2.95884337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.782414037 meters 0.0834017403406214 Centerline is valid? [True, True] Translation: X:114.83, Y:-8.00, Z:-2.96 [[ 9.99992763e-01 6.88040804e-04 -3.74179817e-03 1.14834318e+02] [-6.86997338e-04 9.99999725e-01 2.80145544e-04 -8.00130660e+00] [ 3.74198989e-03 -2.77572911e-04 9.99992960e-01 -2.96252206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.812414037 meters 0.08410787276377826 Centerline is valid? [True, True] Translation: X:114.86, Y:-8.00, Z:-2.97 [[ 9.99980702e-01 1.03032790e-03 -6.12658525e-03 1.14862368e+02] [-1.02756130e-03 9.99999369e-01 4.54702365e-04 -8.00197976e+00] [ 6.12704987e-03 -4.48398148e-04 9.99981129e-01 -2.96572830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84241403699998 meters 0.08429675926326122 Centerline is valid? [True, True] Translation: X:114.89, Y:-8.00, Z:-2.97 [[ 9.99964676e-01 4.26789088e-04 -8.39433899e-03 1.14892393e+02] [-4.21568834e-04 9.99999717e-01 6.23637588e-04 -8.00156983e+00] [ 8.39460277e-03 -6.20076767e-04 9.99964572e-01 -2.96737710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87241403699998 meters 0.08431386696784299 Centerline is valid? [True, True] Translation: X:114.92, Y:-8.00, Z:-2.97 [[ 9.99974061e-01 8.92088558e-04 -7.14710196e-03 1.14921867e+02] [-8.88360936e-04 9.99999468e-01 5.24714831e-04 -7.99968280e+00] [ 7.14756625e-03 -5.18352014e-04 9.99974321e-01 -2.96878658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90241403699999 meters 0.08455447701667067 Centerline is valid? [True, True] Translation: X:114.95, Y:-8.00, Z:-2.97 [[ 9.99977479e-01 1.54541317e-03 -6.53097896e-03 1.14951255e+02] [-1.54232647e-03 9.99998697e-01 4.77633697e-04 -7.99985752e+00] [ 6.53170858e-03 -4.67550039e-04 9.99978559e-01 -2.96951433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93241403699999 meters 0.08457420315043396 Centerline is valid? [True, True] Translation: X:114.98, Y:-8.00, Z:-2.97 [[ 9.99973161e-01 1.96653273e-03 -7.05765069e-03 1.14980155e+02] [-1.96291255e-03 9.99997938e-01 5.19834101e-04 -7.99899655e+00] [ 7.05865841e-03 -5.05966598e-04 9.99974959e-01 -2.97161270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96241403699999 meters 0.08510082153141638 Centerline is valid? [True, True] Translation: X:115.01, Y:-8.00, Z:-2.97 [[ 9.99961297e-01 2.00685542e-03 -8.56599322e-03 1.15008806e+02] [-2.00152568e-03 9.99997798e-01 6.30724352e-04 -7.99909361e+00] [ 8.56724013e-03 -6.13554886e-04 9.99963112e-01 -2.97431233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99241403699999 meters 0.08663183621486759 Centerline is valid? [True, True] Translation: X:115.04, Y:-8.00, Z:-2.97 [[ 9.99988473e-01 7.12554569e-04 -4.74835981e-03 1.15036925e+02] [-7.10909585e-04 9.99999687e-01 3.48111017e-04 -8.00003249e+00] [ 4.74860637e-03 -3.44731350e-04 9.99988666e-01 -2.97404918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02241403699999 meters 0.08647885542745272 Centerline is valid? [True, True] Translation: X:115.07, Y:-8.00, Z:-2.97 [[ 9.99998624e-01 1.54356265e-04 -1.65152185e-03 1.15065894e+02] [-1.54158176e-04 9.99999981e-01 1.20069590e-04 -7.99854173e+00] [ 1.65154036e-03 -1.19814829e-04 9.99998629e-01 -2.97110822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05241403699999 meters 0.08291371281234765 Centerline is valid? [True, True] Translation: X:115.10, Y:-7.99, Z:-2.97 [[ 9.99999670e-01 -1.10332419e-04 8.04536213e-04 1.15096920e+02] [ 1.10380802e-04 9.99999992e-01 -6.00931093e-05 -7.98817093e+00] [-8.04529576e-04 6.01818948e-05 9.99999675e-01 -2.96605999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08241403699999 meters 0.0838401223428784 Centerline is valid? [True, True] Translation: X:115.13, Y:-7.99, Z:-2.97 [[ 9.99996116e-01 -1.44911791e-03 -2.38085734e-03 1.15127145e+02] [ 1.44954422e-03 9.99998934e-01 1.77342713e-04 -7.98555593e+00] [ 2.38059781e-03 -1.80793182e-04 9.99997150e-01 -2.96691339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.112414037 meters 0.08975222218834253 Centerline is valid? [True, True] Translation: X:115.16, Y:-8.00, Z:-2.97 [[ 9.99989352e-01 -2.94131004e-03 -3.55601112e-03 1.15155792e+02] [ 2.94225899e-03 9.99995637e-01 2.61656701e-04 -7.99837096e+00] [ 3.55522599e-03 -2.72116620e-04 9.99993643e-01 -2.97430801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.142414037 meters 0.08975222218834253 Centerline is valid? [True, True] Translation: X:115.19, Y:-8.00, Z:-2.98 [[ 9.99989352e-01 -2.94132029e-03 -3.55598071e-03 1.15185801e+02] [ 2.94227070e-03 9.99995637e-01 2.62069326e-04 -8.00058280e+00] [ 3.55519436e-03 -2.72529194e-04 9.99993643e-01 -2.97505326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.172414037 meters 0.08541271896735585 Centerline is valid? [True, True] Translation: X:115.22, Y:-7.99, Z:-2.97 [[ 9.99977440e-01 -4.56922294e-03 -4.92365089e-03 1.15216857e+02] [ 4.57106218e-03 9.99989487e-01 3.62364645e-04 -7.99240948e+00] [ 4.92194341e-03 -3.84862784e-04 9.99987813e-01 -2.97373455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20241403699998 meters 0.09158944085947548 Centerline is valid? [True, True] Translation: X:115.24, Y:-8.01, Z:-2.98 [[ 9.99964325e-01 -6.38833703e-03 -5.52602667e-03 1.15244612e+02] [ 6.39067845e-03 9.99979497e-01 4.06152086e-04 -8.00601446e+00] [ 5.52331873e-03 -4.41452656e-04 9.99984649e-01 -2.97954786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23241403699998 meters 0.08659659960680692 Centerline is valid? [True, True] Translation: X:115.28, Y:-7.99, Z:-2.98 [[ 9.99934447e-01 -6.85902403e-03 -9.16814980e-03 1.15275952e+02] [ 6.86549608e-03 9.99976205e-01 6.74641030e-04 -7.99077539e+00] [ 9.16330426e-03 -7.37540702e-04 9.99957744e-01 -2.97978690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26241403699999 meters 0.09370463629185599 Centerline is valid? [True, True] Translation: X:115.30, Y:-8.00, Z:-2.99 [[ 9.99932106e-01 -6.22884210e-03 -9.84811875e-03 1.15303177e+02] [ 6.23626311e-03 9.99980293e-01 7.23016718e-04 -8.00352674e+00] [ 9.84342112e-03 -7.84383089e-04 9.99951245e-01 -2.98874449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29241403699999 meters 0.08668543124575961 Centerline is valid? [True, True] Translation: X:115.33, Y:-7.99, Z:-2.98 [[ 9.99932182e-01 -6.43056477e-03 -9.70972839e-03 1.15333490e+02] [ 6.43772334e-03 9.99979028e-01 7.06182756e-04 -7.98747146e+00] [ 9.70498361e-03 -7.68643409e-04 9.99952610e-01 -2.98299914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32241403699999 meters 0.08615228944282194 Centerline is valid? [True, True] Translation: X:115.36, Y:-7.98, Z:-2.98 [[ 9.99944146e-01 -7.09303412e-03 -7.83544014e-03 1.15362127e+02] [ 7.09769210e-03 9.99974650e-01 5.66828548e-04 -7.98495170e+00] [ 7.83122098e-03 -6.22410430e-04 9.99969142e-01 -2.98197471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35241403699999 meters 0.08717580859820222 Centerline is valid? [True, True] Translation: X:115.39, Y:-7.99, Z:-2.98 [[ 9.99960713e-01 -8.59536258e-03 -2.16593767e-03 1.15392326e+02] [ 8.59572453e-03 9.99963044e-01 1.57859488e-04 -7.98521581e+00] [ 2.16450076e-03 -1.76471090e-04 9.99997642e-01 -2.98002654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38241403699999 meters 0.08841839107910351 Centerline is valid? [True, True] Translation: X:115.42, Y:-7.99, Z:-2.98 [[ 9.99947436e-01 -1.02408936e-02 -4.98770210e-04 1.15422926e+02] [ 1.02409146e-02 9.99947560e-01 3.94502354e-05 -7.98926921e+00] [ 4.98340048e-04 -4.45560249e-05 9.99999875e-01 -2.98076840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41241403699999 meters 0.0899473520089654 Centerline is valid? [True, True] Translation: X:115.45, Y:-7.99, Z:-2.98 [[ 9.99928669e-01 -1.19417719e-02 -2.24687207e-04 1.15453511e+02] [ 1.19417760e-02 9.99928694e-01 1.68663751e-05 -7.99343764e+00] [ 2.24469771e-04 -1.95483363e-05 9.99999975e-01 -2.98038428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44241403699999 meters 0.09142210599004552 Centerline is valid? [True, True] Translation: X:115.48, Y:-7.99, Z:-2.98 [[ 9.99897337e-01 -1.41731190e-02 2.10684921e-03 1.15483615e+02] [ 1.41734714e-02 9.99899540e-01 -1.52451664e-04 -7.99233058e+00] [-2.10447684e-03 1.82297380e-04 9.99997769e-01 -2.97775700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.472414037 meters 0.09306861177921862 Centerline is valid? [True, True] Translation: X:115.52, Y:-7.99, Z:-2.98 [[ 9.99891128e-01 -1.46238293e-02 1.96892383e-03 1.15515126e+02] [ 1.46241393e-02 9.99893051e-01 -1.43159314e-04 -7.99444465e+00] [-1.96661972e-03 1.71937545e-04 9.99998051e-01 -2.97839308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.502414037 meters 0.09283051282702817 Centerline is valid? [True, True] Translation: X:115.55, Y:-7.99, Z:-2.98 [[ 9.99888895e-01 -1.48977438e-02 5.05240293e-04 1.15547249e+02] [ 1.48977636e-02 9.99889022e-01 -3.54319160e-05 -7.99381457e+00] [-5.04656367e-04 4.29549298e-05 9.99999872e-01 -2.98046424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.532414037 meters 0.09190840583058013 Centerline is valid? [True, True] Translation: X:115.58, Y:-7.99, Z:-2.98 [[ 9.99894456e-01 -1.45227954e-02 -4.05343172e-04 1.15580571e+02] [ 1.45228097e-02 9.99894538e-01 3.23267705e-05 -7.99282745e+00] [ 4.04830948e-04 -3.82100804e-05 9.99999917e-01 -2.98201206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.562414037 meters 0.09119837816462364 Centerline is valid? [True, True] Translation: X:115.61, Y:-7.99, Z:-2.98 [[ 9.99911441e-01 -1.33040256e-02 -3.36494409e-04 1.15611934e+02] [ 1.33040350e-02 9.99911497e-01 2.55945703e-05 -7.98922212e+00] [ 3.36124117e-04 -3.00690371e-05 9.99999943e-01 -2.98317855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59241403699998 meters 0.09049119779340915 Centerline is valid? [True, True] Translation: X:115.64, Y:-7.99, Z:-2.99 [[ 9.99926104e-01 -1.20795314e-02 -1.36809581e-03 1.15643994e+02] [ 1.20796827e-02 9.99927033e-01 1.02409044e-04 -7.98827230e+00] [ 1.36675893e-03 -1.18927640e-04 9.99999059e-01 -2.98584515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62241403699998 meters 0.08964175526290852 Centerline is valid? [True, True] Translation: X:115.68, Y:-7.99, Z:-2.99 [[ 9.99941076e-01 -1.06308542e-02 -2.19771023e-03 1.15675490e+02] [ 1.06312374e-02 9.99943474e-01 1.62719634e-04 -7.98749759e+00] [ 2.19585615e-03 -1.86074425e-04 9.99997572e-01 -2.98865201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65241403699999 meters 0.09071494240374013 Centerline is valid? [True, True] Translation: X:115.71, Y:-7.99, Z:-2.99 [[ 9.99954887e-01 -9.22963347e-03 -2.24450279e-03 1.15705962e+02] [ 9.23002969e-03 9.99957389e-01 1.66236949e-04 -7.99019233e+00] [ 2.24287284e-03 -1.86946277e-04 9.99997467e-01 -2.99052880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68241403699999 meters 0.08817185790510995 Centerline is valid? [True, True] Translation: X:115.74, Y:-7.98, Z:-2.99 [[ 9.99966789e-01 -7.93887447e-03 -1.84253966e-03 1.15738213e+02] [ 7.93914057e-03 9.99968475e-01 1.37152299e-04 -7.98461126e+00] [ 1.84139274e-03 -1.51775925e-04 9.99998293e-01 -2.98912656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71241403699999 meters 0.08553027607438006 Centerline is valid? [True, True] Translation: X:115.77, Y:-7.97, Z:-2.99 [[ 9.99993589e-01 -3.53820862e-03 5.49655774e-04 1.15769492e+02] [ 3.53823145e-03 9.99993740e-01 -4.05712323e-05 -7.97447992e+00] [-5.49508783e-04 4.25157815e-05 9.99999848e-01 -2.98579461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74241403699999 meters 0.08682594617647507 Centerline is valid? [True, True] Translation: X:115.80, Y:-7.98, Z:-2.99 [[ 9.99998415e-01 -1.58510577e-03 8.11395726e-04 1.15799702e+02] [ 1.58515450e-03 9.99998742e-01 -5.94197421e-05 -7.97773655e+00] [-8.11300518e-04 6.07058355e-05 9.99999669e-01 -2.98821837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77241403699999 meters 0.08625317392751744 Centerline is valid? [True, True] Translation: X:115.83, Y:-7.98, Z:-2.99 [[ 9.99998809e-01 -3.54081110e-04 1.50235147e-03 1.15831109e+02] [ 3.54246794e-04 9.99999931e-01 -1.10018542e-04 -7.97796072e+00] [-1.50231241e-03 1.10550614e-04 9.99998865e-01 -2.98889060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80241403699999 meters 0.08635847615264729 Centerline is valid? [True, True] Translation: X:115.86, Y:-7.98, Z:-2.99 [[ 9.99998683e-01 -1.93978226e-04 1.61142983e-03 1.15862729e+02] [ 1.94168829e-04 9.99999974e-01 -1.18126008e-04 -7.97993489e+00] [-1.61140687e-03 1.18438742e-04 9.99998695e-01 -2.99004211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83241403699999 meters 0.08506359503516231 Centerline is valid? [True, True] Translation: X:115.89, Y:-7.98, Z:-2.99 [[ 9.99997104e-01 -1.23081948e-03 2.06803137e-03 1.15894680e+02] [ 1.23113618e-03 9.99999231e-01 -1.51878674e-04 -7.97827787e+00] [-2.06784285e-03 1.54424262e-04 9.99997850e-01 -2.99031991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.862414037 meters 0.08803204150578074 Centerline is valid? [True, True] Translation: X:115.93, Y:-7.99, Z:-2.99 [[ 9.99999169e-01 -1.11793087e-03 6.42461125e-04 1.15925060e+02] [ 1.11796078e-03 9.99999374e-01 -4.61960921e-05 -7.98503560e+00] [-6.42409079e-04 4.69143001e-05 9.99999793e-01 -2.99350513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.892414037 meters 0.0879980310107298 Centerline is valid? [True, True] Translation: X:115.96, Y:-7.98, Z:-3.00 [[ 9.99999905e-01 4.06537135e-04 -1.58582744e-04 1.15955371e+02] [-4.06534985e-04 9.99999917e-01 1.35874424e-05 -7.98495932e+00] [ 1.58588255e-04 -1.35229717e-05 9.99999987e-01 -2.99526683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.922414037 meters 0.08577018487871713 Centerline is valid? [True, True] Translation: X:115.99, Y:-7.98, Z:-3.00 [[ 9.99995474e-01 2.44359295e-03 -1.75502591e-03 1.15986111e+02] [-2.44337119e-03 9.99997007e-01 1.28492097e-04 -7.97935274e+00] [ 1.75533464e-03 -1.24203336e-04 9.99998452e-01 -2.99533773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95241403699998 meters 0.08480470498223894 Centerline is valid? [True, True] Translation: X:116.02, Y:-7.97, Z:-3.00 [[ 9.99975093e-01 6.59496975e-03 -2.51378244e-03 1.16016090e+02] [-6.59452464e-03 9.99978239e-01 1.85314862e-04 -7.97485815e+00] [ 2.51494988e-03 -1.68733046e-04 9.99996823e-01 -2.99851562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98241403699998 meters 0.08417124611222093 Centerline is valid? [True, True] Translation: X:116.05, Y:-7.98, Z:-3.00 [[ 9.99965471e-01 8.13697279e-03 -1.68723708e-03 1.16045524e+02] [-8.13677538e-03 9.99966888e-01 1.23834170e-04 -7.97506147e+00] [ 1.68818885e-03 -1.10101225e-04 9.99998569e-01 -2.99884134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01241403699999 meters 0.08040855071114747 Centerline is valid? [True, True] Translation: X:116.08, Y:-7.97, Z:-3.00 [[ 9.99935087e-01 1.13928548e-02 -1.57944275e-04 1.16076073e+02] [-1.13928532e-02 9.99935099e-01 1.11401694e-05 -7.96855327e+00] [ 1.58060943e-04 -9.34001030e-06 9.99999987e-01 -2.99654871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04241403699999 meters 0.07969425239744662 Centerline is valid? [True, True] Translation: X:116.11, Y:-7.97, Z:-3.00 [[ 9.99921240e-01 1.25294210e-02 7.26593541e-04 1.16105629e+02] [-1.25293835e-02 9.99921503e-01 -5.62343668e-05 -7.96776513e+00] [-7.27241089e-04 4.71261687e-05 9.99999734e-01 -2.99573872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07241403699999 meters 0.07946535467490383 Centerline is valid? [True, True] Translation: X:116.14, Y:-7.97, Z:-3.00 [[ 9.99909759e-01 1.33633397e-02 1.37647756e-03 1.16135080e+02] [-1.33632109e-02 9.99910703e-01 -1.02727884e-04 -7.96766669e+00] [-1.37772744e-03 8.43244534e-05 9.99999047e-01 -2.99532615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10241403699999 meters 0.0790193542939826 Centerline is valid? [True, True] Translation: X:116.16, Y:-7.97, Z:-2.99 [[ 9.99897591e-01 1.42032224e-02 1.75386161e-03 1.16164157e+02] [-1.42030146e-02 9.99899124e-01 -1.30847716e-04 -7.96765814e+00] [-1.75554315e-03 1.05924194e-04 9.99998453e-01 -2.99435900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13241403699999 meters 0.08226457203185929 Centerline is valid? [True, True] Translation: X:116.19, Y:-7.98, Z:-3.00 [[ 9.99903217e-01 1.37149935e-02 2.33551832e-03 1.16191330e+02] [-1.37146246e-02 9.99905935e-01 -1.73888757e-04 -7.97630605e+00] [-2.33768351e-03 1.41841170e-04 9.99997258e-01 -2.99696625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16241403699999 meters 0.08031560791279 Centerline is valid? [True, True] Translation: X:116.22, Y:-7.97, Z:-2.99 [[ 9.99915249e-01 1.28507964e-02 2.08603710e-03 1.16220495e+02] [-1.28505010e-02 9.99917417e-01 -1.54945105e-04 -7.97306734e+00] [-2.08785600e-03 1.28125352e-04 9.99997812e-01 -2.99475438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19241403699999 meters 0.07959394317857821 Centerline is valid? [True, True] Translation: X:116.25, Y:-7.97, Z:-3.00 [[ 9.99913937e-01 1.29540194e-02 2.07674680e-03 1.16249465e+02] [-1.29537271e-02 9.99916085e-01 -1.54143562e-04 -7.97388623e+00] [-2.07856930e-03 1.27228685e-04 9.99997832e-01 -2.99513571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.222414037 meters 0.0818894820237853 Centerline is valid? [True, True] Translation: X:116.28, Y:-7.98, Z:-3.00 [[ 9.99919082e-01 1.27211799e-02 4.34683560e-05 1.16276690e+02] [-1.27211796e-02 9.99919083e-01 -5.29285775e-06 -7.98130531e+00] [-4.35321701e-05 4.73946069e-06 9.99999999e-01 -2.99945100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.252414037 meters 0.08176514637255396 Centerline is valid? [True, True] Translation: X:116.31, Y:-7.98, Z:-3.00 [[ 9.99908139e-01 1.35470607e-02 4.36205559e-04 1.16305811e+02] [-1.35470475e-02 9.99908234e-01 -3.31799553e-05 -7.98298706e+00] [-4.36615021e-04 2.72676099e-05 9.99999904e-01 -3.00007087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.282414037 meters 0.08039922992465078 Centerline is valid? [True, True] Translation: X:116.33, Y:-7.98, Z:-3.00 [[ 9.99893375e-01 1.45725627e-02 9.37615750e-04 1.16334813e+02] [-1.45725032e-02 9.99893813e-01 -7.03066507e-05 -7.98124039e+00] [-9.38540735e-04 5.66357458e-05 9.99999558e-01 -2.99917040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.312414037 meters 0.07835960095174456 Centerline is valid? [True, True] Translation: X:116.37, Y:-7.98, Z:-3.00 [[ 9.99854861e-01 1.70224667e-02 7.02236396e-04 1.16365235e+02] [-1.70224339e-02 9.99855106e-01 -5.25495330e-05 -7.97851892e+00] [-7.03029169e-04 4.05881333e-05 9.99999752e-01 -2.99841804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34241403699998 meters 0.07906484224497386 Centerline is valid? [True, True] Translation: X:116.39, Y:-7.98, Z:-3.00 [[ 9.99842505e-01 1.77456186e-02 2.41562252e-04 1.16392458e+02] [-1.77456143e-02 9.99842534e-01 -1.97756622e-05 -7.98289339e+00] [-2.41875146e-04 1.54858771e-05 9.99999971e-01 -3.00061599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37241403699998 meters 0.07866057684479724 Centerline is valid? [True, True] Translation: X:116.42, Y:-7.98, Z:-3.00 [[ 9.99837061e-01 1.80406241e-02 6.23072502e-04 1.16421376e+02] [-1.80405982e-02 9.99837254e-01 -4.71620178e-05 -7.98399796e+00] [-6.23821932e-04 3.59137326e-05 9.99999805e-01 -3.00030915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40241403699999 meters 0.0784774174567989 Centerline is valid? [True, True] Translation: X:116.45, Y:-7.99, Z:-3.00 [[ 9.99831705e-01 1.83238765e-02 -8.92897121e-04 1.16450471e+02] [-1.83238271e-02 9.99832103e-01 6.34464568e-05 -7.98544865e+00] [ 8.93909791e-04 -4.70744865e-05 9.99999599e-01 -3.00051325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43241403699999 meters 0.07893482915392624 Centerline is valid? [True, True] Translation: X:116.48, Y:-7.99, Z:-3.00 [[ 9.99828332e-01 1.84863557e-02 -1.24959830e-03 1.16478100e+02] [-1.84862590e-02 9.99829111e-01 8.89611540e-05 -7.98951996e+00] [ 1.25102933e-03 -6.58454844e-05 9.99999215e-01 -3.00342046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46241403699999 meters 0.07936078081746989 Centerline is valid? [True, True] Translation: X:116.51, Y:-7.99, Z:-3.01 [[ 9.99835073e-01 1.80055423e-02 -2.37207580e-03 1.16506449e+02] [-1.80051871e-02 9.99837879e-01 1.70998340e-04 -7.99369401e+00] [ 2.37477015e-03 -1.28260469e-04 9.99997172e-01 -3.00606689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49241403699999 meters 0.08058670998718313 Centerline is valid? [True, True] Translation: X:116.53, Y:-8.00, Z:-3.01 [[ 9.99853674e-01 1.68821264e-02 -2.76110377e-03 1.16533384e+02] [-1.68816431e-02 9.99857475e-01 1.98234553e-04 -8.00071569e+00] [ 2.76405686e-03 -1.51593578e-04 9.99996168e-01 -3.00835647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52241403699999 meters 0.08078286206295546 Centerline is valid? [True, True] Translation: X:116.56, Y:-8.00, Z:-3.01 [[ 9.99853899e-01 1.69818523e-02 -1.94852498e-03 1.16562463e+02] [-1.69816118e-02 9.99855792e-01 1.39887360e-04 -8.00292048e+00] [ 1.95061954e-03 -1.06777827e-04 9.99998092e-01 -3.00880957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55241403699999 meters 0.07963955200975217 Centerline is valid? [True, True] Translation: X:116.59, Y:-8.00, Z:-3.01 [[ 9.99829048e-01 1.84898250e-02 3.92484451e-05 1.16592984e+02] [-1.84898249e-02 9.99829049e-01 -3.25811628e-06 -8.00203946e+00] [-3.93019776e-05 2.53186242e-06 9.99999999e-01 -3.00788748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58241403699999 meters 0.07736118073005785 Centerline is valid? [True, True] Translation: X:116.62, Y:-8.00, Z:-3.01 [[ 9.99791311e-01 2.04061329e-02 -9.61666345e-04 1.16621927e+02] [-2.04060769e-02 9.99791772e-01 6.80536325e-05 -7.99733503e+00] [ 9.62854810e-04 -4.84155930e-05 9.99999535e-01 -3.00580733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.612414037 meters 0.07638089347429834 Centerline is valid? [True, True] Translation: X:116.65, Y:-8.00, Z:-3.01 [[ 9.99673711e-01 2.55266882e-02 9.27442015e-04 1.16651269e+02] [-2.55266363e-02 9.99674140e-01 -6.77482350e-05 -7.99756216e+00] [-9.28869187e-04 4.40516545e-05 9.99999568e-01 -3.00532396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.642414037 meters 0.07559533689791863 Centerline is valid? [True, True] Translation: X:116.68, Y:-8.00, Z:-3.01 [[ 9.99585810e-01 2.86471436e-02 2.74754280e-03 1.16680948e+02] [-2.86467020e-02 9.99589579e-01 -1.99962865e-04 -7.99873607e+00] [-2.75214351e-03 1.21172003e-04 9.99996206e-01 -3.00553780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.672414037 meters 0.07417247805199255 Centerline is valid? [True, True] Translation: X:116.71, Y:-8.00, Z:-3.00 [[ 9.99511206e-01 3.10174771e-02 3.90703197e-03 1.16711117e+02] [-3.10166039e-02 9.99518829e-01 -2.83891365e-04 -7.99612144e+00] [-3.91395761e-03 1.62569737e-04 9.99992327e-01 -3.00289049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70241403699998 meters 0.07416768482723864 Centerline is valid? [True, True] Translation: X:116.74, Y:-8.00, Z:-3.00 [[ 9.99406497e-01 3.41288402e-02 4.67716036e-03 1.16740027e+02] [-3.41276245e-02 9.99417425e-01 -3.39514255e-04 -7.99774307e+00] [-4.68602280e-03 1.79692380e-04 9.99989004e-01 -3.00368645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73241403699998 meters 0.07278757545989603 Centerline is valid? [True, True] Translation: X:116.77, Y:-8.00, Z:-3.00 [[ 9.99248356e-01 3.85781444e-02 3.80118181e-03 1.16770304e+02] [-3.85773748e-02 9.99255578e-01 -2.75596553e-04 -7.99529756e+00] [-3.80898413e-03 1.28749787e-04 9.99992738e-01 -3.00219808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76241403699999 meters 0.07304771964997898 Centerline is valid? [True, True] Translation: X:116.80, Y:-8.00, Z:-3.01 [[ 9.99178419e-01 4.04664347e-02 2.22611854e-03 1.16798214e+02] [-4.04661718e-02 9.99180896e-01 -1.63027049e-04 -7.99875126e+00] [-2.23089224e-03 7.28106142e-05 9.99997509e-01 -3.00612996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79241403699999 meters 0.07287583576413706 Centerline is valid? [True, True] Translation: X:116.83, Y:-8.00, Z:-3.01 [[ 9.99141806e-01 4.14204244e-02 -1.15158161e-05 1.16826508e+02] [-4.14204245e-02 9.99141806e-01 -4.98157513e-06 -8.00133020e+00] [ 1.12995943e-05 5.45428997e-06 1.00000000e+00 -3.00836757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82241403699999 meters 0.0734927985538026 Centerline is valid? [True, True] Translation: X:116.85, Y:-8.01, Z:-3.01 [[ 9.99094365e-01 4.24823662e-02 -2.38719403e-03 1.16854005e+02] [-4.24820817e-02 9.99097214e-01 1.69812262e-04 -8.00981196e+00] [ 2.39225293e-03 -6.82455027e-05 9.99997136e-01 -3.01475986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85241403699999 meters 0.07330720363175079 Centerline is valid? [True, True] Translation: X:116.88, Y:-8.01, Z:-3.01 [[ 9.99070131e-01 4.30485272e-02 -2.38705721e-03 1.16882691e+02] [-4.30482541e-02 9.99072981e-01 1.65669005e-04 -8.01362273e+00] [ 2.39197617e-03 -6.27563088e-05 9.99997137e-01 -3.01477416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88241403699999 meters 0.07295637061411561 Centerline is valid? [True, True] Translation: X:116.91, Y:-8.02, Z:-3.01 [[ 9.99072506e-01 4.30411960e-02 -1.25844161e-03 1.16911566e+02] [-4.30411239e-02 9.99073298e-01 8.43276353e-05 -8.01597026e+00] [ 1.26090497e-03 -3.00846806e-05 9.99999205e-01 -3.01343311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91241403699999 meters 0.0729407403505163 Centerline is valid? [True, True] Translation: X:116.94, Y:-8.02, Z:-3.01 [[ 9.99072446e-01 4.30609745e-02 2.76056131e-06 1.16939057e+02] [-4.30609745e-02 9.99072446e-01 -3.16051974e-06 -8.02013040e+00] [-2.89409585e-06 3.03871573e-06 1.00000000e+00 -3.01105156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94241403699999 meters 0.07243817854522526 Centerline is valid? [True, True] Translation: X:116.97, Y:-8.02, Z:-3.01 [[ 9.99101471e-01 4.23769325e-02 6.68307076e-04 1.16967072e+02] [-4.23769057e-02 9.99101694e-01 -5.42209825e-05 -8.02119079e+00] [-6.70004451e-04 2.58514774e-05 9.99999775e-01 -3.00848724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.972414037 meters 0.07339584882820148 Centerline is valid? [True, True] Translation: X:116.99, Y:-8.03, Z:-3.01 [[ 9.99151809e-01 4.11783167e-02 -9.60723797e-05 1.16994531e+02] [-4.11783164e-02 9.99151813e-01 4.76495919e-06 -8.03083907e+00] [ 9.61871053e-05 -8.04818748e-07 9.99999995e-01 -3.01230684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.002414037 meters 0.07339376032446954 Centerline is valid? [True, True] Translation: X:117.02, Y:-8.04, Z:-3.01 [[ 9.99214132e-01 3.96232430e-02 -1.05682394e-03 1.17023055e+02] [-3.96231921e-02 9.99214691e-01 6.91084180e-05 -8.03558087e+00] [ 1.05873231e-03 -2.71793698e-05 9.99999439e-01 -3.01295520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.032414037 meters 0.07339376032446954 Centerline is valid? [True, True] Translation: X:117.05, Y:-8.04, Z:-3.01 [[ 9.99224565e-01 3.93592764e-02 -1.05690000e-03 1.17050360e+02] [-3.93592264e-02 9.99225123e-01 6.80218098e-05 -8.03741064e+00] [ 1.05875832e-03 -2.63702967e-05 9.99999439e-01 -3.01363567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.062414037 meters 0.07417829422019244 Centerline is valid? [True, True] Translation: X:117.08, Y:-8.05, Z:-3.02 [[ 9.99286396e-01 3.76414733e-02 -3.13344308e-03 1.17079095e+02] [-3.76409677e-02 9.99291303e-01 2.20174604e-04 -8.04847993e+00] [ 3.13951012e-03 -1.02071657e-04 9.99995067e-01 -3.01805407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09241403699998 meters 0.07406266517693541 Centerline is valid? [True, True] Translation: X:117.11, Y:-8.05, Z:-3.02 [[ 9.99311496e-01 3.69871848e-02 -2.91252753e-03 1.17107534e+02] [-3.69867485e-02 9.99315735e-01 2.03557059e-04 -8.05206175e+00] [ 2.91806359e-03 -9.56919859e-05 9.99995738e-01 -3.01826472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12241403699998 meters 0.07416973195846577 Centerline is valid? [True, True] Translation: X:117.13, Y:-8.06, Z:-3.02 [[ 9.99298640e-01 3.71700162e-02 -4.54064289e-03 1.17134954e+02] [-3.71689569e-02 9.99308945e-01 3.17501443e-04 -8.05534231e+00] [ 4.54930660e-03 -1.48507801e-04 9.99989641e-01 -3.01910390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15241403699999 meters 0.07372895523252225 Centerline is valid? [True, True] Translation: X:117.16, Y:-8.06, Z:-3.02 [[ 9.99272778e-01 3.79614638e-02 -3.58350967e-03 1.17164171e+02] [-3.79608253e-02 9.99279198e-01 2.46051485e-04 -8.05667396e+00] [ 3.59026715e-03 -1.09839567e-04 9.99993549e-01 -3.01853149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18241403699999 meters 0.07389009226061083 Centerline is valid? [True, True] Translation: X:117.19, Y:-8.06, Z:-3.02 [[ 9.99231584e-01 3.91343199e-02 -2.17878604e-03 1.17191739e+02] [-3.91340844e-02 9.99233957e-01 1.50636110e-04 -8.06170368e+00] [ 2.18301204e-03 -6.52555623e-05 9.99997615e-01 -3.01791652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21241403699999 meters 0.07356982239107734 Centerline is valid? [True, True] Translation: X:117.22, Y:-8.07, Z:-3.02 [[ 9.99246922e-01 3.87889959e-02 -1.00130762e-03 1.17220864e+02] [-3.87889483e-02 9.99247423e-01 6.69055637e-05 -8.06547531e+00] [ 1.00314926e-03 -2.80155089e-05 9.99999496e-01 -3.01640864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24241403699999 meters 0.07361877413896349 Centerline is valid? [True, True] Translation: X:117.25, Y:-8.07, Z:-3.02 [[ 9.99278375e-01 3.79819521e-02 3.15762276e-04 1.17249107e+02] [-3.79819465e-02 9.99278425e-01 -2.37401280e-05 -8.07130437e+00] [-3.16436126e-04 1.17297306e-05 9.99999950e-01 -3.01689156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27241403699999 meters 0.07466244795417319 Centerline is valid? [True, True] Translation: X:117.28, Y:-8.08, Z:-3.02 [[ 9.99337715e-01 3.63746809e-02 1.00685276e-03 1.17276121e+02] [-3.63746264e-02 9.99338222e-01 -7.23535313e-05 -8.08199290e+00] [-1.00881829e-03 3.56817195e-05 9.99999491e-01 -3.01916943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30241403699999 meters 0.07431489799160332 Centerline is valid? [True, True] Translation: X:117.30, Y:-8.09, Z:-3.02 [[ 9.99396292e-01 3.46965214e-02 1.78960177e-03 1.17304414e+02] [-3.46963506e-02 9.99397892e-01 -1.26430870e-04 -8.08525580e+00] [-1.79291095e-03 6.42618922e-05 9.99998391e-01 -3.01673805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33241403699999 meters 0.07427655972543465 Centerline is valid? [True, True] Translation: X:117.33, Y:-8.09, Z:-3.02 [[ 9.99444373e-01 3.33049592e-02 -1.31340920e-03 1.17334174e+02] [-3.33048687e-02 9.99445235e-01 9.07125108e-05 -8.08895973e+00] [ 1.31570174e-03 -4.69191876e-05 9.99999133e-01 -3.01623244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.362414037 meters 0.07463728601294074 Centerline is valid? [True, True] Translation: X:117.36, Y:-8.09, Z:-3.02 [[ 9.99453937e-01 3.28492889e-02 -3.57098779e-03 1.17362267e+02] [-3.28486218e-02 9.99460308e-01 2.45318263e-04 -8.09250969e+00] [ 3.57711909e-03 -1.27882276e-04 9.99993594e-01 -3.01841816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.392414037 meters 0.07472751763321796 Centerline is valid? [True, True] Translation: X:117.39, Y:-8.10, Z:-3.02 [[ 9.99459982e-01 3.25240343e-02 -4.68316805e-03 1.17390984e+02] [-3.25228735e-02 9.99470939e-01 3.23832875e-04 -8.09672468e+00] [ 4.69122272e-03 -1.71347918e-04 9.99988981e-01 -3.02002309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.422414037 meters 0.07525059913850832 Centerline is valid? [True, True] Translation: X:117.42, Y:-8.10, Z:-3.02 [[ 9.99483601e-01 3.17515066e-02 -4.93694675e-03 1.17418868e+02] [-3.17502107e-02 9.99495777e-01 3.40659928e-04 -8.10326993e+00] [ 4.94527390e-03 -1.83734912e-04 9.99987755e-01 -3.02219590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45241403699998 meters 0.07535394894018765 Centerline is valid? [True, True] Translation: X:117.45, Y:-8.11, Z:-3.02 [[ 9.99536061e-01 3.03705529e-02 -2.30044054e-03 1.17447049e+02] [-3.03702699e-02 9.99538704e-01 1.57880489e-04 -8.11265028e+00] [ 2.30417427e-03 -8.79422423e-05 9.99997342e-01 -3.02119447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48241403699998 meters 0.07528724193283455 Centerline is valid? [True, True] Translation: X:117.48, Y:-8.12, Z:-3.02 [[ 9.99568897e-01 2.92678632e-02 -2.32645778e-03 1.17475277e+02] [-2.92675711e-02 9.99571600e-01 1.59517458e-04 -8.11696542e+00] [ 2.33012986e-03 -9.13589211e-05 9.99997281e-01 -3.02048914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51241403699999 meters 0.07541412505409846 Centerline is valid? [True, True] Translation: X:117.50, Y:-8.12, Z:-3.02 [[ 9.99580313e-01 2.88096438e-02 -3.03358729e-03 1.17503054e+02] [-2.88091489e-02 9.99584909e-01 2.06720769e-04 -8.12084401e+00] [ 3.03828362e-03 -1.19238943e-04 9.99995377e-01 -3.02067816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54241403699999 meters 0.07551233090368568 Centerline is valid? [True, True] Translation: X:117.53, Y:-8.12, Z:-3.02 [[ 9.99582910e-01 2.86038430e-02 -3.97819046e-03 1.17531789e+02] [-2.86029818e-02 9.99590814e-01 2.73206788e-04 -8.12355295e+00] [ 3.98437741e-03 -1.59304727e-04 9.99992050e-01 -3.02020109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57241403699999 meters 0.0767982670883022 Centerline is valid? [True, True] Translation: X:117.56, Y:-8.13, Z:-3.02 [[ 9.99605822e-01 2.76307885e-02 -4.97403953e-03 1.17559025e+02] [-2.76294322e-02 9.99618176e-01 3.41199458e-04 -8.13155581e+00] [ 4.98156793e-03 -2.03635077e-04 9.99987571e-01 -3.02377902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60241403699999 meters 0.07802262709472535 Centerline is valid? [True, True] Translation: X:117.59, Y:-8.14, Z:-3.03 [[ 9.99638257e-01 2.63661484e-02 -5.30861304e-03 1.17586094e+02] [-2.63645929e-02 9.99652328e-01 3.62803350e-04 -8.14361616e+00] [ 5.31633311e-03 -2.22712687e-04 9.99985843e-01 -3.02788214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63241403699999 meters 0.0779286943976917 Centerline is valid? [True, True] Translation: X:117.61, Y:-8.15, Z:-3.03 [[ 9.99637081e-01 2.64588827e-02 -5.06299863e-03 1.17614642e+02] [-2.64574644e-02 9.99649880e-01 3.46916178e-04 -8.14964471e+00] [ 5.07040499e-03 -2.12836169e-04 9.99987123e-01 -3.02910313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66241403699999 meters 0.07649886198441296 Centerline is valid? [True, True] Translation: X:117.64, Y:-8.15, Z:-3.03 [[ 9.99642901e-01 2.59078213e-02 -6.54644888e-03 1.17643340e+02] [-2.59054388e-02 9.99664297e-01 4.48480187e-04 -8.14953616e+00] [ 6.55587037e-03 -2.78731403e-04 9.99978471e-01 -3.02727667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69241403699999 meters 0.07846361398062067 Centerline is valid? [True, True] Translation: X:117.67, Y:-8.16, Z:-3.03 [[ 9.99639674e-01 2.59705536e-02 -6.78627053e-03 1.17669142e+02] [-2.59680221e-02 9.99662668e-01 4.60901401e-04 -8.15960177e+00] [ 6.79595117e-03 -2.84509303e-04 9.99976867e-01 -3.03193279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.722414037 meters 0.07654089790908661 Centerline is valid? [True, True] Translation: X:117.70, Y:-8.15, Z:-3.03 [[ 9.99639754e-01 2.60360049e-02 -6.51833797e-03 1.17698557e+02] [-2.60336561e-02 9.99660968e-01 4.44945797e-04 -8.15489420e+00] [ 6.52771266e-03 -2.75089338e-04 9.99978656e-01 -3.02627052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.752414037 meters 0.07699806597763151 Centerline is valid? [True, True] Translation: X:117.73, Y:-8.16, Z:-3.03 [[ 9.99664553e-01 2.50027988e-02 -6.75591880e-03 1.17725788e+02] [-2.50002581e-02 9.99687339e-01 4.60270231e-04 -8.16108111e+00] [ 6.76531453e-03 -2.91216120e-04 9.99977073e-01 -3.02774530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.782414037 meters 0.0775956209489988 Centerline is valid? [True, True] Translation: X:117.75, Y:-8.17, Z:-3.03 [[ 9.99682948e-01 2.38242119e-02 -8.14927119e-03 1.17754281e+02] [-2.38204692e-02 9.99716098e-01 5.56041590e-04 -8.16791934e+00] [ 8.16020484e-03 -3.61745832e-04 9.99966640e-01 -3.03115740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.812414037 meters 0.07841654152401287 Centerline is valid? [True, True] Translation: X:117.78, Y:-8.17, Z:-3.03 [[ 9.99714663e-01 2.18601073e-02 -9.62951172e-03 1.17783244e+02] [-2.18547928e-02 9.99760940e-01 6.56794219e-04 -8.17421084e+00] [ 9.64156728e-03 -4.46155828e-04 9.99953419e-01 -3.03407470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84241403699998 meters 0.07881786205099996 Centerline is valid? [True, True] Translation: X:117.81, Y:-8.18, Z:-3.04 [[ 9.99758202e-01 1.98521143e-02 -9.45681884e-03 1.17812535e+02] [-1.98468984e-02 9.99802823e-01 6.45082982e-04 -8.17889212e+00] [ 9.46776043e-03 -4.57238479e-04 9.99955075e-01 -3.03523543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87241403699998 meters 0.07963431170815333 Centerline is valid? [True, True] Translation: X:117.84, Y:-8.18, Z:-3.04 [[ 9.99830255e-01 1.63530710e-02 -8.48758739e-03 1.17841677e+02] [-1.63487514e-02 9.99866183e-01 5.78075328e-04 -8.18446333e+00] [ 8.49590491e-03 -4.39215746e-04 9.99963813e-01 -3.03523986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90241403699999 meters 0.07882428759664362 Centerline is valid? [True, True] Translation: X:117.87, Y:-8.18, Z:-3.03 [[ 9.99851871e-01 1.50656933e-02 -8.32236608e-03 1.17870204e+02] [-1.50615090e-02 9.99886409e-01 5.65232818e-04 -8.18429388e+00] [ 8.32993637e-03 -4.39801699e-04 9.99965209e-01 -3.03221486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93241403699999 meters 0.07854580894271153 Centerline is valid? [True, True] Translation: X:117.90, Y:-8.19, Z:-3.03 [[ 9.99866402e-01 1.43525594e-02 -7.82194702e-03 1.17898772e+02] [-1.43488433e-02 9.99896909e-01 5.30996094e-04 -8.18575199e+00] [ 7.82876180e-03 -4.18689262e-04 9.99969267e-01 -3.03185375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96241403699999 meters 0.07811578963223893 Centerline is valid? [True, True] Translation: X:117.93, Y:-8.19, Z:-3.03 [[ 9.99858648e-01 1.51702857e-02 -7.24885657e-03 1.17927200e+02] [-1.51671203e-02 9.99884852e-01 4.91456054e-04 -8.18667501e+00] [ 7.25547741e-03 -3.81442306e-04 9.99973606e-01 -3.03182170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99241403699999 meters 0.07945289185906573 Centerline is valid? [True, True] Translation: X:117.95, Y:-8.19, Z:-3.04 [[ 9.99852059e-01 1.58528279e-02 -6.67439389e-03 1.17954302e+02] [-1.58501732e-02 9.99874277e-01 4.50457884e-04 -8.19311183e+00] [ 6.68069579e-03 -3.44600943e-04 9.99977625e-01 -3.03583854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02241403699999 meters 0.07804134175836858 Centerline is valid? [True, True] Translation: X:117.98, Y:-8.19, Z:-3.03 [[ 9.99838773e-01 1.64822190e-02 -7.12496088e-03 1.17983810e+02] [-1.64792034e-02 9.99864093e-01 4.81742413e-04 -8.19118648e+00] [ 7.13193273e-03 -3.64251064e-04 9.99974501e-01 -3.03379863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05241403699999 meters 0.07790811869206515 Centerline is valid? [True, True] Translation: X:118.01, Y:-8.19, Z:-3.03 [[ 9.99835226e-01 1.72617671e-02 -5.61720928e-03 1.18011197e+02] [-1.72599120e-02 9.99850965e-01 3.78570094e-04 -8.19327460e+00] [ 5.62290691e-03 -2.81555177e-04 9.99984152e-01 -3.03351383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08241403699999 meters 0.07681426501227442 Centerline is valid? [True, True] Translation: X:118.04, Y:-8.19, Z:-3.03 [[ 9.99791803e-01 1.99330080e-02 -4.36181880e-03 1.18041400e+02] [-1.99319099e-02 9.99801296e-01 2.95080237e-04 -8.19247352e+00] [ 4.36683393e-03 -2.08079423e-04 9.99990444e-01 -3.03189453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.112414037 meters 0.07621209146982985 Centerline is valid? [True, True] Translation: X:118.07, Y:-8.19, Z:-3.03 [[ 9.99756173e-01 2.15069894e-02 -5.00443771e-03 1.18070110e+02] [-2.15055714e-02 9.99768672e-01 3.36996673e-04 -8.19249049e+00] [ 5.01052783e-03 -2.29291212e-04 9.99987421e-01 -3.03198678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.142414037 meters 0.07676022855903368 Centerline is valid? [True, True] Translation: X:118.10, Y:-8.20, Z:-3.03 [[ 9.99708991e-01 2.33184503e-02 -6.17919575e-03 1.18097500e+02] [-2.33163332e-02 9.99728051e-01 4.14439231e-04 -8.19614803e+00] [ 6.18717941e-03 -2.70242438e-04 9.99980823e-01 -3.03499195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.172414037 meters 0.0758872283938369 Centerline is valid? [True, True] Translation: X:118.13, Y:-8.19, Z:-3.03 [[ 9.99652586e-01 2.55373158e-02 -6.52323992e-03 1.18126836e+02] [-2.55349932e-02 9.99673832e-01 4.39105770e-04 -8.19488925e+00] [ 6.53232584e-03 -2.72382331e-04 9.99978627e-01 -3.03453553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20241403699998 meters 0.0757014625323658 Centerline is valid? [True, True] Translation: X:118.16, Y:-8.20, Z:-3.04 [[ 9.99620500e-01 2.69451174e-02 -5.72859907e-03 1.18155732e+02] [-2.69433547e-02 9.99636888e-01 3.84677898e-04 -8.19594240e+00] [ 5.73688413e-03 -2.30184236e-04 9.99983517e-01 -3.03617395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23241403699998 meters 0.07580932379185588 Centerline is valid? [True, True] Translation: X:118.18, Y:-8.20, Z:-3.04 [[ 9.99646658e-01 2.61769170e-02 -4.61829246e-03 1.18184390e+02] [-2.61757661e-02 9.99657308e-01 3.09486134e-04 -8.19902245e+00] [ 4.62481120e-03 -1.88489436e-04 9.99989288e-01 -3.03681859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26241403699999 meters 0.0761772054644749 Centerline is valid? [True, True] Translation: X:118.21, Y:-8.21, Z:-3.04 [[ 9.99666961e-01 2.55618003e-02 -3.54423371e-03 1.18211732e+02] [-2.55611224e-02 9.99673233e-01 2.36434096e-04 -8.20505540e+00] [ 3.54911925e-03 -1.45760763e-04 9.99993691e-01 -3.03869120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29241403699999 meters 0.07563166584166808 Centerline is valid? [True, True] Translation: X:118.24, Y:-8.21, Z:-3.04 [[ 9.99690102e-01 2.47640305e-02 -2.53824700e-03 1.18240520e+02] [-2.47636812e-02 9.99693319e-01 1.68949413e-04 -8.20779715e+00] [ 2.54165244e-03 -1.06040716e-04 9.99996764e-01 -3.03824460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32241403699999 meters 0.07571333807508901 Centerline is valid? [True, True] Translation: X:118.27, Y:-8.21, Z:-3.04 [[ 9.99742141e-01 2.27069610e-02 -2.11838751e-04 1.18268567e+02] [-2.27069590e-02 9.99742164e-01 1.21217087e-05 -8.21267463e+00] [ 2.12059378e-04 -7.30836923e-06 9.99999977e-01 -3.03747981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35241403699999 meters 0.07588980468342293 Centerline is valid? [True, True] Translation: X:118.30, Y:-8.22, Z:-3.04 [[ 9.99749495e-01 2.23666460e-02 8.25028309e-04 1.18296753e+02] [-2.23666065e-02 9.99749835e-01 -5.70011617e-05 -8.21572009e+00] [-8.26096841e-04 3.85337990e-05 9.99999658e-01 -3.03715088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38241403699999 meters 0.07569893097218389 Centerline is valid? [True, True] Translation: X:118.33, Y:-8.22, Z:-3.04 [[ 9.99767127e-01 2.15678204e-02 7.21822198e-04 1.18325972e+02] [-2.15677899e-02 9.99767387e-01 -5.00278224e-05 -8.21721823e+00] [-7.22733284e-04 3.44480627e-05 9.99999738e-01 -3.03638150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41241403699999 meters 0.07650347039124124 Centerline is valid? [True, True] Translation: X:118.35, Y:-8.22, Z:-3.04 [[ 9.99785076e-01 2.05904760e-02 -2.41550322e-03 1.18353827e+02] [-2.05901495e-02 9.99787988e-01 1.59973312e-04 -8.22207095e+00] [ 2.41828503e-03 -1.10203357e-04 9.99997070e-01 -3.04014600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44241403699999 meters 0.07655537278004745 Centerline is valid? [True, True] Translation: X:118.38, Y:-8.23, Z:-3.04 [[ 9.99803718e-01 1.92957823e-02 -4.49428979e-03 1.18382872e+02] [-1.92946312e-02 9.99813796e-01 2.99334581e-04 -8.22534243e+00] [ 4.49922883e-03 -2.12560163e-04 9.99989856e-01 -3.04232079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.472414037 meters 0.07688701049305172 Centerline is valid? [True, True] Translation: X:118.41, Y:-8.23, Z:-3.04 [[ 9.99834692e-01 1.73312516e-02 -5.49687475e-03 1.18411634e+02] [-1.73295001e-02 9.99849766e-01 3.66101534e-04 -8.22949647e+00] [ 5.50239393e-03 -2.70782923e-04 9.99984825e-01 -3.04386050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.502414037 meters 0.0783947874789305 Centerline is valid? [True, True] Translation: X:118.44, Y:-8.24, Z:-3.05 [[ 9.99904841e-01 1.32680952e-02 -3.77700734e-03 1.18440194e+02] [-1.32672369e-02 9.99911955e-01 2.52198181e-04 -8.23799662e+00] [ 3.78002098e-03 -2.02063731e-04 9.99992835e-01 -3.04614646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.532414037 meters 0.07993117395644894 Centerline is valid? [True, True] Translation: X:118.47, Y:-8.24, Z:-3.05 [[ 9.99927018e-01 1.15869097e-02 -3.42078923e-03 1.18467787e+02] [-1.15862047e-02 9.99932852e-01 2.25832194e-04 -8.24406796e+00] [ 3.42317623e-03 -1.86181748e-04 9.99994124e-01 -3.04798065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.562414037 meters 0.07847267373868844 Centerline is valid? [True, True] Translation: X:118.50, Y:-8.24, Z:-3.05 [[ 9.99934915e-01 1.10398387e-02 -2.87888879e-03 1.18496877e+02] [-1.10393366e-02 9.99939047e-01 1.90250249e-04 -8.24250168e+00] [ 2.88081364e-03 -1.58456844e-04 9.99995838e-01 -3.04606636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59241403699998 meters 0.07919394626557123 Centerline is valid? [True, True] Translation: X:118.52, Y:-8.25, Z:-3.05 [[ 9.99940304e-01 1.05227610e-02 -2.94277462e-03 1.18524112e+02] [-1.05222359e-02 9.99944621e-01 1.93868758e-04 -8.24677118e+00] [ 2.94465168e-03 -1.62892616e-04 9.99995651e-01 -3.04805056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62241403699998 meters 0.0789707879884301 Centerline is valid? [True, True] Translation: X:118.55, Y:-8.25, Z:-3.05 [[ 9.99940125e-01 1.04377562e-02 -3.28640332e-03 1.18552408e+02] [-1.04370994e-02 9.99945508e-01 2.16933359e-04 -8.24871220e+00] [ 3.28848854e-03 -1.82619852e-04 9.99994576e-01 -3.04940248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65241403699999 meters 0.07768381074686768 Centerline is valid? [True, True] Translation: X:118.58, Y:-8.25, Z:-3.05 [[ 9.99924830e-01 1.18497671e-02 -3.14925250e-03 1.18582052e+02] [-1.18491705e-02 9.99929774e-01 2.08033866e-04 -8.24729295e+00] [ 3.15149650e-03 -1.70702198e-04 9.99995019e-01 -3.04798954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68241403699999 meters 0.07717345347459104 Centerline is valid? [True, True] Translation: X:118.61, Y:-8.25, Z:-3.05 [[ 9.99908873e-01 1.29460394e-02 -3.82702392e-03 1.18610545e+02] [-1.29451680e-02 9.99916176e-01 2.52396918e-04 -8.24755889e+00] [ 3.82997066e-03 -2.02832450e-04 9.99992645e-01 -3.04754461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71241403699999 meters 0.07676934209401753 Centerline is valid? [True, True] Translation: X:118.64, Y:-8.25, Z:-3.05 [[ 9.99873025e-01 1.55851705e-02 -3.32212367e-03 1.18640332e+02] [-1.55845267e-02 9.99878530e-01 2.19606830e-04 -8.24833725e+00] [ 3.32514274e-03 -1.67805221e-04 9.99994458e-01 -3.04838905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74241403699999 meters 0.0753113206882852 Centerline is valid? [True, True] Translation: X:118.67, Y:-8.25, Z:-3.05 [[ 9.99760846e-01 2.15424594e-02 -3.76482086e-03 1.18670658e+02] [-2.15416714e-02 9.99767920e-01 2.49733981e-04 -8.24685363e+00] [ 3.76932701e-03 -1.68573722e-04 9.99992882e-01 -3.04960357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77241403699999 meters 0.07494165073103405 Centerline is valid? [True, True] Translation: X:118.70, Y:-8.25, Z:-3.05 [[ 9.99711316e-01 2.38732892e-02 -2.71118635e-03 1.18700433e+02] [-2.38728915e-02 9.99714986e-01 1.78963870e-04 -8.24847593e+00] [ 2.71468608e-03 -1.14188348e-04 9.99996309e-01 -3.05039406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80241403699999 meters 0.07416831599917466 Centerline is valid? [True, True] Translation: X:118.73, Y:-8.25, Z:-3.05 [[ 9.99660512e-01 2.60335798e-02 -1.05566526e-03 1.18730287e+02] [-2.60335213e-02 9.99661068e-01 6.91301038e-05 -8.24879987e+00] [ 1.05710716e-03 -4.16239510e-05 9.99999440e-01 -3.04961299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83241403699999 meters 0.07390766556467276 Centerline is valid? [True, True] Translation: X:118.76, Y:-8.25, Z:-3.05 [[ 9.99582731e-01 2.87917183e-02 2.32401477e-03 1.18758933e+02] [-2.87914352e-02 9.99585429e-01 -1.55182161e-04 -8.25061656e+00] [-2.32751926e-03 8.82056875e-05 9.99997287e-01 -3.04730566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.862414037 meters 0.07399142914086632 Centerline is valid? [True, True] Translation: X:118.79, Y:-8.25, Z:-3.05 [[ 9.99576699e-01 2.89294357e-02 3.08399323e-03 1.18788074e+02] [-2.89289397e-02 9.99581450e-01 -2.05340572e-04 -8.25370284e+00] [-3.08864281e-03 1.16036997e-04 9.99995223e-01 -3.04809542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.892414037 meters 0.07400131693415195 Centerline is valid? [True, True] Translation: X:118.82, Y:-8.26, Z:-3.05 [[ 9.99592084e-01 2.84477370e-02 2.52831751e-03 1.18816717e+02] [-2.84474009e-02 9.99595277e-01 -1.68804608e-04 -8.25816587e+00] [-2.53209635e-03 9.68116883e-05 9.99996790e-01 -3.04954811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.922414037 meters 0.07438303250939625 Centerline is valid? [True, True] Translation: X:118.85, Y:-8.26, Z:-3.05 [[ 9.99636562e-01 2.69058824e-02 1.67862815e-03 1.18845345e+02] [-2.69057314e-02 9.99637969e-01 -1.12492457e-04 -8.26435217e+00] [-1.68104715e-03 6.72868548e-05 9.99998585e-01 -3.05109210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95241403699998 meters 0.07438303250939625 Centerline is valid? [True, True] Translation: X:118.87, Y:-8.27, Z:-3.05 [[ 9.99639210e-01 2.68072975e-02 1.67858453e-03 1.18872768e+02] [-2.68071452e-02 9.99640618e-01 -1.13154576e-04 -8.26606033e+00] [-1.68101464e-03 6.81156917e-05 9.99998585e-01 -3.05177307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98241403699998 meters 0.07523479845861819 Centerline is valid? [True, True] Translation: X:118.90, Y:-8.28, Z:-3.06 [[ 9.99714833e-01 2.38630404e-02 -8.99151621e-04 1.18901302e+02] [-2.38629970e-02 9.99715236e-01 5.89567646e-05 -8.27655247e+00] [ 9.00302462e-04 -3.74834996e-05 9.99999594e-01 -3.05649705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01241403699999 meters 0.07422288047320415 Centerline is valid? [True, True] Translation: X:118.93, Y:-8.28, Z:-3.06 [[ 9.99733782e-01 2.30019683e-02 -1.80958769e-03 1.18930321e+02] [-2.30017932e-02 9.99735417e-01 1.17495616e-04 -8.27504297e+00] [ 1.81181154e-03 -7.58405742e-05 9.99998356e-01 -3.05512458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04241403699999 meters 0.0759089617035134 Centerline is valid? [True, True] Translation: X:118.96, Y:-8.28, Z:-3.06 [[ 9.99759510e-01 2.17358008e-02 -2.91167076e-03 1.18957801e+02] [-2.17353398e-02 9.99763742e-01 1.89902942e-04 -8.28346205e+00] [ 2.91511054e-03 -1.26571119e-04 9.99995743e-01 -3.05903023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07241403699999 meters 0.07479879685288694 Centerline is valid? [True, True] Translation: X:118.99, Y:-8.28, Z:-3.06 [[ 9.99776240e-01 2.09155160e-02 -3.16390931e-03 1.18986681e+02] [-2.09149677e-02 9.99781237e-01 2.06290881e-04 -8.28238831e+00] [ 3.16753184e-03 -1.40071660e-04 9.99994974e-01 -3.05727159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10241403699999 meters 0.07479887384227453 Centerline is valid? [True, True] Translation: X:119.02, Y:-8.29, Z:-3.06 [[ 9.99827011e-01 1.83628857e-02 -2.95851868e-03 1.19015515e+02] [-1.83623947e-02 9.99831378e-01 1.93030889e-04 -8.28840717e+00] [ 2.96156441e-03 -1.38672009e-04 9.99995605e-01 -3.05703250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13241403699999 meters 0.07584643719780197 Centerline is valid? [True, True] Translation: X:119.04, Y:-8.30, Z:-3.06 [[ 9.99860342e-01 1.66880075e-02 -8.98820325e-04 1.19042369e+02] [-1.66879636e-02 9.99860745e-01 5.63771936e-05 -8.29595546e+00] [ 8.99635982e-04 -4.13698392e-05 9.99999594e-01 -3.05866277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16241403699999 meters 0.07608535442295548 Centerline is valid? [True, True] Translation: X:119.07, Y:-8.30, Z:-3.06 [[ 9.99888507e-01 1.49281731e-02 3.50170197e-04 1.19071314e+02] [-1.49281654e-02 9.99888568e-01 -2.46196786e-05 -8.30035090e+00] [-3.50498704e-04 1.93895351e-05 9.99999938e-01 -3.05830890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19241403699999 meters 0.07736056355522283 Centerline is valid? [True, True] Translation: X:119.10, Y:-8.31, Z:-3.06 [[ 9.99919290e-01 1.26518823e-02 1.15945791e-03 1.19099022e+02] [-1.26518016e-02 9.99919960e-01 -7.69006032e-05 -8.30897181e+00] [-1.16033805e-03 6.22251650e-05 9.99999325e-01 -3.05766603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.222414037 meters 0.07602766417771062 Centerline is valid? [True, True] Translation: X:119.13, Y:-8.31, Z:-3.06 [[ 9.99935964e-01 1.10985862e-02 -2.21129601e-03 1.19129245e+02] [-1.10982942e-02 9.99938402e-01 1.44302519e-04 -8.30687139e+00] [ 2.21276135e-03 -1.19751664e-04 9.99997545e-01 -3.05675734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.252414037 meters 0.07676045234638512 Centerline is valid? [True, True] Translation: X:119.16, Y:-8.31, Z:-3.06 [[ 9.99921486e-01 8.82546912e-03 -8.89571034e-03 1.19159830e+02] [-8.82063716e-03 9.99960928e-01 5.82266594e-04 -8.31055906e+00] [ 8.90050155e-03 -5.03755044e-04 9.99960263e-01 -3.06050451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.282414037 meters 0.07817630396604204 Centerline is valid? [True, True] Translation: X:119.19, Y:-8.32, Z:-3.06 [[ 9.99918795e-01 7.68861986e-03 -1.01630896e-02 1.19188212e+02] [-7.68227306e-03 9.99970271e-01 6.63387042e-04 -8.31661415e+00] [ 1.01678880e-02 -5.85257542e-04 9.99948134e-01 -3.06450065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.312414037 meters 0.07822646402605486 Centerline is valid? [True, True] Translation: X:119.22, Y:-8.32, Z:-3.06 [[ 9.99949753e-01 6.35249815e-03 -7.75487778e-03 1.19217293e+02] [-6.34877249e-03 9.99979719e-01 5.04951544e-04 -8.31856703e+00] [ 7.75792820e-03 -4.55692217e-04 9.99969803e-01 -3.06420681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34241403699998 meters 0.07867318184880548 Centerline is valid? [True, True] Translation: X:119.25, Y:-8.32, Z:-3.06 [[ 9.99973378e-01 5.16909604e-03 -5.15012759e-03 1.19246197e+02] [-5.16744191e-03 9.99986593e-01 3.34436725e-04 -8.32211623e+00] [ 5.15178728e-03 -3.07814837e-04 9.99986682e-01 -3.06400388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37241403699998 meters 0.07829851379493696 Centerline is valid? [True, True] Translation: X:119.28, Y:-8.32, Z:-3.06 [[ 9.99989352e-01 4.10487905e-03 -2.10835254e-03 1.19275002e+02] [-4.10460192e-03 9.99991567e-01 1.35754912e-04 -8.32388088e+00] [ 2.10889202e-03 -1.27099519e-04 9.99997768e-01 -3.06321520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40241403699999 meters 0.07982813502452277 Centerline is valid? [True, True] Translation: X:119.30, Y:-8.33, Z:-3.06 [[ 9.99998238e-01 1.87203745e-03 1.42360386e-04 1.19303657e+02] [-1.87203597e-03 9.99998248e-01 -1.05387961e-05 -8.33027744e+00] [-1.42379866e-04 1.02722737e-05 9.99999990e-01 -3.06293516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43241403699999 meters 0.07974898806698824 Centerline is valid? [True, True] Translation: X:119.33, Y:-8.33, Z:-3.06 [[ 9.99985005e-01 -3.71489627e-03 4.02355595e-03 1.19334364e+02] [ 3.71598062e-03 9.99993061e-01 -2.62060281e-04 -8.33232018e+00] [-4.02255451e-03 2.77007808e-04 9.99991871e-01 -3.05909095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46241403699999 meters 0.08025050205583924 Centerline is valid? [True, True] Translation: X:119.36, Y:-8.34, Z:-3.06 [[ 9.99972777e-01 -6.84081045e-03 2.76555546e-03 1.19364870e+02] [ 6.84133420e-03 9.99976582e-01 -1.79969101e-04 -8.33614397e+00] [-2.76425957e-03 1.98884291e-04 9.99996160e-01 -3.05892229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49241403699999 meters 0.08405875221936525 Centerline is valid? [True, True] Translation: X:119.39, Y:-8.35, Z:-3.06 [[ 9.99953956e-01 -9.00627422e-03 3.31240839e-03 1.19393739e+02] [ 9.00703829e-03 9.99959413e-01 -2.15821603e-04 -8.34771200e+00] [-3.31033020e-03 2.45646655e-04 9.99994491e-01 -3.06207571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52241403699999 meters 0.08419473270713705 Centerline is valid? [True, True] Translation: X:119.42, Y:-8.35, Z:-3.06 [[ 9.99934081e-01 -1.13775788e-02 1.54408817e-03 1.19424687e+02] [ 1.13777470e-02 9.99935266e-01 -1.00205789e-04 -8.34936620e+00] [-1.54284811e-03 1.17767428e-04 9.99998803e-01 -3.06363918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55241403699999 meters 0.08494248805977833 Centerline is valid? [True, True] Translation: X:119.46, Y:-8.35, Z:-3.06 [[ 9.99911103e-01 -1.33332791e-02 9.62312383e-05 1.19455544e+02] [ 1.33332797e-02 9.99911108e-01 -5.86009312e-06 -8.35179025e+00] [-9.61445499e-05 7.14265020e-06 9.99999995e-01 -3.06468512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58241403699999 meters 0.08403216015407439 Centerline is valid? [True, True] Translation: X:119.49, Y:-8.35, Z:-3.06 [[ 9.99885069e-01 -1.51310796e-02 -9.48080327e-04 1.19487434e+02] [ 1.51311458e-02 9.99885516e-01 6.26802011e-05 -8.34699456e+00] [ 9.47023367e-04 -7.70185389e-05 9.99999549e-01 -3.06364575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.612414037 meters 0.08538315414522205 Centerline is valid? [True, True] Translation: X:119.52, Y:-8.35, Z:-3.06 [[ 9.99877396e-01 -1.56234553e-02 -1.04953193e-03 1.19518433e+02] [ 1.56235371e-02 9.99877943e-01 6.97675615e-05 -8.34965760e+00] [ 1.04831382e-03 -8.61564088e-05 9.99999447e-01 -3.06491141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.642414037 meters 0.08324562457814287 Centerline is valid? [True, True] Translation: X:119.55, Y:-8.34, Z:-3.07 [[ 9.99864954e-01 -1.62873201e-02 -2.19005932e-03 1.19551034e+02] [ 1.62876761e-02 9.99867337e-01 1.44837350e-04 -8.34451301e+00] [ 2.18740977e-03 -1.80488767e-04 9.99997591e-01 -3.06558274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.672414037 meters 0.08536159702868769 Centerline is valid? [True, True] Translation: X:119.58, Y:-8.35, Z:-3.07 [[ 9.99822401e-01 -1.85912661e-02 -3.08737116e-03 1.19580970e+02] [ 1.85919770e-02 9.99827134e-01 2.01733624e-04 -8.34754952e+00] [ 3.08308698e-03 -2.59098129e-04 9.99995214e-01 -3.06930939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70241403699998 meters 0.08670090825165976 Centerline is valid? [True, True] Translation: X:119.61, Y:-8.35, Z:-3.07 [[ 9.99799909e-01 -1.98725065e-02 -2.28606472e-03 1.19611892e+02] [ 1.98729027e-02 9.99802503e-01 1.50763719e-04 -8.35128116e+00] [ 2.28261717e-03 -1.96164295e-04 9.99997376e-01 -3.07125383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73241403699998 meters 0.08747178075461773 Centerline is valid? [True, True] Translation: X:119.64, Y:-8.35, Z:-3.07 [[ 9.99782532e-01 -2.07951458e-02 -1.56541732e-03 1.19644058e+02] [ 2.07953342e-02 9.99783748e-01 1.04153614e-04 -8.35279155e+00] [ 1.56291290e-03 -1.36684341e-04 9.99998769e-01 -3.07222343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76241403699999 meters 0.1223384592619981 Centerline is valid? [True, False] Translation: X:119.72, Y:-8.35, Z:-3.07 [[ 9.99775360e-01 -2.11890599e-02 -5.02846733e-04 1.19721319e+02] [ 2.11882541e-02 9.99774291e-01 -1.55707319e-03 -8.35499705e+00] [ 5.35726153e-04 1.54606897e-03 9.99998661e-01 -3.07289389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79241403699999 meters 0.08864365011689246 Centerline is valid? [False, True] Translation: X:119.63, Y:-8.35, Z:-3.08 [[ 9.99864709e-01 -1.64073175e-02 1.16785377e-03 1.19631245e+02] [ 1.64131351e-02 9.99851983e-01 -5.15951269e-03 -8.34764391e+00] [-1.08302715e-03 5.17798280e-03 9.99986008e-01 -3.07529919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82241403699999 meters 0.08505745119662474 Centerline is valid? [True, True] Translation: X:119.66, Y:-8.34, Z:-3.08 [[ 9.99891804e-01 -1.45954108e-02 1.83151371e-03 1.19662394e+02] [ 1.45956738e-02 9.99893469e-01 -1.30302736e-04 -8.33825474e+00] [-1.82941677e-03 1.57020815e-04 9.99998314e-01 -3.07590699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85241403699999 meters 0.08421451266503327 Centerline is valid? [True, True] Translation: X:119.69, Y:-8.34, Z:-3.07 [[ 9.99893523e-01 -1.40578218e-02 3.91405084e-03 1.19693874e+02] [ 1.40590154e-02 9.99901129e-01 -2.77607990e-04 -8.33612224e+00] [-3.90976129e-03 3.32606132e-04 9.99992302e-01 -3.07459796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88241403699999 meters 0.0858008537081148 Centerline is valid? [True, True] Translation: X:119.72, Y:-8.34, Z:-3.07 [[ 9.99898067e-01 -1.34212362e-02 4.87094990e-03 1.19724732e+02] [ 1.34230773e-02 9.99909847e-01 -3.45493467e-04 -8.33970860e+00] [-4.86587381e-03 4.10841387e-04 9.99988077e-01 -3.07456004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91241403699999 meters 0.08568479880112595 Centerline is valid? [True, True] Translation: X:119.76, Y:-8.34, Z:-3.08 [[ 9.99912266e-01 -1.24395982e-02 4.55160173e-03 1.19757017e+02] [ 1.24411947e-02 9.99922553e-01 -3.22608360e-04 -8.33685658e+00] [-4.54723611e-03 3.79207420e-04 9.99989589e-01 -3.07520528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94241403699999 meters 0.08599386023432216 Centerline is valid? [True, True] Translation: X:119.79, Y:-8.34, Z:-3.08 [[ 9.99918500e-01 -1.25299640e-02 2.44820950e-03 1.19788684e+02] [ 1.25304215e-02 9.99921476e-01 -1.71636771e-04 -8.33681580e+00] [-2.44586665e-03 2.02299880e-04 9.99996988e-01 -3.07755910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.972414037 meters 0.08717863224234429 Centerline is valid? [True, True] Translation: X:119.82, Y:-8.34, Z:-3.08 [[ 9.99902223e-01 -1.39470326e-02 1.01270834e-03 1.19819642e+02] [ 1.39471125e-02 9.99902732e-01 -7.18622794e-05 -8.33813422e+00] [-1.01160757e-03 8.59796100e-05 9.99999485e-01 -3.08292300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.002414037 meters 0.08634088496419137 Centerline is valid? [True, True] Translation: X:119.85, Y:-8.34, Z:-3.08 [[ 9.99894291e-01 -1.43150477e-02 2.54662864e-03 1.19852438e+02] [ 1.43155503e-02 9.99897511e-01 -1.79255325e-04 -8.33765968e+00] [-2.54380159e-03 2.15692767e-04 9.99996741e-01 -3.08375388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.032414037 meters 0.08873783312290125 Centerline is valid? [True, True] Translation: X:119.88, Y:-8.34, Z:-3.09 [[ 9.99892494e-01 -1.42874655e-02 3.29692292e-03 1.19882880e+02] [ 1.42883160e-02 9.99897889e-01 -2.34568864e-04 -8.34367163e+00] [-3.29323488e-03 2.81651123e-04 9.99994538e-01 -3.08520306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.062414037 meters 0.08634781807303046 Centerline is valid? [True, True] Translation: X:119.91, Y:-8.34, Z:-3.08 [[ 9.99916315e-01 -1.20623281e-02 4.67572739e-03 1.19914868e+02] [ 1.20640224e-02 9.99927171e-01 -3.34315125e-04 -8.33568478e+00] [-4.67135424e-03 3.90695228e-04 9.99989013e-01 -3.08489378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09241403699998 meters 0.08545885632622767 Centerline is valid? [True, True] Translation: X:119.95, Y:-8.33, Z:-3.09 [[ 9.99937601e-01 -1.05732564e-02 3.60568100e-03 1.19946226e+02] [ 1.05742526e-02 9.99944058e-01 -2.57333654e-04 -8.33376416e+00] [-3.60275844e-03 2.95444979e-04 9.99993466e-01 -3.08517610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12241403699998 meters 0.08598703685015163 Centerline is valid? [True, True] Translation: X:119.98, Y:-8.34, Z:-3.09 [[ 9.99947302e-01 -9.60154672e-03 3.63373495e-03 1.19976843e+02] [ 9.60255414e-03 9.99953861e-01 -2.59894075e-04 -8.33511351e+00] [-3.63107191e-03 2.94773515e-04 9.99993364e-01 -3.08654793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15241403699999 meters 0.08556980300663372 Centerline is valid? [True, True] Translation: X:120.01, Y:-8.34, Z:-3.09 [[ 9.99953715e-01 -8.98452384e-03 3.44187649e-03 1.20009575e+02] [ 8.98541842e-03 9.99959600e-01 -2.44533184e-04 -8.33605754e+00] [-3.43954043e-03 2.75448566e-04 9.99994047e-01 -3.08661300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18241403699999 meters 0.08476458397657124 Centerline is valid? [True, True] Translation: X:120.04, Y:-8.34, Z:-3.09 [[ 9.99954824e-01 -8.15258384e-03 4.88725218e-03 1.20040671e+02] [ 8.15439024e-03 9.99966691e-01 -3.49803454e-04 -8.33627632e+00] [-4.88423759e-03 3.89640213e-04 9.99987996e-01 -3.08716381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21241403699999 meters 0.0835921632676185 Centerline is valid? [True, True] Translation: X:120.07, Y:-8.34, Z:-3.09 [[ 9.99972861e-01 -6.28976926e-03 3.83602912e-03 1.20072731e+02] [ 6.29086660e-03 9.99980175e-01 -2.74061667e-04 -8.33595856e+00] [-3.83422928e-03 2.98186177e-04 9.99992605e-01 -3.08840270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24241403699999 meters 0.08411805437379746 Centerline is valid? [True, True] Translation: X:120.10, Y:-8.33, Z:-3.09 [[ 9.99997276e-01 -2.08643620e-03 1.04667829e-03 1.20102273e+02] [ 2.08651638e-03 9.99997820e-01 -7.55139214e-05 -8.33492496e+00] [-1.04651846e-03 7.76976271e-05 9.99999449e-01 -3.09038758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27241403699999 meters 0.08388292327658875 Centerline is valid? [True, True] Translation: X:120.13, Y:-8.33, Z:-3.09 [[ 9.99999526e-01 7.24125923e-04 6.51342353e-04 1.20132380e+02] [-7.24095611e-04 9.99999737e-01 -4.67737465e-05 -8.33345868e+00] [-6.51376052e-04 4.63020902e-05 9.99999787e-01 -3.09080808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30241403699999 meters 0.08393004970944618 Centerline is valid? [True, True] Translation: X:120.16, Y:-8.33, Z:-3.09 [[ 9.99993904e-01 3.31077537e-03 1.10953192e-03 1.20161847e+02] [-3.31068851e-03 9.99994516e-01 -8.01171576e-05 -8.33200421e+00] [-1.10979109e-03 7.64433546e-05 9.99999381e-01 -3.09334129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33241403699999 meters 0.08092189072745018 Centerline is valid? [True, True] Translation: X:120.19, Y:-8.33, Z:-3.09 [[ 9.99987524e-01 4.44500185e-03 2.27915429e-03 1.20192490e+02] [-4.44463773e-03 9.99990109e-01 -1.64800895e-04 -8.32686008e+00] [-2.27986429e-03 1.54668824e-04 9.99997389e-01 -3.09231068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.362414037 meters 0.0806877668777439 Centerline is valid? [True, True] Translation: X:120.22, Y:-8.33, Z:-3.09 [[ 9.99986052e-01 4.64394602e-03 2.51601381e-03 1.20221886e+02] [-4.64350424e-03 9.99989202e-01 -1.81399357e-04 -8.32823347e+00] [-2.51682905e-03 1.69713706e-04 9.99996818e-01 -3.09386333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.392414037 meters 0.0838215215448503 Centerline is valid? [True, True] Translation: X:120.25, Y:-8.34, Z:-3.10 [[ 9.99984186e-01 5.15203353e-03 2.25481925e-03 1.20250887e+02] [-5.15168096e-03 9.99986717e-01 -1.62145005e-04 -8.33785145e+00] [-2.25562468e-03 1.50526332e-04 9.99997445e-01 -3.09820250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.422414037 meters 0.08099768345740442 Centerline is valid? [True, True] Translation: X:120.28, Y:-8.33, Z:-3.10 [[ 9.99978123e-01 5.69301818e-03 3.36797140e-03 1.20280965e+02] [-5.69223420e-03 9.99983770e-01 -2.42314045e-04 -8.33265452e+00] [-3.36929624e-03 2.23137461e-04 9.99994299e-01 -3.09718321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45241403699998 meters 0.08052000060640778 Centerline is valid? [True, True] Translation: X:120.31, Y:-8.33, Z:-3.10 [[ 9.99976946e-01 5.90467853e-03 3.35298760e-03 1.20311148e+02] [-5.90390304e-03 9.99982543e-01 -2.41133011e-04 -8.33207035e+00] [-3.35435288e-03 2.21331739e-04 9.99994350e-01 -3.09673435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48241403699998 meters 0.08053742910977715 Centerline is valid? [True, True] Translation: X:120.34, Y:-8.33, Z:-3.09 [[ 9.99959428e-01 6.27717200e-03 6.46054608e-03 1.20341043e+02] [-6.27431016e-03 9.99980209e-01 -4.63144559e-04 -8.33174185e+00] [-6.46332546e-03 4.22590298e-04 9.99979023e-01 -3.09455879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51241403699999 meters 0.0821349217273366 Centerline is valid? [True, True] Translation: X:120.37, Y:-8.34, Z:-3.09 [[ 9.99940322e-01 6.27848819e-03 8.94057351e-03 1.20370702e+02] [-6.27301328e-03 9.99980119e-01 -6.40277863e-04 -8.33734358e+00] [-8.94441575e-03 5.84155316e-04 9.99959827e-01 -3.09444508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54241403699999 meters 0.0818990008712273 Centerline is valid? [True, True] Translation: X:120.40, Y:-8.34, Z:-3.09 [[ 9.99924446e-01 6.64578510e-03 1.03409357e-02 1.20402402e+02] [-6.63848628e-03 9.99977691e-01 -7.39982683e-04 -8.33951395e+00] [-1.03456228e-02 6.71278615e-04 9.99946257e-01 -3.09313170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57241403699999 meters 0.0815321769399946 Centerline is valid? [True, True] Translation: X:120.43, Y:-8.34, Z:-3.09 [[ 9.99940705e-01 6.70083302e-03 8.58397403e-03 1.20434144e+02] [-6.69583529e-03 9.99977396e-01 -6.10824111e-04 -8.34181260e+00] [-8.58787303e-03 5.53311017e-04 9.99962970e-01 -3.09485388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60241403699999 meters 0.08181480594342316 Centerline is valid? [True, True] Translation: X:120.47, Y:-8.34, Z:-3.10 [[ 9.99951657e-01 7.16993818e-03 6.72865986e-03 1.20465739e+02] [-7.16685088e-03 9.99974201e-01 -4.82828013e-04 -8.34441934e+00] [-6.73194811e-03 4.34581370e-04 9.99977246e-01 -3.09799750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63241403699999 meters 0.08132096387856222 Centerline is valid? [True, True] Translation: X:120.50, Y:-8.34, Z:-3.10 [[ 9.99961879e-01 7.63653857e-03 4.23371006e-03 1.20495841e+02] [-7.63531804e-03 9.99970804e-01 -3.04377707e-04 -8.34453486e+00] [-4.23591085e-03 2.72040381e-04 9.99990991e-01 -3.10022635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66241403699999 meters 0.0821069939674028 Centerline is valid? [True, True] Translation: X:120.52, Y:-8.35, Z:-3.11 [[ 9.99957294e-01 9.24136030e-03 8.65026796e-05 1.20523763e+02] [-9.24135968e-03 9.99957298e-01 -7.59629282e-06 -8.34682165e+00] [-8.65691859e-05 6.79656603e-06 9.99999996e-01 -3.10660666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69241403699999 meters 0.0818460161869179 Centerline is valid? [True, True] Translation: X:120.55, Y:-8.35, Z:-3.11 [[ 9.99949156e-01 1.00736266e-02 -4.54492191e-04 1.20552967e+02] [-1.00736134e-02 9.99949259e-01 3.12596379e-05 -8.34806625e+00] [ 4.54784028e-04 -2.66796699e-05 9.99999896e-01 -3.10893327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.722414037 meters 0.08188114030194178 Centerline is valid? [True, True] Translation: X:120.58, Y:-8.35, Z:-3.11 [[ 9.99941837e-01 1.07843299e-02 1.45418693e-04 1.20580607e+02] [-1.07843282e-02 9.99941847e-01 -1.26003033e-05 -8.35042383e+00] [-1.45546123e-04 1.10313275e-05 9.99999989e-01 -3.11019498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.752414037 meters 0.08075932304865255 Centerline is valid? [True, True] Translation: X:120.61, Y:-8.35, Z:-3.11 [[ 9.99930282e-01 1.16333502e-02 2.02412036e-03 1.20609437e+02] [-1.16330766e-02 9.99932323e-01 -1.46864199e-04 -8.34940598e+00] [-2.02569190e-03 1.23307212e-04 9.99997941e-01 -3.10851585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.782414037 meters 0.08093700390926223 Centerline is valid? [True, True] Translation: X:120.64, Y:-8.35, Z:-3.11 [[ 9.99917036e-01 1.20641437e-02 4.51421558e-03 1.20637500e+02] [-1.20627972e-02 9.99927189e-01 -3.25386227e-04 -8.35118780e+00] [-4.51781240e-03 2.70905165e-04 9.99989758e-01 -3.10651492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.812414037 meters 0.08210719021925147 Centerline is valid? [True, True] Translation: X:120.67, Y:-8.36, Z:-3.11 [[ 9.99917087e-01 1.21486160e-02 4.26979214e-03 1.20665372e+02] [-1.21474127e-02 9.99926170e-01 -3.07633355e-04 -8.35516773e+00] [-4.27321422e-03 2.55740920e-04 9.99990837e-01 -3.10827926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84241403699998 meters 0.08210719021925147 Centerline is valid? [True, True] Translation: X:120.69, Y:-8.36, Z:-3.11 [[ 9.99917847e-01 1.20858340e-02 4.26985490e-03 1.20693655e+02] [-1.20846339e-02 9.99926931e-01 -3.06756010e-04 -8.35711627e+00] [-4.27325031e-03 2.55131176e-04 9.99990837e-01 -3.10908253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87241403699998 meters 0.08228383736078446 Centerline is valid? [True, True] Translation: X:120.72, Y:-8.36, Z:-3.11 [[ 9.99926751e-01 1.18224501e-02 2.59276926e-03 1.20722304e+02] [-1.18220054e-02 9.99930100e-01 -1.86798742e-04 -8.35823492e+00] [-2.59479644e-03 1.56133327e-04 9.99996621e-01 -3.11050440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90241403699999 meters 0.08245260042422685 Centerline is valid? [True, True] Translation: X:120.75, Y:-8.36, Z:-3.11 [[ 9.99925421e-01 1.19977975e-02 2.28137051e-03 1.20751214e+02] [-1.19974535e-02 9.99928014e-01 -1.64424841e-04 -8.36002301e+00] [-2.28317902e-03 1.37041942e-04 9.99997384e-01 -3.11181391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93241403699999 meters 0.08265377264194966 Centerline is valid? [True, True] Translation: X:120.78, Y:-8.36, Z:-3.11 [[ 9.99927199e-01 1.12463682e-02 4.37221707e-03 1.20779430e+02] [-1.12451057e-02 9.99936723e-01 -3.13237040e-04 -8.36324100e+00] [-4.37546319e-03 2.64048192e-04 9.99990393e-01 -3.11297042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96241403699999 meters 0.08316083976219907 Centerline is valid? [True, True] Translation: X:120.81, Y:-8.37, Z:-3.11 [[ 9.99934093e-01 1.04010176e-02 4.86099309e-03 1.20808139e+02] [-1.03994495e-02 9.99945864e-01 -3.47744381e-04 -8.36757311e+00] [-4.86434683e-03 2.97169810e-04 9.99988125e-01 -3.11339466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99241403699999 meters 0.08350851330620583 Centerline is valid? [True, True] Translation: X:120.84, Y:-8.37, Z:-3.11 [[ 9.99939097e-01 9.57576038e-03 5.48696180e-03 1.20837584e+02] [-9.57375713e-03 9.99954094e-01 -3.91242493e-04 -8.37062236e+00] [-5.49045636e-03 3.38687825e-04 9.99984870e-01 -3.11369851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02241403699999 meters 0.0838848023851907 Centerline is valid? [True, True] Translation: X:120.87, Y:-8.37, Z:-3.11 [[ 9.99938011e-01 9.43401087e-03 5.91380786e-03 1.20866241e+02] [-9.43167878e-03 9.99955432e-01 -4.22111284e-04 -8.37263279e+00] [-5.91752650e-03 3.66307982e-04 9.99982424e-01 -3.11470502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05241403699999 meters 0.08524180318028594 Centerline is valid? [True, True] Translation: X:120.89, Y:-8.38, Z:-3.12 [[ 9.99944936e-01 9.31344216e-03 4.83570504e-03 1.20894972e+02] [-9.31188490e-03 9.99956584e-01 -3.44449544e-04 -8.37730270e+00] [-4.83870310e-03 2.99401049e-04 9.99988249e-01 -3.11650018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08241403699999 meters 0.08009695357544297 Centerline is valid? [True, True] Translation: X:120.92, Y:-8.37, Z:-3.11 [[ 9.99944764e-01 9.38931947e-03 4.72338457e-03 1.20924836e+02] [-9.38783114e-03 9.99955876e-01 -3.37171039e-04 -8.36711710e+00] [-4.72634196e-03 2.92810078e-04 9.99988788e-01 -3.11260713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.112414037 meters 0.08526279788397659 Centerline is valid? [True, True] Translation: X:120.95, Y:-8.38, Z:-3.12 [[ 9.99945117e-01 9.42951588e-03 4.56597084e-03 1.20952549e+02] [-9.42812847e-03 9.99955501e-01 -3.25288173e-04 -8.38212603e+00] [-4.56883497e-03 2.82221761e-04 9.99989523e-01 -3.11866971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.142414037 meters 0.08033513170737293 Centerline is valid? [True, True] Translation: X:120.98, Y:-8.37, Z:-3.12 [[ 9.99948291e-01 9.71394459e-03 3.00895990e-03 1.20982171e+02] [-9.71334108e-03 9.99952801e-01 -2.15118443e-04 -8.37317458e+00] [-3.01090753e-03 1.85880266e-04 9.99995450e-01 -3.11642040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.172414037 meters 0.080869350943355 Centerline is valid? [True, True] Translation: X:121.01, Y:-8.38, Z:-3.12 [[ 9.99956779e-01 9.28962732e-03 -3.78175084e-04 1.21010203e+02] [-9.28961856e-03 9.99956850e-01 2.49085878e-05 -8.37670469e+00] [ 3.78390157e-04 -2.13944090e-05 9.99999928e-01 -3.11947368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20241403699998 meters 0.08042740333285402 Centerline is valid? [True, True] Translation: X:121.04, Y:-8.38, Z:-3.12 [[ 9.99955466e-01 9.38835339e-03 -9.61870883e-04 1.21039128e+02] [-9.38829407e-03 9.99955927e-01 6.61610165e-05 -8.37710070e+00] [ 9.62449633e-04 -5.71277433e-05 9.99999535e-01 -3.11976941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23241403699998 meters 0.07983882021545868 Centerline is valid? [True, True] Translation: X:121.07, Y:-8.38, Z:-3.12 [[ 9.99946161e-01 1.02334964e-02 -1.71794220e-03 1.21067780e+02] [-1.02333061e-02 9.99947631e-01 1.19515207e-04 -8.37692097e+00] [ 1.71907529e-03 -1.01928544e-04 9.99998517e-01 -3.11950985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26241403699999 meters 0.07926594396557063 Centerline is valid? [True, True] Translation: X:121.10, Y:-8.38, Z:-3.12 [[ 9.99927730e-01 1.17724322e-02 -2.43810064e-03 1.21096851e+02] [-1.17720520e-02 9.99930693e-01 1.70234588e-04 -8.37629640e+00] [ 2.43993573e-03 -1.41520838e-04 9.99997013e-01 -3.12094909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29241403699999 meters 0.07873364091373279 Centerline is valid? [True, True] Translation: X:121.13, Y:-8.38, Z:-3.12 [[ 9.99909890e-01 1.30174446e-02 -3.28002168e-03 1.21125638e+02] [-1.30167618e-02 9.99915252e-01 2.29439506e-04 -8.37575476e+00] [ 3.28273042e-03 -1.86723570e-04 9.99994594e-01 -3.12283976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32241403699999 meters 0.0802424471584707 Centerline is valid? [True, True] Translation: X:121.15, Y:-8.38, Z:-3.13 [[ 9.99852539e-01 1.67828736e-02 -3.63816734e-03 1.21153937e+02] [-1.67820545e-02 9.99859139e-01 2.55538756e-04 -8.38169717e+00] [ 3.64194354e-03 -1.94445151e-04 9.99993349e-01 -3.12950985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35241403699999 meters 0.07787551579607997 Centerline is valid? [True, True] Translation: X:121.18, Y:-8.38, Z:-3.13 [[ 9.99833687e-01 1.80864264e-02 -2.34087402e-03 1.21184756e+02] [-1.80860907e-02 9.99836420e-01 1.64518310e-04 -8.37716467e+00] [ 2.34346665e-03 -1.22153689e-04 9.99997247e-01 -3.12614376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38241403699999 meters 0.0776146357420012 Centerline is valid? [True, True] Translation: X:121.21, Y:-8.38, Z:-3.12 [[ 9.99808962e-01 1.95349248e-02 -6.53119274e-04 1.21213919e+02] [-1.95348995e-02 9.99809175e-01 4.50746404e-05 -8.37812553e+00] [ 6.53875172e-04 -3.23074101e-05 9.99999786e-01 -3.12474443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41241403699999 meters 0.07668462704402654 Centerline is valid? [True, True] Translation: X:121.24, Y:-8.38, Z:-3.12 [[ 9.99785304e-01 2.06048091e-02 2.18819986e-03 1.21244508e+02] [-2.06045200e-02 9.99787692e-01 -1.54588398e-04 -8.37644776e+00] [-2.19092056e-03 1.09468401e-04 9.99997594e-01 -3.11957868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44241403699999 meters 0.07680408376948238 Centerline is valid? [True, True] Translation: X:121.27, Y:-8.38, Z:-3.12 [[ 9.99808674e-01 1.94276320e-02 2.27664648e-03 1.21273261e+02] [-1.94273132e-02 9.99811259e-01 -1.62070526e-04 -8.37842555e+00] [-2.27936543e-03 1.17810394e-04 9.99997395e-01 -3.11955898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.472414037 meters 0.08002731059180265 Centerline is valid? [True, True] Translation: X:121.30, Y:-8.39, Z:-3.12 [[ 9.99847521e-01 1.73591978e-02 1.89535837e-03 1.21300680e+02] [-1.73589728e-02 9.99849313e-01 -1.35102629e-04 -8.38996571e+00] [-1.89741804e-03 1.02180554e-04 9.99998195e-01 -3.12415389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.502414037 meters 0.07745747471277357 Centerline is valid? [True, True] Translation: X:121.33, Y:-8.39, Z:-3.12 [[ 9.99890084e-01 1.48263060e-02 2.81097772e-05 1.21330948e+02] [-1.48263059e-02 9.99890084e-01 -2.45272533e-06 -8.38605013e+00] [-2.81430523e-05 2.03569158e-06 1.00000000e+00 -3.12157955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.532414037 meters 0.07917644617508758 Centerline is valid? [True, True] Translation: X:121.36, Y:-8.40, Z:-3.13 [[ 9.99942384e-01 9.82081764e-03 -4.33370007e-03 1.21360689e+02] [-9.81958924e-03 9.99951740e-01 3.04638433e-04 -8.39552443e+00] [ 4.33648273e-03 -2.62065726e-04 9.99990563e-01 -3.12687054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.562414037 meters 0.08149446164739309 Centerline is valid? [True, True] Translation: X:121.39, Y:-8.40, Z:-3.13 [[ 9.99943584e-01 8.56646192e-03 -6.28043359e-03 1.21388627e+02] [-8.56386867e-03 9.99963233e-01 4.39687613e-04 -8.40397491e+00] [ 6.28396924e-03 -3.85877999e-04 9.99980181e-01 -3.13278777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59241403699998 meters 0.08155253074301834 Centerline is valid? [True, True] Translation: X:121.42, Y:-8.41, Z:-3.13 [[ 9.99941693e-01 8.25411173e-03 -6.96272646e-03 1.21416941e+02] [-8.25092174e-03 9.99965842e-01 4.86753066e-04 -8.40571519e+00] [ 6.96650634e-03 -4.29275774e-04 9.99975641e-01 -3.13416853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62241403699998 meters 0.07939432379303117 Centerline is valid? [True, True] Translation: X:121.45, Y:-8.40, Z:-3.13 [[ 9.99938313e-01 8.80010025e-03 -6.77699163e-03 1.21445889e+02] [-8.79709462e-03 9.99961193e-01 4.73186743e-04 -8.40132315e+00] [ 6.78089273e-03 -4.13539717e-04 9.99976924e-01 -3.13166394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65241403699999 meters 0.08139340108708618 Centerline is valid? [True, True] Translation: X:121.47, Y:-8.41, Z:-3.13 [[ 9.99934974e-01 9.94783139e-03 -5.57573182e-03 1.21474698e+02] [-9.94581223e-03 9.99950463e-01 3.89745582e-04 -8.40772267e+00] [ 5.57933274e-03 -3.34265056e-04 9.99984380e-01 -3.13449405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68241403699999 meters 0.08104120611388253 Centerline is valid? [True, True] Translation: X:121.50, Y:-8.41, Z:-3.14 [[ 9.99923758e-01 1.11647483e-02 -5.27514075e-03 1.21503339e+02] [-1.11629644e-02 9.99937625e-01 3.67491247e-04 -8.40912652e+00] [ 5.27891466e-03 -3.08577020e-04 9.99986019e-01 -3.13501414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71241403699999 meters 0.0780941209169494 Centerline is valid? [True, True] Translation: X:121.53, Y:-8.41, Z:-3.13 [[ 9.99882680e-01 1.46294288e-02 -4.53937444e-03 1.21534217e+02] [-1.46281382e-02 9.99892953e-01 3.17378557e-04 -8.40575172e+00] [ 4.54353158e-03 -2.50938726e-04 9.99989647e-01 -3.13314687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74241403699999 meters 0.07743526957646883 Centerline is valid? [True, True] Translation: X:121.56, Y:-8.41, Z:-3.13 [[ 9.99850715e-01 1.68095828e-02 -3.99811168e-03 1.21564442e+02] [-1.68086035e-02 9.99858687e-01 2.78424864e-04 -8.40623110e+00] [ 4.00222690e-03 -2.11180625e-04 9.99991969e-01 -3.13383365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77241403699999 meters 0.07733362924290309 Centerline is valid? [True, True] Translation: X:121.59, Y:-8.41, Z:-3.13 [[ 9.99814856e-01 1.86992278e-02 -4.53793902e-03 1.21592566e+02] [-1.86979891e-02 9.99825128e-01 3.15260222e-04 -8.40788134e+00] [ 4.54304059e-03 -2.30351519e-04 9.99989654e-01 -3.13456582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80241403699999 meters 0.07692982906591476 Centerline is valid? [True, True] Translation: X:121.62, Y:-8.41, Z:-3.13 [[ 9.99787388e-01 2.00133954e-02 -4.96416870e-03 1.21621998e+02] [-2.00119271e-02 9.99799682e-01 3.45276337e-04 -8.40858618e+00] [ 4.97008443e-03 -2.45860345e-04 9.99987619e-01 -3.13429443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83241403699999 meters 0.07617961062434804 Centerline is valid? [True, True] Translation: X:121.65, Y:-8.41, Z:-3.13 [[ 9.99761507e-01 2.15149556e-02 -3.74650790e-03 1.21651601e+02] [-2.15141298e-02 9.99768510e-01 2.60569484e-04 -8.40814756e+00] [ 3.75124676e-03 -1.79904483e-04 9.99992948e-01 -3.13312114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.862414037 meters 0.07569099710880968 Centerline is valid? [True, True] Translation: X:121.68, Y:-8.41, Z:-3.13 [[ 9.99726619e-01 2.30199724e-02 -4.09488588e-03 1.21680357e+02] [-2.30190032e-02 9.99734987e-01 2.83665545e-04 -8.40873767e+00] [ 4.10033066e-03 -1.89327805e-04 9.99991576e-01 -3.13244097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.892414037 meters 0.07542965125082478 Centerline is valid? [True, True] Translation: X:121.71, Y:-8.41, Z:-3.13 [[ 9.99647762e-01 2.60965106e-02 -4.82954980e-03 1.21710611e+02] [-2.60951901e-02 9.99659406e-01 3.36233648e-04 -8.41015877e+00] [ 4.83667941e-03 -2.10087193e-04 9.99988281e-01 -3.13343754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.922414037 meters 0.07538682965357951 Centerline is valid? [True, True] Translation: X:121.74, Y:-8.41, Z:-3.14 [[ 9.99609444e-01 2.74031178e-02 -5.47983868e-03 1.21739494e+02] [-2.74014467e-02 9.99624438e-01 3.79819890e-04 -8.41236408e+00] [ 5.48818891e-03 -2.29516042e-04 9.99984913e-01 -3.13554537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95241403699998 meters 0.0743692306482339 Centerline is valid? [True, True] Translation: X:121.77, Y:-8.41, Z:-3.13 [[ 9.99509800e-01 3.05870330e-02 -6.67773435e-03 1.21768797e+02] [-3.05846229e-02 9.99532074e-01 4.62753043e-04 -8.41044052e+00] [ 6.68876390e-03 -2.58290215e-04 9.99977597e-01 -3.13488919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98241403699998 meters 0.07419842513147977 Centerline is valid? [True, True] Translation: X:121.80, Y:-8.41, Z:-3.14 [[ 9.99463065e-01 3.22028045e-02 -6.04652420e-03 1.21796694e+02] [-3.22008650e-02 9.99481330e-01 4.17866305e-04 -8.41133995e+00] [ 6.05684452e-03 -2.22938629e-04 9.99981632e-01 -3.13510475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01241403699999 meters 0.07413398872013767 Centerline is valid? [True, True] Translation: X:121.83, Y:-8.41, Z:-3.14 [[ 9.99434321e-01 3.30851549e-02 -6.03412680e-03 1.21825160e+02] [-3.30832389e-02 9.99452513e-01 4.17087411e-04 -8.41327147e+00] [ 6.04462259e-03 -2.17223014e-04 9.99981708e-01 -3.13653215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.042414037 meters 0.07403454860305689 Centerline is valid? [True, True] Translation: X:121.85, Y:-8.42, Z:-3.14 [[ 9.99411379e-01 3.36839725e-02 -6.50273293e-03 1.21853390e+02] [-3.36817621e-02 9.99432508e-01 4.49163030e-04 -8.41555234e+00] [ 6.51417227e-03 -2.29875140e-04 9.99978756e-01 -3.13690204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.072414037 meters 0.07457180332514549 Centerline is valid? [True, True] Translation: X:121.88, Y:-8.42, Z:-3.14 [[ 9.99431347e-01 3.32829880e-02 -5.40600994e-03 1.21880539e+02] [-3.32814611e-02 9.99445949e-01 3.72176845e-04 -8.42455634e+00] [ 5.41540189e-03 -1.92045295e-04 9.99985318e-01 -3.13921505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.102414037 meters 0.07427156238856944 Centerline is valid? [True, True] Translation: X:121.91, Y:-8.43, Z:-3.14 [[ 9.99468413e-01 3.23389987e-02 -4.13286782e-03 1.21909349e+02] [-3.23380998e-02 9.99476946e-01 2.84158457e-04 -8.42764179e+00] [ 4.13989550e-03 -1.50358310e-04 9.99991419e-01 -3.13786837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.132414037 meters 0.07436379963384533 Centerline is valid? [True, True] Translation: X:121.94, Y:-8.43, Z:-3.14 [[ 9.99487594e-01 3.18647350e-02 -3.03126610e-03 1.21937448e+02] [-3.18642513e-02 9.99492184e-01 2.07722002e-04 -8.43148511e+00] [ 3.03634578e-03 -1.11026539e-04 9.99995384e-01 -3.13775078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.162414037 meters 0.07441215526619316 Centerline is valid? [True, True] Translation: X:121.97, Y:-8.43, Z:-3.14 [[ 9.99508853e-01 3.11689097e-02 -3.24830834e-03 1.21965657e+02] [-3.11683525e-02 9.99514124e-01 2.22014227e-04 -8.43380336e+00] [ 3.25365001e-03 -1.20660766e-04 9.99994700e-01 -3.13628120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.192414037 meters 0.07424998677653635 Centerline is valid? [True, True] Translation: X:121.99, Y:-8.43, Z:-3.14 [[ 9.99506618e-01 3.11116699e-02 -4.31092190e-03 1.21994874e+02] [-3.11106841e-02 9.99515902e-01 2.95555788e-04 -8.43479054e+00] [ 4.31803022e-03 -1.61294237e-04 9.99990664e-01 -3.13586676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.222414037 meters 0.07493889650988592 Centerline is valid? [True, True] Translation: X:122.02, Y:-8.44, Z:-3.14 [[ 9.99489462e-01 3.14209572e-02 -5.79128603e-03 1.22022306e+02] [-3.14191850e-02 9.99506217e-01 3.96757748e-04 -8.43979670e+00] [ 5.80089290e-03 -2.14597701e-04 9.99983152e-01 -3.13978570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.252414037 meters 0.07519243622115752 Centerline is valid? [True, True] Translation: X:122.05, Y:-8.45, Z:-3.14 [[ 9.99482897e-01 3.12019519e-02 -7.77024752e-03 1.22050469e+02] [-3.11987490e-02 9.99513058e-01 5.33102062e-04 -8.44678081e+00] [ 7.78309769e-03 -2.90404391e-04 9.99969669e-01 -3.14449365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.282414037 meters 0.07537742901598536 Centerline is valid? [True, True] Translation: X:122.08, Y:-8.45, Z:-3.15 [[ 9.99498021e-01 3.03089483e-02 -9.22350827e-03 1.22079532e+02] [-3.03043884e-02 9.99540516e-01 6.33771852e-04 -8.45268462e+00] [ 9.23847917e-03 -3.53940935e-04 9.99957262e-01 -3.14621348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.312414037 meters 0.07652921595357816 Centerline is valid? [True, True] Translation: X:122.11, Y:-8.46, Z:-3.15 [[ 9.99526864e-01 2.96699739e-02 -8.10813026e-03 1.22106744e+02] [-2.96664470e-02 9.99559700e-01 5.54934836e-04 -8.46139228e+00] [ 8.12102515e-03 -3.14132859e-04 9.99966975e-01 -3.15040793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.342414037 meters 0.07653609649633251 Centerline is valid? [True, True] Translation: X:122.13, Y:-8.46, Z:-3.15 [[ 9.99525189e-01 2.97744151e-02 -7.92978637e-03 1.22134017e+02] [-2.97710495e-02 9.99556597e-01 5.42155569e-04 -8.46456544e+00] [ 7.94241265e-03 -3.05820085e-04 9.99968412e-01 -3.15074534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.372414037 meters 0.07604783552276946 Centerline is valid? [True, True] Translation: X:122.16, Y:-8.47, Z:-3.15 [[ 9.99484062e-01 3.17281329e-02 -4.99357912e-03 1.22162532e+02] [-3.17268184e-02 9.99496519e-01 3.42247290e-04 -8.46609959e+00] [ 5.00192382e-03 -1.83640334e-04 9.99987473e-01 -3.14898768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.402414037 meters 0.07374192946209616 Centerline is valid? [True, True] Translation: X:122.19, Y:-8.46, Z:-3.14 [[ 9.99460031e-01 3.26107768e-02 -4.02298873e-03 1.22192184e+02] [-3.26099381e-02 9.99468117e-01 2.73900053e-04 -8.46070884e+00] [ 4.02978106e-03 -1.42562742e-04 9.99991870e-01 -3.14197627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.432414037 meters 0.07607716503875071 Centerline is valid? [True, True] Translation: X:122.22, Y:-8.47, Z:-3.15 [[ 9.99437887e-01 3.32212569e-02 -4.50086175e-03 1.22218901e+02] [-3.32202162e-02 9.99448010e-01 3.05815360e-04 -8.47370810e+00] [ 4.50853688e-03 -1.56123857e-04 9.99989824e-01 -3.15099830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.462414037 meters 0.07399751003028082 Centerline is valid? [True, True] Translation: X:122.25, Y:-8.47, Z:-3.15 [[ 9.99407280e-01 3.39992943e-02 -5.39791333e-03 1.22247253e+02] [-3.39978117e-02 9.99421840e-01 3.66209328e-04 -8.47316137e+00] [ 5.40724333e-03 -1.82475027e-04 9.99985364e-01 -3.14622491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.492414037 meters 0.07466873345795416 Centerline is valid? [True, True] Translation: X:122.27, Y:-8.48, Z:-3.15 [[ 9.99411522e-01 3.39297227e-02 -5.03830442e-03 1.22274979e+02] [-3.39284308e-02 9.99424207e-01 3.41696566e-04 -8.47954414e+00] [ 5.04699706e-03 -1.70553722e-04 9.99987249e-01 -3.14986902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52241403699998 meters 0.07352904266890452 Centerline is valid? [True, True] Translation: X:122.30, Y:-8.48, Z:-3.15 [[ 9.99405415e-01 3.41650778e-02 -4.64369238e-03 1.22303918e+02] [-3.41639832e-02 9.99416191e-01 3.14857520e-04 -8.47784037e+00] [ 4.65173848e-03 -1.56023282e-04 9.99989168e-01 -3.14605923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55241403699998 meters 0.07362702294354044 Centerline is valid? [True, True] Translation: X:122.33, Y:-8.48, Z:-3.15 [[ 9.99405422e-01 3.40552560e-02 -5.38901755e-03 1.22332861e+02] [-3.40537805e-02 9.99419935e-01 3.65339441e-04 -8.48132378e+00] [ 5.39833330e-03 -1.81605797e-04 9.99985412e-01 -3.14705733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58241403699998 meters 0.07418090719289851 Centerline is valid? [True, True] Translation: X:122.36, Y:-8.49, Z:-3.15 [[ 9.99439486e-01 3.28305119e-02 -6.54761281e-03 1.22359666e+02] [-3.28283264e-02 9.99460908e-01 4.41001073e-04 -8.48978110e+00] [ 6.55856133e-03 -2.25806715e-04 9.99978467e-01 -3.15046628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61241403699998 meters 0.07431311613728053 Centerline is valid? [True, True] Translation: X:122.39, Y:-8.50, Z:-3.15 [[ 9.99494255e-01 3.12102865e-02 -6.09524403e-03 1.22388172e+02] [-3.12083524e-02 9.99512816e-01 4.12177718e-04 -8.49566488e+00] [ 6.10513870e-03 -2.21746738e-04 9.99981339e-01 -3.15236181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64241403699998 meters 0.07434761472948696 Centerline is valid? [True, True] Translation: X:122.42, Y:-8.50, Z:-3.15 [[ 9.99527177e-01 3.02050076e-02 -5.75143334e-03 1.22417021e+02] [-3.02032720e-02 9.99543702e-01 3.88409005e-04 -8.49956061e+00] [ 5.76054087e-03 -2.14513251e-04 9.99983385e-01 -3.15212977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67241403699998 meters 0.07479341015743207 Centerline is valid? [True, True] Translation: X:122.44, Y:-8.51, Z:-3.15 [[ 9.99587347e-01 2.85857957e-02 -2.82627578e-03 1.22444642e+02] [-2.85853782e-02 9.99591337e-01 1.87996195e-04 -8.50710083e+00] [ 2.83049480e-03 -1.07128456e-04 9.99995988e-01 -3.15275033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70241403699998 meters 0.07507194753983074 Centerline is valid? [True, True] Translation: X:122.47, Y:-8.51, Z:-3.15 [[ 9.99618393e-01 2.75258360e-02 -2.32312946e-03 1.22473022e+02] [-2.75255492e-02 9.99621088e-01 1.55342426e-04 -8.51221221e+00] [ 2.32652513e-03 -9.13377317e-05 9.99997289e-01 -3.15405057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73241403699998 meters 0.07475892403807653 Centerline is valid? [True, True] Translation: X:122.50, Y:-8.52, Z:-3.15 [[ 9.99635509e-01 2.69407908e-02 -1.74463971e-03 1.22500703e+02] [-2.69406310e-02 9.99637029e-01 1.15029017e-04 -8.51551814e+00] [ 1.74710543e-03 -6.79853949e-05 9.99998471e-01 -3.15345271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76241403699999 meters 0.07475892403807653 Centerline is valid? [True, True] Translation: X:122.53, Y:-8.52, Z:-3.15 [[ 9.99638231e-01 2.68395957e-02 -1.74465157e-03 1.22528127e+02] [-2.68394361e-02 9.99639751e-01 1.14851278e-04 -8.51727124e+00] [ 1.74710562e-03 -6.79842639e-05 9.99998471e-01 -3.15423146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.792414037 meters 0.07439173775757314 Centerline is valid? [True, True] Translation: X:122.56, Y:-8.52, Z:-3.15 [[ 9.99657451e-01 2.61586824e-02 -8.39420755e-04 1.22556061e+02] [-2.61586465e-02 9.99657803e-01 5.36312772e-05 -8.51987539e+00] [ 8.40536431e-04 -3.16547950e-05 9.99999646e-01 -3.15390005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.822414037 meters 0.07515270837489102 Centerline is valid? [True, True] Translation: X:122.58, Y:-8.53, Z:-3.16 [[ 9.99708076e-01 2.41192536e-02 -1.42293305e-03 1.22583578e+02] [-2.41191445e-02 9.99709087e-01 9.37653376e-05 -8.52835221e+00] [ 1.42478065e-03 -5.94180375e-05 9.99998983e-01 -3.15575408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.852414037 meters 0.07509675691939395 Centerline is valid? [True, True] Translation: X:122.61, Y:-8.53, Z:-3.16 [[ 9.99720577e-01 2.34903555e-02 -2.64017768e-03 1.22612328e+02] [-2.34899735e-02 9.99724057e-01 1.75587314e-04 -8.53125717e+00] [ 2.64357375e-03 -1.13520547e-04 9.99996499e-01 -3.15601632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.882414037 meters 0.07534982325223927 Centerline is valid? [True, True] Translation: X:122.64, Y:-8.54, Z:-3.16 [[ 9.99737250e-01 2.27072239e-02 -3.13260031e-03 1.22641098e+02] [-2.27066819e-02 9.99742148e-01 2.08486610e-04 -8.53590701e+00] [ 3.13652672e-03 -1.37300871e-04 9.99995072e-01 -3.15758327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.912414037 meters 0.07477803040518526 Centerline is valid? [True, True] Translation: X:122.67, Y:-8.54, Z:-3.16 [[ 9.99744912e-01 2.23390487e-02 -3.32842902e-03 1.22669464e+02] [-2.23384353e-02 9.99750442e-01 2.21339471e-04 -8.53776176e+00] [ 3.33254290e-03 -1.46931113e-04 9.99994436e-01 -3.15660930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.942414037 meters 0.07518367226237124 Centerline is valid? [True, True] Translation: X:122.70, Y:-8.55, Z:-3.16 [[ 9.99772181e-01 2.10107425e-02 -3.75971036e-03 1.22696505e+02] [-2.10099526e-02 9.99779235e-01 2.49472323e-04 -8.54603512e+00] [ 3.76412195e-03 -1.70424152e-04 9.99992901e-01 -3.15886858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.972414037 meters 0.07493833638908748 Centerline is valid? [True, True] Translation: X:122.73, Y:-8.55, Z:-3.16 [[ 9.99770208e-01 2.12344863e-02 -2.93726008e-03 1.22725199e+02] [-2.12340059e-02 9.99774514e-01 1.94641072e-04 -8.54890580e+00] [ 2.94073087e-03 -1.32226548e-04 9.99995667e-01 -3.15864555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.002414037 meters 0.07519509974426383 Centerline is valid? [True, True] Translation: X:122.75, Y:-8.55, Z:-3.16 [[ 9.99763092e-01 2.15625583e-02 -2.96902678e-03 1.22752796e+02] [-2.15620710e-02 9.99767492e-01 1.96041141e-04 -8.55274543e+00] [ 2.97256361e-03 -1.31976331e-04 9.99995573e-01 -3.16077450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.032414037 meters 0.07565763446311921 Centerline is valid? [True, True] Translation: X:122.78, Y:-8.56, Z:-3.16 [[ 9.99750272e-01 2.20651405e-02 -3.53895117e-03 1.22780567e+02] [-2.20644506e-02 9.99756523e-01 2.33873070e-04 -8.55730431e+00] [ 3.54324996e-03 -1.55729652e-04 9.99993711e-01 -3.16382565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.062414037 meters 0.0759665521016981 Centerline is valid? [True, True] Translation: X:122.81, Y:-8.56, Z:-3.17 [[ 9.99721331e-01 2.28255177e-02 -6.02136195e-03 1.22808166e+02] [-2.28235339e-02 9.99739430e-01 3.97976756e-04 -8.56098968e+00] [ 6.02887699e-03 -2.60437094e-04 9.99981792e-01 -3.16698697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.092414037 meters 0.07570550695761728 Centerline is valid? [True, True] Translation: X:122.84, Y:-8.56, Z:-3.17 [[ 9.99687617e-01 2.40208907e-02 -6.90393740e-03 1.22837362e+02] [-2.40182970e-02 9.99711414e-01 4.58367927e-04 -8.56337829e+00] [ 6.91295543e-03 -2.92403922e-04 9.99976062e-01 -3.16810194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.122414037 meters 0.07544814758135705 Centerline is valid? [True, True] Translation: X:122.87, Y:-8.57, Z:-3.17 [[ 9.99669638e-01 2.51155616e-02 -5.46099497e-03 1.22866399e+02] [-2.51139692e-02 9.99684530e-01 3.59975744e-04 -8.56623795e+00] [ 5.46831318e-03 -2.22709562e-04 9.99985024e-01 -3.16830750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.152414037 meters 0.07496392400989688 Centerline is valid? [True, True] Translation: X:122.90, Y:-8.57, Z:-3.17 [[ 9.99661910e-01 2.57461350e-02 -3.63360643e-03 1.22895589e+02] [-2.57454326e-02 9.99668503e-01 2.39961265e-04 -8.56853958e+00] [ 3.63857998e-03 -1.46331366e-04 9.99993370e-01 -3.16769664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.182414037 meters 0.07463477807460316 Centerline is valid? [True, True] Translation: X:122.92, Y:-8.57, Z:-3.17 [[ 9.99644120e-01 2.65452969e-02 -2.64213082e-03 1.22923994e+02] [-2.65449311e-02 9.99647606e-01 1.73414769e-04 -8.57216407e+00] [ 2.64580310e-03 -1.03217873e-04 9.99996495e-01 -3.16726904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.212414037 meters 0.07386131855561838 Centerline is valid? [True, True] Translation: X:122.95, Y:-8.57, Z:-3.16 [[ 9.99589664e-01 2.84912374e-02 -2.95857006e-03 1.22952733e+02] [-2.84907874e-02 9.99594036e-01 1.94155632e-04 -8.57422415e+00] [ 2.96290072e-03 -1.09783972e-04 9.99995605e-01 -3.16485167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.242414037 meters 0.07394432492518223 Centerline is valid? [True, True] Translation: X:122.98, Y:-8.58, Z:-3.17 [[ 9.99567845e-01 2.92294322e-02 -3.12458395e-03 1.22980818e+02] [-2.92289341e-02 9.99572722e-01 2.04961944e-04 -8.57748020e+00] [ 3.12923980e-03 -1.13545110e-04 9.99995097e-01 -3.16625284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27241403699998 meters 0.07397163156941305 Centerline is valid? [True, True] Translation: X:123.01, Y:-8.58, Z:-3.17 [[ 9.99541548e-01 3.00579426e-02 -3.63507231e-03 1.23008509e+02] [-3.00572756e-02 9.99548150e-01 2.38013572e-04 -8.57969662e+00] [ 3.64058400e-03 -1.28644084e-04 9.99993365e-01 -3.16596794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30241403699998 meters 0.07411969527965158 Centerline is valid? [True, True] Translation: X:123.04, Y:-8.58, Z:-3.17 [[ 9.99529060e-01 3.05042853e-02 -3.33874692e-03 1.23035711e+02] [-3.05037308e-02 9.99534629e-01 2.16891412e-04 -8.58353901e+00] [ 3.34380929e-03 -1.14945032e-04 9.99994403e-01 -3.16722143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33241403699998 meters 0.0734963101106999 Centerline is valid? [True, True] Translation: X:123.06, Y:-8.59, Z:-3.17 [[ 9.99502229e-01 3.14334568e-02 -2.68935258e-03 1.23064785e+02] [-3.14330984e-02 9.99505843e-01 1.75417329e-04 -8.58689315e+00] [ 2.69353758e-03 -9.07953274e-05 9.99996368e-01 -3.16583559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36241403699998 meters 0.0741837685561625 Centerline is valid? [True, True] Translation: X:123.09, Y:-8.59, Z:-3.17 [[ 9.99513591e-01 3.11169953e-02 -2.07720178e-03 1.23092142e+02] [-3.11167831e-02 9.99515747e-01 1.34403886e-04 -8.59426623e+00] [ 2.08037813e-03 -6.97026734e-05 9.99997834e-01 -3.16904816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39241403699998 meters 0.07432870978991207 Centerline is valid? [True, True] Translation: X:123.12, Y:-8.60, Z:-3.17 [[ 9.99594972e-01 2.84165682e-02 -1.54636891e-03 1.23121277e+02] [-2.84164461e-02 9.99596166e-01 1.00840947e-04 -8.60388159e+00] [ 1.54860998e-03 -5.68577944e-05 9.99998799e-01 -3.16906615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42241403699998 meters 0.07483210221442306 Centerline is valid? [True, True] Translation: X:123.15, Y:-8.61, Z:-3.17 [[ 9.99666121e-01 2.57424195e-02 -2.23037117e-03 1.23149990e+02] [-2.57421594e-02 9.99668605e-01 1.45282107e-04 -8.61001906e+00] [ 2.23337195e-03 -8.78190301e-05 9.99997502e-01 -3.17034738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45241403699998 meters 0.07543379361096636 Centerline is valid? [True, True] Translation: X:123.18, Y:-8.62, Z:-3.17 [[ 9.99708506e-01 2.38083270e-02 -4.00843042e-03 1.23177918e+02] [-2.38074695e-02 9.99716528e-01 2.61509046e-04 -8.61690693e+00] [ 4.01352023e-03 -1.66002233e-04 9.99991932e-01 -3.17279875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48241403699998 meters 0.07596419188074889 Centerline is valid? [True, True] Translation: X:123.21, Y:-8.62, Z:-3.18 [[ 9.99748803e-01 2.17914416e-02 -5.24057999e-03 1.23206698e+02] [-2.17899441e-02 9.99762512e-01 3.42695586e-04 -8.62327104e+00] [ 5.24680324e-03 -2.28417557e-04 9.99986209e-01 -3.17544258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51241403699999 meters 0.07722889256296088 Centerline is valid? [True, True] Translation: X:123.24, Y:-8.63, Z:-3.18 [[ 9.99828521e-01 1.77839801e-02 -5.16327037e-03 1.23235464e+02] [-1.77824716e-02 9.99841822e-01 3.37923332e-04 -8.63308507e+00] [ 5.16846328e-03 -2.46049676e-04 9.99986613e-01 -3.17673566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.542414037 meters 0.07792682443556463 Centerline is valid? [True, True] Translation: X:123.26, Y:-8.64, Z:-3.18 [[ 9.99875261e-01 1.50953881e-02 -4.64659964e-03 1.23264879e+02] [-1.50941385e-02 9.99886031e-01 3.03871473e-04 -8.63957144e+00] [ 4.65065713e-03 -2.33697150e-04 9.99989158e-01 -3.17622527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.572414037 meters 0.07652902253792068 Centerline is valid? [True, True] Translation: X:123.29, Y:-8.64, Z:-3.17 [[ 9.99913880e-01 1.26688643e-02 -3.42521724e-03 1.23294166e+02] [-1.26681744e-02 9.99919731e-01 2.23029854e-04 -8.64029739e+00] [ 3.42776783e-03 -1.79619397e-04 9.99994109e-01 -3.17325163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.602414037 meters 0.07872578788032353 Centerline is valid? [True, True] Translation: X:123.32, Y:-8.65, Z:-3.18 [[ 9.99929367e-01 1.11981526e-02 -3.98286929e-03 1.23321458e+02] [-1.11972075e-02 9.99937276e-01 2.59508799e-04 -8.65140415e+00] [ 3.98552548e-03 -2.14893455e-04 9.99992035e-01 -3.17783511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.632414037 meters 0.0785380960158877 Centerline is valid? [True, True] Translation: X:123.35, Y:-8.66, Z:-3.18 [[ 9.99935885e-01 7.55856597e-03 -8.43167420e-03 1.23351810e+02] [-7.55417971e-03 9.99971314e-01 5.51939672e-04 -8.65526942e+00] [ 8.43560420e-03 -4.88209902e-04 9.99964300e-01 -3.18109027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.662414037 meters 0.07919669995314278 Centerline is valid? [True, True] Translation: X:123.38, Y:-8.66, Z:-3.18 [[ 9.99952588e-01 5.45374157e-03 -8.06713312e-03 1.23381146e+02] [-5.44966635e-03 9.99985012e-01 5.27058457e-04 -8.66029947e+00] [ 8.06988665e-03 -4.83070285e-04 9.99967321e-01 -3.18355620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.692414037 meters 0.07875905995501592 Centerline is valid? [True, True] Translation: X:123.41, Y:-8.66, Z:-3.18 [[ 9.99970811e-01 4.47764096e-03 -6.19102123e-03 1.23409648e+02] [-4.47523239e-03 9.99989905e-01 4.02840708e-04 -8.66240928e+00] [ 6.19276251e-03 -3.75122691e-04 9.99980754e-01 -3.18294651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.722414037 meters 0.0789775020980811 Centerline is valid? [True, True] Translation: X:123.44, Y:-8.67, Z:-3.18 [[ 9.99986580e-01 4.67830409e-03 -2.22561140e-03 1.23438487e+02] [-4.67799409e-03 9.99989048e-01 1.44474397e-04 -8.66671637e+00] [ 2.22626292e-03 -1.34061061e-04 9.99997513e-01 -3.18195117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.752414037 meters 0.07887059791487859 Centerline is valid? [True, True] Translation: X:123.47, Y:-8.67, Z:-3.18 [[ 9.99984303e-01 5.08832488e-03 -2.34562774e-03 1.23466989e+02] [-5.08798416e-03 9.99987045e-01 1.51201291e-04 -8.66737693e+00] [ 2.34636671e-03 -1.39264401e-04 9.99997238e-01 -3.18141092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.782414037 meters 0.07892222929256412 Centerline is valid? [True, True] Translation: X:123.50, Y:-8.67, Z:-3.18 [[ 9.99981783e-01 5.82958289e-03 -1.56494635e-03 1.23496133e+02] [-5.82943329e-03 9.99983004e-01 1.00139146e-04 -8.66801330e+00] [ 1.56550353e-03 -9.10145717e-05 9.99998770e-01 -3.18187328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.812414037 meters 0.07919034668042145 Centerline is valid? [True, True] Translation: X:123.52, Y:-8.67, Z:-3.18 [[ 9.99979282e-01 6.37265716e-03 -9.07841168e-04 1.23523562e+02] [-6.37260826e-03 9.99979693e-01 5.67456798e-05 -8.66963835e+00] [ 9.08184353e-04 -5.09591880e-05 9.99999586e-01 -3.18201913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.842414037 meters 0.07935947230122749 Centerline is valid? [True, True] Translation: X:123.55, Y:-8.67, Z:-3.18 [[ 9.99972508e-01 7.30908189e-03 1.24910419e-03 1.23552781e+02] [-7.30898483e-03 9.99973286e-01 -8.22496559e-05 -8.67195863e+00] [-1.24967199e-03 7.31177112e-05 9.99999216e-01 -3.18167837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.872414037 meters 0.07823718173088806 Centerline is valid? [True, True] Translation: X:123.58, Y:-8.67, Z:-3.18 [[ 9.99971978e-01 7.35841280e-03 1.37750927e-03 1.23582177e+02] [-7.35829214e-03 9.99972923e-01 -9.26376831e-05 -8.67153630e+00] [-1.37815363e-03 8.24989715e-05 9.99999047e-01 -3.18094964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.902414037 meters 0.07881464944874053 Centerline is valid? [True, True] Translation: X:123.61, Y:-8.68, Z:-3.18 [[ 9.99972811e-01 7.37399798e-03 -2.77587511e-05 1.23610605e+02] [-7.37399797e-03 9.99972812e-01 3.75620028e-07 -8.67538741e+00] [ 2.77607662e-05 -1.70916842e-07 1.00000000e+00 -3.18332303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.932414037 meters 0.07801430645575873 Centerline is valid? [True, True] Translation: X:123.64, Y:-8.67, Z:-3.18 [[ 9.99972070e-01 7.46688026e-03 -3.25161179e-04 1.23639117e+02] [-7.46687443e-03 9.99972122e-01 1.91630034e-05 -8.67371835e+00] [ 3.25295202e-04 -1.67345305e-05 9.99999947e-01 -3.18350962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.962414037 meters 0.0768961950195607 Centerline is valid? [True, True] Translation: X:123.67, Y:-8.67, Z:-3.18 [[ 9.99971168e-01 7.39712314e-03 -1.71628029e-03 1.23667932e+02] [-7.39694657e-03 9.99972636e-01 1.09205588e-04 -8.66884405e+00] [ 1.71704113e-03 -9.65072061e-05 9.99998521e-01 -3.18396710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.992414037 meters 0.07697323954139365 Centerline is valid? [True, True] Translation: X:123.70, Y:-8.67, Z:-3.19 [[ 9.99960481e-01 8.84688179e-03 -8.77414192e-04 1.23696531e+02] [-8.84683665e-03 9.99960864e-01 5.53169110e-05 -8.67116995e+00] [ 8.77869236e-04 -4.75523848e-05 9.99999614e-01 -3.18655333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02241403699998 meters 0.07642951905208743 Centerline is valid? [True, True] Translation: X:123.73, Y:-8.67, Z:-3.19 [[ 9.99935957e-01 1.13146699e-02 -2.44766169e-04 1.23726022e+02] [-1.13146666e-02 9.99935987e-01 1.48435906e-05 -8.67199606e+00] [ 2.44918451e-04 -1.20731924e-05 9.99999970e-01 -3.18836658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05241403699998 meters 0.07711113980379776 Centerline is valid? [True, True] Translation: X:123.75, Y:-8.67, Z:-3.19 [[ 9.99923293e-01 1.23299549e-02 -1.17523155e-03 1.23754218e+02] [-1.23298764e-02 9.99923981e-01 7.39889935e-05 -8.67436834e+00] [ 1.17605449e-03 -5.94928582e-05 9.99999307e-01 -3.19054394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08241403699998 meters 0.0755235972882864 Centerline is valid? [True, True] Translation: X:123.78, Y:-8.67, Z:-3.19 [[ 9.99899100e-01 1.41988772e-02 4.27415197e-04 1.23784675e+02] [-1.41988661e-02 9.99899191e-01 -2.89213676e-05 -8.66985177e+00] [-4.27782760e-04 2.28496383e-05 9.99999908e-01 -3.18788897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11241403699998 meters 0.07541343258439429 Centerline is valid? [True, True] Translation: X:123.81, Y:-8.67, Z:-3.19 [[ 9.99877352e-01 1.56006003e-02 1.37938853e-03 1.23813816e+02] [-1.56004896e-02 9.99878301e-01 -9.09804417e-05 -8.66899286e+00] [-1.38064001e-03 6.94501466e-05 9.99999045e-01 -3.18778844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14241403699998 meters 0.07562456779626836 Centerline is valid? [True, True] Translation: X:123.84, Y:-8.67, Z:-3.19 [[ 9.99850620e-01 1.71875291e-02 1.82369510e-03 1.23841602e+02] [-1.71873388e-02 9.99852280e-01 -1.19964455e-04 -8.66918262e+00] [-1.82548760e-03 8.86020690e-05 9.99998330e-01 -3.18800963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17241403699998 meters 0.07486596300670453 Centerline is valid? [True, True] Translation: X:123.87, Y:-8.67, Z:-3.19 [[ 9.99816316e-01 1.90848195e-02 1.76170605e-03 1.23871003e+02] [-1.90846466e-02 9.99817865e-01 -1.14913016e-04 -8.66862343e+00] [-1.76357828e-03 8.12703709e-05 9.99998442e-01 -3.18793179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20241403699998 meters 0.07616920890644832 Centerline is valid? [True, True] Translation: X:123.90, Y:-8.68, Z:-3.19 [[ 9.99814289e-01 1.91678502e-02 1.99501881e-03 1.23898762e+02] [-1.91676274e-02 9.99816276e-01 -1.30733269e-04 -8.67574743e+00] [-1.99715815e-03 9.24692133e-05 9.99998001e-01 -3.19155956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23241403699998 meters 0.07520631044601798 Centerline is valid? [True, True] Translation: X:123.93, Y:-8.67, Z:-3.19 [[ 9.99836791e-01 1.80591265e-02 5.08772764e-04 1.23928651e+02] [-1.80591117e-02 9.99836920e-01 -3.36830006e-05 -8.67395161e+00] [-5.09298080e-04 2.44895191e-05 9.99999870e-01 -3.19190456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26241403699999 meters 0.07541979513229118 Centerline is valid? [True, True] Translation: X:123.96, Y:-8.68, Z:-3.19 [[ 9.99854428e-01 1.70488028e-02 -6.78709703e-04 1.23957606e+02] [-1.70487785e-02 9.99854658e-01 4.15845832e-05 -8.67618496e+00] [ 6.79320025e-04 -3.00073583e-05 9.99999769e-01 -3.19324214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.292414037 meters 0.07694006743105208 Centerline is valid? [True, True] Translation: X:123.98, Y:-8.68, Z:-3.20 [[ 9.99891963e-01 1.46770643e-02 8.03879929e-04 1.23984735e+02] [-1.46770256e-02 9.99892285e-01 -5.39863176e-05 -8.68300931e+00] [-8.04585700e-04 4.21819187e-05 9.99999675e-01 -3.19629579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.322414037 meters 0.07596747319841493 Centerline is valid? [True, True] Translation: X:124.01, Y:-8.68, Z:-3.20 [[ 9.99905819e-01 1.36447341e-02 1.47425918e-03 1.24013228e+02] [-1.36446068e-02 9.99906903e-01 -9.63690048e-05 -8.68275014e+00] [-1.47543686e-03 7.62442418e-05 9.99998909e-01 -3.19544129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.352414037 meters 0.07736447092587923 Centerline is valid? [True, True] Translation: X:124.04, Y:-8.69, Z:-3.20 [[ 9.99939369e-01 1.10043972e-02 4.01101943e-04 1.24041913e+02] [-1.10043874e-02 9.99939450e-01 -2.66466183e-05 -8.68891031e+00] [-4.01370886e-04 2.22311215e-05 9.99999919e-01 -3.19723864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.382414037 meters 0.07704605188579439 Centerline is valid? [True, True] Translation: X:124.07, Y:-8.69, Z:-3.20 [[ 9.99943121e-01 1.05568764e-02 -1.51859887e-03 1.24071508e+02] [-1.05567425e-02 9.99944271e-01 9.61620667e-05 -8.68949750e+00] [ 1.51952941e-03 -8.01251399e-05 9.99998842e-01 -3.19855379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.412414037 meters 0.07658575834325221 Centerline is valid? [True, True] Translation: X:124.10, Y:-8.69, Z:-3.20 [[ 9.99945231e-01 1.03035693e-02 -1.83632285e-03 1.24100367e+02] [-1.03033748e-02 9.99946912e-01 1.15346835e-04 -8.68912083e+00] [ 1.83741385e-03 -9.64201944e-05 9.99998307e-01 -3.19958309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.442414037 meters 0.07704097905932042 Centerline is valid? [True, True] Translation: X:124.13, Y:-8.69, Z:-3.20 [[ 9.99950181e-01 9.68046509e-03 -2.43406658e-03 1.24127586e+02] [-9.68012294e-03 9.99953135e-01 1.52311790e-04 -8.69192745e+00] [ 2.43542696e-03 -1.28742139e-04 9.99997026e-01 -3.20081586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.472414037 meters 0.07736927146083424 Centerline is valid? [True, True] Translation: X:124.16, Y:-8.70, Z:-3.20 [[ 9.99956296e-01 9.25363772e-03 -1.33270048e-03 1.24155164e+02] [-9.25353602e-03 9.99957182e-01 8.24590291e-05 -8.69595338e+00] [ 1.33340646e-03 -7.01232334e-05 9.99999109e-01 -3.20228937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.502414037 meters 0.07753705736934555 Centerline is valid? [True, True] Translation: X:124.18, Y:-8.70, Z:-3.20 [[ 9.99956686e-01 9.26488512e-03 -8.87947880e-04 1.24183547e+02] [-9.26484030e-03 9.99957079e-01 5.45668358e-05 -8.69870019e+00] [ 8.88415324e-04 -4.63377770e-05 9.99999604e-01 -3.20431082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.532414037 meters 0.07761342640530842 Centerline is valid? [True, True] Translation: X:124.21, Y:-8.70, Z:-3.21 [[ 9.99960522e-01 8.62713865e-03 -2.12751281e-03 1.24212401e+02] [-8.62687452e-03 9.99962779e-01 1.33293751e-04 -8.70096099e+00] [ 2.12858357e-03 -1.14934703e-04 9.99997728e-01 -3.20657591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.562414037 meters 0.07812903118638811 Centerline is valid? [True, True] Translation: X:124.24, Y:-8.71, Z:-3.21 [[ 9.99963043e-01 8.51410115e-03 -1.19245278e-03 1.24239506e+02] [-8.51401979e-03 9.99963752e-01 7.32893859e-05 -8.70504351e+00] [ 1.19303355e-03 -6.31341108e-05 9.99999286e-01 -3.20824042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.592414037 meters 0.07811610184190312 Centerline is valid? [True, True] Translation: X:124.27, Y:-8.71, Z:-3.21 [[ 9.99978481e-01 6.40891197e-03 1.40106489e-03 1.24267811e+02] [-6.40879105e-03 9.99979459e-01 -9.07752190e-05 -8.70923739e+00] [-1.40161789e-03 8.17941334e-05 9.99999014e-01 -3.20718543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.622414037 meters 0.07957489986560995 Centerline is valid? [True, True] Translation: X:124.30, Y:-8.72, Z:-3.21 [[ 9.99987197e-01 4.94550725e-03 1.07142729e-03 1.24296284e+02] [-4.94543580e-03 9.99987769e-01 -6.93241779e-05 -8.71537805e+00] [-1.07175703e-03 6.40246155e-05 9.99999424e-01 -3.20913550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.652414037 meters 0.07957489986560995 Centerline is valid? [True, True] Translation: X:124.33, Y:-8.72, Z:-3.21 [[ 9.99987360e-01 4.91239202e-03 1.07146122e-03 1.24325431e+02] [-4.91232112e-03 9.99987932e-01 -6.87889009e-05 -8.71719032e+00] [-1.07178621e-03 6.35246698e-05 9.99999424e-01 -3.20996236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.682414037 meters 0.07905698105651265 Centerline is valid? [True, True] Translation: X:124.35, Y:-8.72, Z:-3.21 [[ 9.99986193e-01 5.22504332e-03 -5.60009938e-04 1.24354847e+02] [-5.22502482e-03 9.99986349e-01 3.44955493e-05 -8.71793611e+00] [ 5.60182534e-04 -3.15690072e-05 9.99999843e-01 -3.21130360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.712414037 meters 0.07825132397833066 Centerline is valid? [True, True] Translation: X:124.38, Y:-8.72, Z:-3.21 [[ 9.99975212e-01 6.97453818e-03 -9.65201335e-04 1.24383534e+02] [-6.97448438e-03 9.99975676e-01 5.91019597e-05 -8.71788387e+00] [ 9.65590067e-04 -5.23687130e-05 9.99999532e-01 -3.21234356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.742414037 meters 0.07704162657879567 Centerline is valid? [True, True] Translation: X:124.41, Y:-8.72, Z:-3.21 [[ 9.99959863e-01 8.87586795e-03 -1.22133689e-03 1.24412590e+02] [-8.87578273e-03 9.99960607e-01 7.51736172e-05 -8.71687774e+00] [ 1.22195601e-03 -6.43302790e-05 9.99999251e-01 -3.21205283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77241403699998 meters 0.07710391932080339 Centerline is valid? [True, True] Translation: X:124.44, Y:-8.72, Z:-3.21 [[ 9.99936200e-01 1.12832478e-02 5.33273142e-04 1.24441372e+02] [-1.12832309e-02 9.99936342e-01 -3.46325126e-05 -8.71912913e+00] [-5.33629962e-04 2.86132590e-05 9.99999857e-01 -3.21228136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80241403699998 meters 0.07635714078214671 Centerline is valid? [True, True] Translation: X:124.47, Y:-8.72, Z:-3.21 [[ 9.99896614e-01 1.42660860e-02 1.80012455e-03 1.24471758e+02] [-1.42659037e-02 9.99898230e-01 -1.14072998e-04 -8.71893627e+00] [-1.80156873e-03 8.83808013e-05 9.99998373e-01 -3.21243297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83241403699998 meters 0.07564471112585908 Centerline is valid? [True, True] Translation: X:124.50, Y:-8.72, Z:-3.21 [[ 9.99818153e-01 1.90698299e-02 4.69480767e-05 1.24500534e+02] [-1.90698297e-02 9.99818154e-01 -4.38761385e-06 -8.71581485e+00] [-4.70232105e-05 3.49152415e-06 9.99999999e-01 -3.21273492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86241403699998 meters 0.07546648379464704 Centerline is valid? [True, True] Translation: X:124.53, Y:-8.72, Z:-3.22 [[ 9.99781330e-01 2.08569021e-02 -1.51074164e-03 1.24529021e+02] [-2.08567850e-02 9.99782469e-01 9.32613272e-05 -8.71641892e+00] [ 1.51235815e-03 -6.17317202e-05 9.99998854e-01 -3.21509301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89241403699998 meters 0.07558214414866035 Centerline is valid? [True, True] Translation: X:124.56, Y:-8.72, Z:-3.22 [[ 9.99755880e-01 2.19148392e-02 -2.81433593e-03 1.24556996e+02] [-2.19144363e-02 9.99759835e-01 1.73907756e-04 -8.71905808e+00] [ 2.81747119e-03 -1.12190716e-04 9.99996025e-01 -3.21793371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92241403699998 meters 0.07446209577755036 Centerline is valid? [True, True] Translation: X:124.59, Y:-8.72, Z:-3.22 [[ 9.99732023e-01 2.28811547e-02 -3.51212041e-03 1.24586003e+02] [-2.28805277e-02 9.99738183e-01 2.18592363e-04 -8.71798094e+00] [ 3.51620252e-03 -1.38174617e-04 9.99993809e-01 -3.21584851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95241403699998 meters 0.07534846679890281 Centerline is valid? [True, True] Translation: X:124.61, Y:-8.73, Z:-3.22 [[ 9.99707824e-01 2.37857672e-02 -4.30160769e-03 1.24613010e+02] [-2.37848368e-02 9.99717065e-01 2.67323693e-04 -8.72594118e+00] [ 4.30674912e-03 -1.64932551e-04 9.99990712e-01 -3.22217656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98241403699998 meters 0.0742536771948219 Centerline is valid? [True, True] Translation: X:124.64, Y:-8.72, Z:-3.22 [[ 9.99707194e-01 2.40384680e-02 -2.77091376e-03 1.24642335e+02] [-2.40380845e-02 9.99711029e-01 1.71617811e-04 -8.72424842e+00] [ 2.77423847e-03 -1.04960101e-04 9.99996146e-01 -3.21956001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01241403699999 meters 0.07426738920896389 Centerline is valid? [True, True] Translation: X:124.67, Y:-8.73, Z:-3.22 [[ 9.99717000e-01 2.36836022e-02 -2.23782853e-03 1.24670722e+02] [-2.36833524e-02 9.99719501e-01 1.38060808e-04 -8.72541541e+00] [ 2.24047060e-03 -8.50224551e-05 9.99997487e-01 -3.21863867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.042414037 meters 0.07445333736147285 Centerline is valid? [True, True] Translation: X:124.70, Y:-8.73, Z:-3.22 [[ 9.99712267e-01 2.38553027e-02 -2.51169950e-03 1.24697591e+02] [-2.38549924e-02 9.99715417e-01 1.53428958e-04 -8.72800372e+00] [ 2.51464481e-03 -9.34682388e-05 9.99996834e-01 -3.22091833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.072414037 meters 0.07464496482113364 Centerline is valid? [True, True] Translation: X:124.73, Y:-8.73, Z:-3.22 [[ 9.99725528e-01 2.33278054e-02 -2.16371510e-03 1.24725771e+02] [-2.33275720e-02 9.99727866e-01 1.33039745e-04 -8.73172359e+00] [ 2.16622981e-03 -8.25290091e-05 9.99997650e-01 -3.22233789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.102414037 meters 0.07490680316943026 Centerline is valid? [True, True] Translation: X:124.75, Y:-8.74, Z:-3.22 [[ 9.99713109e-01 2.38015788e-02 -2.68024624e-03 1.24752847e+02] [-2.38012230e-02 9.99716697e-01 1.64567082e-04 -8.73591945e+00] [ 2.68340388e-03 -1.00726731e-04 9.99996395e-01 -3.22430749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.132414037 meters 0.07469032273264795 Centerline is valid? [True, True] Translation: X:124.78, Y:-8.74, Z:-3.22 [[ 9.99732971e-01 2.29806158e-02 -2.42457843e-03 1.24781223e+02] [-2.29803220e-02 9.99735906e-01 1.48974767e-04 -8.73872196e+00] [ 2.42736165e-03 -9.32173931e-05 9.99997050e-01 -3.22363969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.162414037 meters 0.07519695856327016 Centerline is valid? [True, True] Translation: X:124.81, Y:-8.74, Z:-3.22 [[ 9.99770128e-01 2.13412661e-02 -2.05955902e-03 1.24809737e+02] [-2.13410515e-02 9.99772246e-01 1.26121833e-04 -8.74365849e+00] [ 2.06178154e-03 -8.21396857e-05 9.99997871e-01 -3.22482478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.192414037 meters 0.07532070558601048 Centerline is valid? [True, True] Translation: X:124.84, Y:-8.75, Z:-3.23 [[ 9.99796296e-01 1.99414159e-02 -3.11544125e-03 1.24839351e+02] [-1.99409123e-02 9.99801142e-01 1.92613313e-04 -8.74771448e+00] [ 3.11866270e-03 -1.30449336e-04 9.99995128e-01 -3.22543749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.222414037 meters 0.07580874370097623 Centerline is valid? [True, True] Translation: X:124.87, Y:-8.75, Z:-3.23 [[ 9.99834602e-01 1.81328727e-02 -1.40290400e-03 1.24866830e+02] [-1.81327717e-02 9.99835584e-01 8.46729679e-05 -8.75356103e+00] [ 1.40420870e-03 -5.92204252e-05 9.99999012e-01 -3.22685526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.252414037 meters 0.07482175999222351 Centerline is valid? [True, True] Translation: X:124.90, Y:-8.76, Z:-3.22 [[ 9.99867556e-01 1.62631359e-02 6.16783443e-04 1.24895536e+02] [-1.62631142e-02 9.99867746e-01 -4.02157107e-05 -8.75518646e+00] [-6.17355905e-04 3.01795648e-05 9.99999809e-01 -3.22314643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.282414037 meters 0.07506634789120127 Centerline is valid? [True, True] Translation: X:124.92, Y:-8.76, Z:-3.22 [[ 9.99869806e-01 1.60324043e-02 1.82593458e-03 1.24922870e+02] [-1.60322201e-02 9.99871469e-01 -1.15474359e-04 -8.75881998e+00] [-1.82755123e-03 8.61855394e-05 9.99998326e-01 -3.22359904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.312414037 meters 0.07483990594215005 Centerline is valid? [True, True] Translation: X:124.95, Y:-8.76, Z:-3.22 [[ 9.99875416e-01 1.57466100e-02 1.09387422e-03 1.24951462e+02] [-1.57465432e-02 9.99876013e-01 -6.96097365e-05 -8.76031427e+00] [-1.09483471e-03 5.23763266e-05 9.99999399e-01 -3.22346776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.342414037 meters 0.07509419640114151 Centerline is valid? [True, True] Translation: X:124.98, Y:-8.76, Z:-3.23 [[ 9.99877579e-01 1.56319169e-02 -6.85386033e-04 1.24980355e+02] [-1.56318929e-02 9.99877814e-01 4.03478247e-05 -8.76421377e+00] [ 6.85933002e-04 -2.96290042e-05 9.99999764e-01 -3.22578994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.372414037 meters 0.07604282976584631 Centerline is valid? [True, True] Translation: X:125.01, Y:-8.77, Z:-3.23 [[ 9.99876795e-01 1.55888174e-02 -1.83930856e-03 1.25007764e+02] [-1.55886401e-02 9.99878484e-01 1.10658255e-04 -8.77254249e+00] [ 1.84081009e-03 -8.19723025e-05 9.99998302e-01 -3.23110945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.402414037 meters 0.07622382480247322 Centerline is valid? [True, True] Translation: X:125.04, Y:-8.78, Z:-3.23 [[ 9.99879116e-01 1.53930487e-02 -2.19275770e-03 1.25035131e+02] [-1.53927948e-02 9.99881515e-01 1.32625511e-04 -8.77611217e+00] [ 2.19453940e-03 -9.88568098e-05 9.99997587e-01 -3.23245350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.432414037 meters 0.07604349299080619 Centerline is valid? [True, True] Translation: X:125.06, Y:-8.78, Z:-3.23 [[ 9.99887609e-01 1.48793754e-02 -1.83691795e-03 1.25064058e+02] [-1.48791965e-02 9.99889292e-01 1.11039862e-04 -8.77823709e+00] [ 1.83836679e-03 -8.36955193e-05 9.99998307e-01 -3.23205970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.462414037 meters 0.07566399926240576 Centerline is valid? [True, True] Translation: X:125.09, Y:-8.78, Z:-3.23 [[ 9.99883529e-01 1.49801750e-02 -2.91931926e-03 1.25093192e+02] [-1.49797209e-02 9.99887782e-01 1.77365708e-04 -8.78025853e+00] [ 2.92164863e-03 -1.33614463e-04 9.99995723e-01 -3.23250645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.492414037 meters 0.07609126582308413 Centerline is valid? [True, True] Translation: X:125.12, Y:-8.78, Z:-3.23 [[ 9.99874659e-01 1.53327885e-02 -3.94620048e-03 1.25121195e+02] [-1.53319619e-02 9.99882430e-01 2.39634361e-04 -8.78439328e+00] [ 3.94941078e-03 -1.79101329e-04 9.99992185e-01 -3.23483781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52241403699998 meters 0.07572024874669622 Centerline is valid? [True, True] Translation: X:125.15, Y:-8.78, Z:-3.23 [[ 9.99869443e-01 1.56506710e-02 -4.01902033e-03 1.25149807e+02] [-1.56498151e-02 9.99877504e-01 2.44312606e-04 -8.78405788e+00] [ 4.02235168e-03 -1.81383785e-04 9.99991894e-01 -3.23464239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55241403699998 meters 0.07600355714355923 Centerline is valid? [True, True] Translation: X:125.18, Y:-8.79, Z:-3.24 [[ 9.99874320e-01 1.56728118e-02 -2.38898857e-03 1.25177464e+02] [-1.56725130e-02 9.99877168e-01 1.43759936e-04 -8.78730125e+00] [ 2.39094825e-03 -1.06300414e-04 9.99997136e-01 -3.23573158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58241403699998 meters 0.0752576717659229 Centerline is valid? [True, True] Translation: X:125.21, Y:-8.79, Z:-3.23 [[ 9.99857191e-01 1.68621956e-02 1.12437914e-03 1.25207288e+02] [-1.68621278e-02 9.99857822e-01 -6.97427127e-05 -8.78922740e+00] [-1.12539529e-03 5.07733280e-05 9.99999365e-01 -3.23280382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61241403699998 meters 0.07519277951640548 Centerline is valid? [True, True] Translation: X:125.24, Y:-8.79, Z:-3.23 [[ 9.99846794e-01 1.75006667e-02 -3.39340069e-04 1.25235645e+02] [-1.75006614e-02 9.99846852e-01 1.87693937e-05 -8.79200668e+00] [ 3.39616577e-04 -1.28278425e-05 9.99999942e-01 -3.23412740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64241403699998 meters 0.075651763952252 Centerline is valid? [True, True] Translation: X:125.26, Y:-8.80, Z:-3.24 [[ 9.99851017e-01 1.72040559e-02 -1.40126314e-03 1.25263089e+02] [-1.72039567e-02 9.99851998e-01 8.27717777e-05 -8.79652803e+00] [ 1.40247976e-03 -5.86521757e-05 9.99999015e-01 -3.23723363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67241403699998 meters 0.0766019675701998 Centerline is valid? [True, True] Translation: X:125.29, Y:-8.80, Z:-3.24 [[ 9.99854817e-01 1.68167135e-02 -2.74657037e-03 1.25290234e+02] [-1.68163238e-02 9.99858582e-01 1.64904148e-04 -8.80165272e+00] [ 2.74895510e-03 -1.18692990e-04 9.99996215e-01 -3.24121948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70241403699998 meters 0.07590734091690302 Centerline is valid? [True, True] Translation: X:125.32, Y:-8.80, Z:-3.24 [[ 9.99893158e-01 1.43293530e-02 -2.88827232e-03 1.25320231e+02] [-1.43289076e-02 9.99897321e-01 1.74837568e-04 -8.80234083e+00] [ 2.89048106e-03 -1.33433100e-04 9.99995814e-01 -3.23837017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73241403699998 meters 0.07593621236863071 Centerline is valid? [True, True] Translation: X:125.35, Y:-8.81, Z:-3.24 [[ 9.99919490e-01 1.25831644e-02 -1.63608457e-03 1.25348702e+02] [-1.25830217e-02 9.99920826e-01 9.75244821e-05 -8.80652098e+00] [ 1.63718221e-03 -7.69297428e-05 9.99998657e-01 -3.23851477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76241403699999 meters 0.07638364251936589 Centerline is valid? [True, True] Translation: X:125.38, Y:-8.81, Z:-3.24 [[ 9.99951552e-01 9.66801360e-03 -1.85000517e-03 1.25378047e+02] [-9.66782393e-03 9.99953259e-01 1.11441944e-04 -8.81290282e+00] [ 1.85099613e-03 -9.35510208e-05 9.99998283e-01 -3.23823698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.792414037 meters 0.0763714735349151 Centerline is valid? [True, True] Translation: X:125.41, Y:-8.82, Z:-3.24 [[ 9.99958410e-01 8.44467288e-03 -3.44474543e-03 1.25407051e+02] [-8.44400750e-03 9.99964327e-01 2.07657844e-04 -8.81533451e+00] [ 3.44637615e-03 -1.78561751e-04 9.99994045e-01 -3.23991300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.822414037 meters 0.07796333006442402 Centerline is valid? [True, True] Translation: X:125.43, Y:-8.82, Z:-3.24 [[ 9.99964461e-01 7.63006493e-03 -3.58599327e-03 1.25433946e+02] [-7.62934443e-03 9.99970873e-01 2.14557353e-04 -8.82334672e+00] [ 3.58752591e-03 -1.87190950e-04 9.99993547e-01 -3.24477696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.852414037 meters 0.07629303517323835 Centerline is valid? [True, True] Translation: X:125.46, Y:-8.82, Z:-3.24 [[ 9.99969091e-01 6.32038698e-03 -4.67653476e-03 1.25463828e+02] [-6.31913574e-03 9.99979994e-01 2.82284035e-04 -8.82223589e+00] [ 4.67822535e-03 -2.52723652e-04 9.99989025e-01 -3.24289204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.882414037 meters 0.07686436145002244 Centerline is valid? [True, True] Translation: X:125.49, Y:-8.83, Z:-3.24 [[ 9.99989045e-01 4.33824083e-03 -1.75799007e-03 1.25491405e+02] [-4.33806499e-03 9.99990585e-01 1.03824141e-04 -8.82992425e+00] [ 1.75842394e-03 -9.61967284e-05 9.99998449e-01 -3.24428713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.912414037 meters 0.07708205779947963 Centerline is valid? [True, True] Translation: X:125.52, Y:-8.83, Z:-3.24 [[ 9.99991976e-01 3.97117686e-03 -5.27726385e-04 1.25519551e+02] [-3.97116106e-03 9.99992114e-01 3.09884135e-05 -8.83298099e+00] [ 5.27845284e-04 -2.88924784e-05 9.99999860e-01 -3.24390237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.942414037 meters 0.07685570364342283 Centerline is valid? [True, True] Translation: X:125.55, Y:-8.83, Z:-3.24 [[ 9.99992417e-01 3.87215218e-03 4.15414429e-04 1.25549228e+02] [-3.87214167e-03 9.99992503e-01 -2.60970582e-05 -8.83345341e+00] [-4.15512366e-04 2.44883168e-05 9.99999913e-01 -3.24390684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.972414037 meters 0.0771959937037993 Centerline is valid? [True, True] Translation: X:125.58, Y:-8.84, Z:-3.25 [[ 9.99992678e-01 3.82254588e-03 -1.78036970e-04 1.25578452e+02] [-3.82254420e-03 9.99992694e-01 9.76205978e-06 -8.83533762e+00] [ 1.78072985e-04 -9.08143411e-06 9.99999984e-01 -3.24552087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.002414037 meters 0.07729077053690482 Centerline is valid? [True, True] Translation: X:125.61, Y:-8.84, Z:-3.25 [[ 9.99987885e-01 3.80328732e-03 -3.12486067e-03 1.25608261e+02] [-3.80271959e-03 9.99992752e-01 1.87603993e-04 -8.83777310e+00] [ 3.12555153e-03 -1.75718752e-04 9.99995100e-01 -3.24825204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.032414037 meters 0.07722330391222772 Centerline is valid? [True, True] Translation: X:125.64, Y:-8.84, Z:-3.25 [[ 9.99990898e-01 3.16232542e-03 -2.86409802e-03 1.25636746e+02] [-3.16184958e-03 9.99994987e-01 1.70652637e-04 -8.83941324e+00] [ 2.86462332e-03 -1.61595236e-04 9.99995884e-01 -3.24891779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.062414037 meters 0.0776799860675559 Centerline is valid? [True, True] Translation: X:125.66, Y:-8.84, Z:-3.25 [[ 9.99996223e-01 2.42932345e-03 -1.28561768e-03 1.25663832e+02] [-2.42922935e-03 9.99997047e-01 7.47519185e-05 -8.84388894e+00] [ 1.28579548e-03 -7.16285759e-05 9.99999171e-01 -3.25035105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.092414037 meters 0.07761648118925234 Centerline is valid? [True, True] Translation: X:125.69, Y:-8.85, Z:-3.25 [[ 9.99996126e-01 2.20115954e-03 1.70381451e-03 1.25693327e+02] [-2.20098643e-03 9.99997572e-01 -1.03471565e-04 -8.84601925e+00] [-1.70403813e-03 9.97210919e-05 9.99998543e-01 -3.24943522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.122414037 meters 0.0773949256164966 Centerline is valid? [True, True] Translation: X:125.72, Y:-8.85, Z:-3.25 [[ 9.99992716e-01 2.68338019e-03 2.71443235e-03 1.25723571e+02] [-2.68294682e-03 9.99996388e-01 -1.63281867e-04 -8.84656929e+00] [-2.71486069e-03 1.55998000e-04 9.99996303e-01 -3.24872771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.152414037 meters 0.07787138985759766 Centerline is valid? [True, True] Translation: X:125.75, Y:-8.85, Z:-3.25 [[ 9.99988907e-01 3.76414604e-03 2.83140617e-03 1.25753479e+02] [-3.76367884e-03 9.99992903e-01 -1.70318220e-04 -8.84998006e+00] [-2.83202718e-03 1.59659827e-04 9.99995977e-01 -3.24957168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.182414037 meters 0.07710303701159225 Centerline is valid? [True, True] Translation: X:125.78, Y:-8.85, Z:-3.25 [[ 9.99986495e-01 4.94910334e-03 1.58606205e-03 1.25784193e+02] [-4.94895823e-03 9.99987749e-01 -9.54067514e-05 -8.84871494e+00] [-1.58651479e-03 8.75561081e-05 9.99998738e-01 -3.25036124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.212414037 meters 0.07749234453476377 Centerline is valid? [True, True] Translation: X:125.81, Y:-8.85, Z:-3.26 [[ 9.99959497e-01 7.17061651e-03 -5.43931132e-03 1.25813856e+02] [-7.16894565e-03 9.99974249e-01 3.26616982e-04 -8.84928146e+00] [ 5.44151330e-03 -2.87609626e-04 9.99985153e-01 -3.25630927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.242414037 meters 0.07780903970931224 Centerline is valid? [True, True] Translation: X:125.84, Y:-8.85, Z:-3.26 [[ 9.99944400e-01 7.94358024e-03 -6.93522481e-03 1.25841668e+02] [-7.94089875e-03 9.99968385e-01 4.14100014e-04 -8.85138366e+00] [ 6.93829499e-03 -3.59005072e-04 9.99975865e-01 -3.26019133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27241403699998 meters 0.07686118356060405 Centerline is valid? [True, True] Translation: X:125.87, Y:-8.85, Z:-3.26 [[ 9.99937963e-01 9.01530499e-03 -6.54176575e-03 1.25870313e+02] [-9.01294296e-03 9.99959306e-01 3.90461112e-04 -8.85074712e+00] [ 6.54501967e-03 -3.31476327e-04 9.99978526e-01 -3.25968852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30241403699998 meters 0.0760493965320114 Centerline is valid? [True, True] Translation: X:125.90, Y:-8.85, Z:-3.26 [[ 9.99939856e-01 9.79060191e-03 -4.94249377e-03 1.25899101e+02] [-9.78926728e-03 9.99952041e-01 2.94151685e-04 -8.85128148e+00] [ 4.94513665e-03 -2.45750601e-04 9.99987743e-01 -3.25868653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33241403699998 meters 0.07561457074138783 Centerline is valid? [True, True] Translation: X:125.93, Y:-8.85, Z:-3.26 [[ 9.99915887e-01 1.29343299e-02 -9.59718234e-04 1.25928268e+02] [-1.29342812e-02 9.99916347e-01 5.68981806e-05 -8.85435859e+00] [ 9.60373891e-04 -4.44801292e-05 9.99999538e-01 -3.25788968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36241403699998 meters 0.07479419690091939 Centerline is valid? [True, True] Translation: X:125.96, Y:-8.85, Z:-3.26 [[ 9.99904084e-01 1.38252546e-02 -8.27890044e-04 1.25956891e+02] [-1.38252200e-02 9.99904426e-01 4.75324871e-05 -8.85347332e+00] [ 8.28468067e-04 -3.60821660e-05 9.99999656e-01 -3.25714806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39241403699998 meters 0.07659098161443699 Centerline is valid? [True, True] Translation: X:125.98, Y:-8.86, Z:-3.26 [[ 9.99887565e-01 1.48098087e-02 -2.35082904e-03 1.25983940e+02] [-1.48095257e-02 9.99890323e-01 1.37758979e-04 -8.86191883e+00] [ 2.35261139e-03 -1.02928827e-04 9.99997227e-01 -3.26253146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42241403699998 meters 0.07539040374492867 Centerline is valid? [True, True] Translation: X:126.01, Y:-8.86, Z:-3.26 [[ 9.99896964e-01 1.38677764e-02 -3.70760935e-03 1.26013642e+02] [-1.38670545e-02 9.99903823e-01 2.20355863e-04 -8.85874876e+00] [ 3.71030861e-03 -1.68919538e-04 9.99993103e-01 -3.26028894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45241403699998 meters 0.07569798209659502 Centerline is valid? [True, True] Translation: X:126.04, Y:-8.86, Z:-3.26 [[ 9.99909893e-01 1.31157567e-02 -2.86059613e-03 1.26041938e+02] [-1.31153278e-02 9.99913976e-01 1.68639083e-04 -8.86137585e+00] [ 2.86256188e-03 -1.31106231e-04 9.99995894e-01 -3.26117704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48241403699998 meters 0.07506153297817489 Centerline is valid? [True, True] Translation: X:126.07, Y:-8.86, Z:-3.26 [[ 9.99919815e-01 1.24129524e-02 -2.50633920e-03 1.26070700e+02] [-1.24126221e-02 9.99922950e-01 1.47275453e-04 -8.86207327e+00] [ 2.50797421e-03 -1.16153402e-04 9.99996848e-01 -3.25939238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51241403699999 meters 0.07510350331439444 Centerline is valid? [True, True] Translation: X:126.10, Y:-8.87, Z:-3.26 [[ 9.99937636e-01 1.10608319e-02 -1.54325903e-03 1.26099345e+02] [-1.10607065e-02 9.99938824e-01 8.98082914e-05 -8.86602218e+00] [ 1.54415798e-03 -7.27331555e-05 9.99998805e-01 -3.26058068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.542414037 meters 0.07557243902691811 Centerline is valid? [True, True] Translation: X:126.13, Y:-8.87, Z:-3.26 [[ 9.99961869e-01 8.60195403e-03 -1.50534799e-03 1.26128516e+02] [-8.60183051e-03 9.99963000e-01 8.85039715e-05 -8.87338085e+00] [ 1.50605360e-03 -7.55518485e-05 9.99998863e-01 -3.26050684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.572414037 meters 0.07557243902691811 Centerline is valid? [True, True] Translation: X:126.16, Y:-8.87, Z:-3.26 [[ 9.99962468e-01 8.53206725e-03 -1.50541293e-03 1.26156819e+02] [-8.53194530e-03 9.99963598e-01 8.74103404e-05 -8.87499881e+00] [ 1.50610392e-03 -7.45629589e-05 9.99998863e-01 -3.26130936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.602414037 meters 0.07593708484425032 Centerline is valid? [True, True] Translation: X:126.19, Y:-8.88, Z:-3.26 [[ 9.99973989e-01 6.98765419e-03 -1.78733779e-03 1.26185737e+02] [-6.98747844e-03 9.99975582e-01 1.04557405e-04 -8.87846900e+00] [ 1.78802476e-03 -9.20657015e-05 9.99998397e-01 -3.26122119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.632414037 meters 0.07563012313812607 Centerline is valid? [True, True] Translation: X:126.21, Y:-8.88, Z:-3.26 [[ 9.99985080e-01 4.89183340e-03 -2.43083843e-03 1.26214792e+02] [-4.89150123e-03 9.99988026e-01 1.42574948e-04 -8.87902834e+00] [ 2.43150677e-03 -1.30682372e-04 9.99997035e-01 -3.26128977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.662414037 meters 0.07839750974528617 Centerline is valid? [True, True] Translation: X:126.24, Y:-8.89, Z:-3.27 [[ 9.99979691e-01 3.66097705e-03 -5.21671615e-03 1.26242670e+02] [-3.65942286e-03 9.99993257e-01 3.07437350e-04 -8.88835402e+00] [ 5.21780649e-03 -2.88340936e-04 9.99986346e-01 -3.26747437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.692414037 meters 0.07775554416508024 Centerline is valid? [True, True] Translation: X:126.27, Y:-8.89, Z:-3.27 [[ 9.99940427e-01 6.39853995e-04 -1.08964549e-02 1.26272648e+02] [-6.32866960e-04 9.99999592e-01 6.44656962e-04 -8.88709902e+00] [ 1.08968629e-02 -6.37722552e-04 9.99940424e-01 -3.26943125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.722414037 meters 0.07783945445457384 Centerline is valid? [True, True] Translation: X:126.30, Y:-8.89, Z:-3.27 [[ 9.99951098e-01 -5.79463301e-04 -9.87251676e-03 1.26301420e+02] [ 5.85235702e-04 9.99999659e-01 5.81815063e-04 -8.89069316e+00] [ 9.87217626e-03 -5.87564360e-04 9.99951096e-01 -3.27099153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.752414037 meters 0.07824933763935481 Centerline is valid? [True, True] Translation: X:126.33, Y:-8.90, Z:-3.27 [[ 9.99970658e-01 -1.90081316e-03 -7.42090495e-03 1.26329461e+02] [ 1.90410344e-03 9.99998092e-01 4.36339505e-04 -8.89629328e+00] [ 7.42006139e-03 -4.50456872e-04 9.99972370e-01 -3.27212492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.782414037 meters 0.07819141053910975 Centerline is valid? [True, True] Translation: X:126.36, Y:-8.90, Z:-3.27 [[ 9.99982889e-01 -4.56063444e-03 -3.66368819e-03 1.26357944e+02] [ 4.56144953e-03 9.99989574e-01 2.14153057e-04 -8.90096043e+00] [ 3.66267332e-03 -2.30861121e-04 9.99993266e-01 -3.26845656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.812414037 meters 0.07879604444380342 Centerline is valid? [True, True] Translation: X:126.39, Y:-8.90, Z:-3.27 [[ 9.99983640e-01 -5.06557852e-03 -2.65713311e-03 1.26387015e+02] [ 5.06601142e-03 9.99987155e-01 1.56216155e-04 -8.90343804e+00] [ 2.65630765e-03 -1.69674666e-04 9.99996458e-01 -3.26916160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.842414037 meters 0.07815239316921238 Centerline is valid? [True, True] Translation: X:126.42, Y:-8.90, Z:-3.27 [[ 9.99976804e-01 -5.48168688e-03 -4.04271779e-03 1.26418060e+02] [ 5.48269540e-03 9.99984941e-01 2.38425048e-04 -8.90176214e+00] [ 4.04134994e-03 -2.60584508e-04 9.99991800e-01 -3.26846118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.872414037 meters 0.078367965178981 Centerline is valid? [True, True] Translation: X:126.45, Y:-8.90, Z:-3.27 [[ 9.99955093e-01 -6.49450416e-03 -6.90172572e-03 1.26448497e+02] [ 6.49746758e-03 9.99978808e-01 4.07039119e-04 -8.90262306e+00] [ 6.89893594e-03 -4.51864579e-04 9.99976100e-01 -3.26946022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.902414037 meters 0.07927073005428974 Centerline is valid? [True, True] Translation: X:126.48, Y:-8.91, Z:-3.27 [[ 9.99953319e-01 -6.53214179e-03 -7.11972016e-03 1.26476675e+02] [ 6.53528309e-03 9.99978557e-01 4.18034994e-04 -8.90716501e+00] [ 7.11683683e-03 -4.64544866e-04 9.99974567e-01 -3.27175324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.932414037 meters 0.07867797337870346 Centerline is valid? [True, True] Translation: X:126.51, Y:-8.91, Z:-3.27 [[ 9.99958749e-01 -6.52970710e-03 -6.31373685e-03 1.26505743e+02] [ 6.53213197e-03 9.99978599e-01 3.63517495e-04 -8.90818139e+00] [ 6.31122807e-03 -4.04744662e-04 9.99980002e-01 -3.27242580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.962414037 meters 0.07864328931624118 Centerline is valid? [True, True] Translation: X:126.53, Y:-8.91, Z:-3.27 [[ 9.99940919e-01 -6.08364049e-03 -9.00821016e-03 1.26534867e+02] [ 6.08863044e-03 9.99981325e-01 5.26611569e-04 -8.90999258e+00] [ 9.00483822e-03 -5.81428119e-04 9.99959287e-01 -3.27457544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.992414037 meters 0.07803764750987757 Centerline is valid? [True, True] Translation: X:126.56, Y:-8.91, Z:-3.28 [[ 9.99944950e-01 -4.46332190e-03 -9.49608055e-03 1.26563503e+02] [ 4.46878375e-03 9.99989861e-01 5.54028455e-04 -8.90918548e+00] [ 9.49351147e-03 -5.96433886e-04 9.99954758e-01 -3.27622718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02241403699998 meters 0.07890291664264647 Centerline is valid? [True, True] Translation: X:126.59, Y:-8.91, Z:-3.28 [[ 9.99961655e-01 -2.87350153e-03 -8.27238005e-03 1.26592576e+02] [ 2.87759598e-03 9.99995743e-01 4.83094584e-04 -8.91204983e+00] [ 8.27095666e-03 -5.06880627e-04 9.99965667e-01 -3.27755791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05241403699998 meters 0.07750808678557113 Centerline is valid? [True, True] Translation: X:126.62, Y:-8.91, Z:-3.27 [[ 9.99969715e-01 -1.73971994e-03 -7.58563819e-03 1.26622185e+02] [ 1.74310448e-03 9.99998384e-01 4.39589736e-04 -8.90767528e+00] [ 7.58486117e-03 -4.52798983e-04 9.99971132e-01 -3.27489560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08241403699998 meters 0.0768043438495939 Centerline is valid? [True, True] Translation: X:126.65, Y:-8.91, Z:-3.27 [[ 9.99981053e-01 6.37924994e-04 -6.12271415e-03 1.26652041e+02] [-6.35755125e-04 9.99999734e-01 3.56336317e-04 -8.90589084e+00] [ 6.12293984e-03 -3.52437019e-04 9.99981193e-01 -3.27373294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11241403699998 meters 0.0785783969675155 Centerline is valid? [True, True] Translation: X:126.68, Y:-8.91, Z:-3.28 [[ 9.99969082e-01 4.26752570e-03 -6.60478752e-03 1.26680818e+02] [-4.26508055e-03 9.99990831e-01 3.84249790e-04 -8.91172395e+00] [ 6.60636675e-03 -3.56067959e-04 9.99978114e-01 -3.27899744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14241403699998 meters 0.07635277433722518 Centerline is valid? [True, True] Translation: X:126.71, Y:-8.91, Z:-3.28 [[ 9.99939416e-01 6.03347883e-03 -9.20660311e-03 1.26709898e+02] [-6.02887470e-03 9.99981687e-01 5.27762035e-04 -8.90588115e+00] [ 9.20961875e-03 -4.72224605e-04 9.99957479e-01 -3.27716649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17241403699998 meters 0.07620263328859163 Centerline is valid? [True, True] Translation: X:126.74, Y:-8.91, Z:-3.28 [[ 9.99893454e-01 7.74029693e-03 -1.23761259e-02 1.26739004e+02] [-7.73202666e-03 9.99969851e-01 7.15953522e-04 -8.90559987e+00] [ 1.23812944e-02 -6.20184705e-04 9.99923157e-01 -3.27956780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20241403699998 meters 0.07632718400439988 Centerline is valid? [True, True] Translation: X:126.77, Y:-8.90, Z:-3.28 [[ 9.99839894e-01 1.07589024e-02 -1.42979925e-02 1.26766849e+02] [-1.07481920e-02 9.99941896e-01 8.25716207e-04 -8.90440307e+00] [ 1.43060455e-02 -6.71906436e-04 9.99897438e-01 -3.28394935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23241403699998 meters 0.07599711749282324 Centerline is valid? [True, True] Translation: X:126.80, Y:-8.90, Z:-3.29 [[ 9.99829850e-01 1.25549999e-02 -1.35145225e-02 1.26796395e+02] [-1.25455830e-02 9.99920996e-01 7.81356134e-04 -8.90383146e+00] [ 1.35232647e-02 -6.11675623e-04 9.99908369e-01 -3.28529354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26241403699999 meters 0.07552287952140477 Centerline is valid? [True, True] Translation: X:126.83, Y:-8.90, Z:-3.28 [[ 9.99811718e-01 1.38031543e-02 -1.36382288e-02 1.26825580e+02] [-1.37937066e-02 9.99904553e-01 7.86561112e-04 -8.90201757e+00] [ 1.36477841e-02 -5.98291291e-04 9.99906686e-01 -3.28481198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.292414037 meters 0.07505088830493453 Centerline is valid? [True, True] Translation: X:126.86, Y:-8.90, Z:-3.28 [[ 9.99796537e-01 1.59032912e-02 -1.24084461e-02 1.26855717e+02] [-1.58956331e-02 9.99873400e-01 7.15556531e-04 -8.90166185e+00] [ 1.24182549e-02 -5.18170835e-04 9.99922756e-01 -3.28457795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.322414037 meters 0.07535465386061721 Centerline is valid? [True, True] Translation: X:126.88, Y:-8.90, Z:-3.29 [[ 9.99812960e-01 1.56459530e-02 -1.13687799e-02 1.26884855e+02] [-1.56395178e-02 9.99877481e-01 6.54735530e-04 -8.90429892e+00] [ 1.13776309e-02 -4.76810833e-04 9.99935159e-01 -3.28522480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.352414037 meters 0.07567739844920154 Centerline is valid? [True, True] Translation: X:126.91, Y:-8.91, Z:-3.29 [[ 9.99807260e-01 1.63230321e-02 -1.09087520e-02 1.26912830e+02] [-1.63171614e-02 9.99866670e-01 6.26955117e-04 -8.90940114e+00] [ 1.09175313e-02 -4.48834412e-04 9.99940301e-01 -3.28681272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.382414037 meters 0.0747037791618237 Centerline is valid? [True, True] Translation: X:126.94, Y:-8.91, Z:-3.28 [[ 9.99787455e-01 1.79712119e-02 -1.01035152e-02 1.26941618e+02] [-1.79662685e-02 9.99838425e-01 5.79831377e-04 -8.90821893e+00] [ 1.01123030e-02 -3.98185669e-04 9.99948790e-01 -3.28301566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.412414037 meters 0.07463273111148049 Centerline is valid? [True, True] Translation: X:126.97, Y:-8.91, Z:-3.28 [[ 9.99760945e-01 1.86655286e-02 -1.13864676e-02 1.26970431e+02] [-1.86593011e-02 9.99825687e-01 6.52926198e-04 -8.90928440e+00] [ 1.13966700e-02 -4.40306585e-04 9.99934959e-01 -3.28425112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.442414037 meters 0.07450680460160128 Centerline is valid? [True, True] Translation: X:127.00, Y:-8.91, Z:-3.28 [[ 9.99738904e-01 1.93326443e-02 -1.21807960e-02 1.26998026e+02] [-1.93255925e-02 9.99813001e-01 6.96381580e-04 -8.91020465e+00] [ 1.21919811e-02 -4.60798657e-04 9.99925569e-01 -3.28430487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.472414037 meters 0.07382757617987956 Centerline is valid? [True, True] Translation: X:127.03, Y:-8.91, Z:-3.28 [[ 9.99636858e-01 2.35276025e-02 -1.31378594e-02 1.27026695e+02] [-2.35197570e-02 9.99723090e-01 7.51373803e-04 -8.90884777e+00] [ 1.31518994e-02 -4.42101687e-04 9.99913412e-01 -3.28349257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.502414037 meters 0.07370009165496087 Centerline is valid? [True, True] Translation: X:127.06, Y:-8.91, Z:-3.28 [[ 9.99567034e-01 2.64640004e-02 -1.28608357e-02 1.27055665e+02] [-2.64567373e-02 9.99649689e-01 7.34584338e-04 -8.91020084e+00] [ 1.28757705e-02 -3.94010537e-04 9.99917026e-01 -3.28476768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.532414037 meters 0.07397891016674289 Centerline is valid? [True, True] Translation: X:127.08, Y:-8.91, Z:-3.29 [[ 9.99507923e-01 2.87072601e-02 -1.26414343e-02 1.27082945e+02] [-2.87004422e-02 9.99587798e-01 7.20456286e-04 -8.91406773e+00] [ 1.26569058e-02 -3.57287013e-04 9.99919834e-01 -3.28905124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.562414037 meters 0.07308279567745053 Centerline is valid? [True, True] Translation: X:127.11, Y:-8.91, Z:-3.29 [[ 9.99433654e-01 3.12224574e-02 -1.25510911e-02 1.27111626e+02] [-3.12159402e-02 9.99512408e-01 7.14874234e-04 -8.91490151e+00] [ 1.25672914e-02 -3.22675258e-04 9.99920976e-01 -3.28667877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.592414037 meters 0.07270214599117406 Centerline is valid? [True, True] Translation: X:127.14, Y:-8.92, Z:-3.29 [[ 9.99266067e-01 3.57398617e-02 -1.37836814e-02 1.27140770e+02] [-3.57325344e-02 9.99361087e-01 7.77577786e-04 -8.91878282e+00] [ 1.38026654e-02 -2.84481225e-04 9.99904698e-01 -3.28757992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.622414037 meters 0.07262995448042796 Centerline is valid? [True, True] Translation: X:127.17, Y:-8.92, Z:-3.29 [[ 9.99169447e-01 3.80915260e-02 -1.44724710e-02 1.27168105e+02] [-3.80836767e-02 9.99274219e-01 8.17667065e-04 -8.92014166e+00] [ 1.44931134e-02 -2.65823041e-04 9.99894934e-01 -3.28945694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.652414037 meters 0.07236895692843383 Centerline is valid? [True, True] Translation: X:127.20, Y:-8.92, Z:-3.29 [[ 9.99050789e-01 4.07911094e-02 -1.52842054e-02 1.27196747e+02] [-4.07827738e-02 9.99167669e-01 8.56791608e-04 -8.92129822e+00] [ 1.53064334e-02 -2.32646039e-04 9.99882823e-01 -3.29056298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.682414037 meters 0.07236180992088485 Centerline is valid? [True, True] Translation: X:127.22, Y:-8.92, Z:-3.29 [[ 9.98950552e-01 4.28657870e-02 -1.61343769e-02 1.27224347e+02] [-4.28568525e-02 9.99080818e-01 8.99268395e-04 -8.92273350e+00] [ 1.61580943e-02 -2.06856049e-04 9.99869428e-01 -3.29089337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.712414037 meters 0.07206073600215361 Centerline is valid? [True, True] Translation: X:127.25, Y:-8.93, Z:-3.29 [[ 9.98839537e-01 4.62466327e-02 -1.34472203e-02 1.27252690e+02] [-4.62406731e-02 9.98930043e-01 7.53931721e-04 -8.93059710e+00] [ 1.34676992e-02 -1.31248292e-04 9.99909298e-01 -3.29273894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.742414037 meters 0.07198326300709021 Centerline is valid? [True, True] Translation: X:127.28, Y:-8.94, Z:-3.29 [[ 9.98856833e-01 4.65195294e-02 -1.09981682e-02 1.27281697e+02] [-4.65156436e-02 9.98917376e-01 6.08988178e-04 -8.93669342e+00] [ 1.10145911e-02 -9.67051321e-05 9.99939333e-01 -3.29294850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77241403699998 meters 0.07149758404009963 Centerline is valid? [True, True] Translation: X:127.31, Y:-8.94, Z:-3.29 [[ 9.98825710e-01 4.73794839e-02 -1.01186111e-02 1.27309984e+02] [-4.73762070e-02 9.98876958e-01 5.63430063e-04 -8.94216191e+00] [ 1.01339425e-02 -8.33870170e-05 9.99948647e-01 -3.29019954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80241403699998 meters 0.07123653763406146 Centerline is valid? [True, True] Translation: X:127.34, Y:-8.95, Z:-3.29 [[ 9.98832482e-01 4.78336001e-02 -6.75416227e-03 1.27338702e+02] [-4.78321498e-02 9.98855317e-01 3.76196259e-04 -8.94721142e+00] [ 6.76442572e-03 -5.26909424e-05 9.99977120e-01 -3.29114577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83241403699998 meters 0.07112966170290694 Centerline is valid? [True, True] Translation: X:127.37, Y:-8.95, Z:-3.29 [[ 9.98823749e-01 4.81035416e-02 -6.09661376e-03 1.27365835e+02] [-4.81023774e-02 9.98842354e-01 3.37526260e-04 -8.95388995e+00] [ 6.10579225e-03 -4.38676279e-05 9.99981359e-01 -3.29223382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86241403699998 meters 0.07092839800032028 Centerline is valid? [True, True] Translation: X:127.39, Y:-8.96, Z:-3.29 [[ 9.98794141e-01 4.86172272e-02 -6.82856696e-03 1.27394398e+02] [-4.86157769e-02 9.98817482e-01 3.78318227e-04 -8.95734885e+00] [ 6.83888484e-03 -4.58859410e-05 9.99976614e-01 -3.28966705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89241403699998 meters 0.07099743238282535 Centerline is valid? [True, True] Translation: X:127.42, Y:-8.96, Z:-3.29 [[ 9.98833750e-01 4.77288144e-02 -7.28702520e-03 1.27421877e+02] [-4.77271463e-02 9.98860329e-01 4.02750403e-04 -8.96374857e+00] [ 7.29794319e-03 -5.44917773e-05 9.99973368e-01 -3.29239734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92241403699998 meters 0.0712062573130408 Centerline is valid? [True, True] Translation: X:127.45, Y:-8.97, Z:-3.30 [[ 9.98877229e-01 4.67590308e-02 -7.60750024e-03 1.27448604e+02] [-4.67571931e-02 9.98906196e-01 4.19336518e-04 -8.97217366e+00] [ 7.61878689e-03 -6.31603412e-05 9.99970975e-01 -3.29759427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95241403699998 meters 0.0709933123770914 Centerline is valid? [True, True] Translation: X:127.48, Y:-8.99, Z:-3.30 [[ 9.99096549e-01 4.20003139e-02 -6.48533995e-03 1.27476972e+02] [-4.19988774e-02 9.99117594e-01 3.57587186e-04 -8.98581098e+00] [ 6.49463602e-03 -8.48871263e-05 9.99978906e-01 -3.29646720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98241403699998 meters 0.07106787573435759 Centerline is valid? [True, True] Translation: X:127.51, Y:-8.99, Z:-3.30 [[ 9.99213992e-01 3.90840592e-02 -6.62072699e-03 1.27505199e+02] [-3.90825008e-02 9.99235921e-01 3.64639519e-04 -8.99216384e+00] [ 6.62991982e-03 -1.05598341e-04 9.99978016e-01 -3.29710587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01241403699999 meters 0.07126747351247825 Centerline is valid? [True, True] Translation: X:127.53, Y:-9.00, Z:-3.30 [[ 9.99314149e-01 3.63265897e-02 -7.18405866e-03 1.27532520e+02] [-3.63246902e-02 9.99339963e-01 3.94756597e-04 -8.99858291e+00] [ 7.19365708e-03 -1.33527147e-04 9.99974116e-01 -3.29892378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.042414037 meters 0.07169543583968954 Centerline is valid? [True, True] Translation: X:127.56, Y:-9.01, Z:-3.30 [[ 9.99408673e-01 3.34429386e-02 -7.99208171e-03 1.27562026e+02] [-3.34404840e-02 9.99440613e-01 4.40597061e-04 -9.00596063e+00] [ 8.00234591e-03 -1.73077443e-04 9.99967966e-01 -3.30117943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.072414037 meters 0.07236210079773053 Centerline is valid? [True, True] Translation: X:127.59, Y:-9.02, Z:-3.30 [[ 9.99588085e-01 2.78742585e-02 -6.83268076e-03 1.27589238e+02] [-2.78723449e-02 9.99611420e-01 3.75156793e-04 -9.02244314e+00] [ 6.84048294e-03 -1.84559426e-04 9.99976587e-01 -3.30387108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.102414037 meters 0.072910681558136 Centerline is valid? [True, True] Translation: X:127.62, Y:-9.03, Z:-3.30 [[ 9.99680142e-01 2.45051910e-02 -6.25374717e-03 1.27617690e+02] [-2.45035254e-02 9.99699685e-01 3.42822850e-04 -9.03190084e+00] [ 6.26027001e-03 -1.89474343e-04 9.99980386e-01 -3.30491596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.132414037 meters 0.07350703742082274 Centerline is valid? [True, True] Translation: X:127.64, Y:-9.04, Z:-3.31 [[ 9.99773109e-01 2.08999183e-02 -4.11391747e-03 1.27644829e+02] [-2.08991729e-02 9.99781563e-01 2.24084508e-04 -9.04130754e+00] [ 4.11770218e-03 -1.38056192e-04 9.99991513e-01 -3.30666808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.162414037 meters 0.07463831437664195 Centerline is valid? [True, True] Translation: X:127.67, Y:-9.05, Z:-3.31 [[ 9.99887495e-01 1.45825648e-02 -3.51373257e-03 1.27674134e+02] [-1.45819770e-02 9.99893659e-01 1.92857041e-04 -9.05468672e+00] [ 3.51617126e-03 -1.41598176e-04 9.99993808e-01 -3.30741614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.192414037 meters 0.07333466382726142 Centerline is valid? [True, True] Translation: X:127.70, Y:-9.05, Z:-3.30 [[ 9.99920327e-01 1.19374615e-02 -4.10333706e-03 1.27704240e+02] [-1.19366401e-02 9.99928731e-01 2.24627107e-04 -9.05478169e+00] [ 4.10572610e-03 -1.75629152e-04 9.99991556e-01 -3.30372443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.222414037 meters 0.07384540306237747 Centerline is valid? [True, True] Translation: X:127.73, Y:-9.06, Z:-3.30 [[ 9.99945001e-01 9.51602025e-03 -4.40912859e-03 1.27733466e+02] [-9.51504863e-03 9.99954702e-01 2.41291052e-04 -9.05922477e+00] [ 4.41122500e-03 -1.99324708e-04 9.99990251e-01 -3.30430832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.252414037 meters 0.07734502391556078 Centerline is valid? [True, True] Translation: X:127.76, Y:-9.08, Z:-3.31 [[ 9.99973928e-01 5.92597496e-03 -4.12623891e-03 1.27761030e+02] [-5.92509653e-03 9.99982421e-01 2.25080433e-04 -9.07622133e+00] [ 4.12750019e-03 -2.00626201e-04 9.99991462e-01 -3.31161497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.282414037 meters 0.07484970535998192 Centerline is valid? [True, True] Translation: X:127.79, Y:-9.07, Z:-3.31 [[ 9.99980266e-01 5.15819494e-03 -3.58625887e-03 1.27790422e+02] [-5.15752992e-03 9.99986681e-01 1.94659427e-04 -9.07406123e+00] [ 3.58721520e-03 -1.76159348e-04 9.99993550e-01 -3.30809192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.312414037 meters 0.07821678358541305 Centerline is valid? [True, True] Translation: X:127.82, Y:-9.09, Z:-3.32 [[ 9.99983203e-01 4.55957250e-03 -3.57828914e-03 1.27817342e+02] [-4.55890942e-03 9.99989589e-01 1.93441826e-04 -9.08876128e+00] [ 3.57913390e-03 -1.77125481e-04 9.99993579e-01 -3.31529549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.342414037 meters 0.07464659977156961 Centerline is valid? [True, True] Translation: X:127.85, Y:-9.08, Z:-3.31 [[ 9.99986119e-01 5.23277237e-03 -6.16979387e-04 1.27847366e+02] [-5.23275314e-03 9.99986309e-01 3.27742167e-05 -9.08388775e+00] [ 6.17142439e-04 -2.95452610e-05 9.99999809e-01 -3.30867240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.372414037 meters 0.07531405818178376 Centerline is valid? [True, True] Translation: X:127.88, Y:-9.09, Z:-3.31 [[ 9.99976642e-01 6.83118512e-03 -2.23809035e-04 1.27876397e+02] [-6.83118277e-03 9.99976667e-01 1.12659032e-05 -9.08731340e+00] [ 2.23880772e-04 -9.73675960e-06 9.99999975e-01 -3.31073415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.402414037 meters 0.07493237160829219 Centerline is valid? [True, True] Translation: X:127.91, Y:-9.09, Z:-3.31 [[ 9.99960519e-01 8.75062429e-03 -1.54502461e-03 1.27906106e+02] [-8.75050572e-03 9.99961710e-01 8.34820458e-05 -9.08546728e+00] [ 1.54569597e-03 -6.99590031e-05 9.99998803e-01 -3.31178437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.432414037 meters 0.07407938719969225 Centerline is valid? [True, True] Translation: X:127.94, Y:-9.08, Z:-3.31 [[ 9.99894655e-01 1.41640600e-02 -3.17144430e-03 1.27935568e+02] [-1.41635848e-02 9.99899677e-01 1.72250739e-04 -9.08402862e+00] [ 3.17356590e-03 -1.27313573e-04 9.99994956e-01 -3.31430754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.462414037 meters 0.07407938719969225 Centerline is valid? [True, True] Translation: X:127.96, Y:-9.09, Z:-3.32 [[ 9.99895578e-01 1.40987638e-02 -3.17150574e-03 1.27963876e+02] [-1.40982918e-02 9.99900600e-01 1.71124456e-04 -9.08550418e+00] [ 3.17360313e-03 -1.26393773e-04 9.99994956e-01 -3.31510984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.492414037 meters 0.07244399918305051 Centerline is valid? [True, True] Translation: X:127.99, Y:-9.08, Z:-3.31 [[ 9.99850959e-01 1.67714485e-02 -4.09618177e-03 1.27992801e+02] [-1.67706830e-02 9.99859338e-01 2.21151324e-04 -9.08206415e+00] [ 4.09931462e-03 -1.52422597e-04 9.99991586e-01 -3.31198835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52241403699998 meters 0.07221483512708984 Centerline is valid? [True, True] Translation: X:128.02, Y:-9.09, Z:-3.31 [[ 9.99804909e-01 1.96012467e-02 -2.43634228e-03 1.28021413e+02] [-1.96009853e-02 9.99807874e-01 1.31118587e-04 -9.08541770e+00] [ 2.43844428e-03 -8.33382979e-05 9.99997024e-01 -3.31323509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55241403699998 meters 0.07117536576947225 Centerline is valid? [True, True] Translation: X:128.05, Y:-9.08, Z:-3.31 [[ 9.99671326e-01 2.55369039e-02 -2.25994030e-03 1.28051821e+02] [-2.55366922e-02 9.99673878e-01 1.22462512e-04 -9.08423429e+00] [ 2.26233060e-03 -6.47108617e-05 9.99997439e-01 -3.31302951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58241403699998 meters 0.07103411336939977 Centerline is valid? [True, True] Translation: X:128.08, Y:-9.08, Z:-3.31 [[ 9.99595420e-01 2.82778831e-02 -3.05917017e-03 1.28079945e+02] [-2.82775143e-02 9.99600098e-01 1.63775740e-04 -9.08238301e+00] [ 3.06257804e-03 -7.72037517e-05 9.99995307e-01 -3.31449214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61241403699998 meters 0.07031572914894292 Centerline is valid? [True, True] Translation: X:128.11, Y:-9.08, Z:-3.31 [[ 9.99479412e-01 3.21265104e-02 -2.96512380e-03 1.28109035e+02] [-3.21261803e-02 9.99483808e-01 1.58902814e-04 -9.08023253e+00] [ 2.96869822e-03 -6.35619892e-05 9.99995591e-01 -3.31338906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64241403699998 meters 0.06978229512866775 Centerline is valid? [True, True] Translation: X:128.14, Y:-9.08, Z:-3.31 [[ 9.99358322e-01 3.57573219e-02 -2.08764691e-03 1.28138447e+02] [-3.57571667e-02 9.99360502e-01 1.11664195e-04 -9.08066799e+00] [ 2.09030467e-03 -3.69442046e-05 9.99997815e-01 -3.31254715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67241403699998 meters 0.06936385201169705 Centerline is valid? [True, True] Translation: X:128.17, Y:-9.08, Z:-3.31 [[ 9.99111845e-01 4.21342127e-02 -4.78459738e-04 1.28168077e+02] [-4.21342056e-02 9.99111960e-01 2.49347446e-05 -9.08462037e+00] [ 4.79085453e-04 -4.75307768e-06 9.99999885e-01 -3.31395868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70241403699998 meters 0.0692937467191393 Centerline is valid? [True, True] Translation: X:128.19, Y:-9.09, Z:-3.32 [[ 9.99001882e-01 4.46448434e-02 -1.44136576e-03 1.28194493e+02] [-4.46447836e-02 9.99002922e-01 7.36529387e-05 -9.08753772e+00] [ 1.44321683e-03 -9.22996183e-06 9.99998959e-01 -3.31554089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73241403699998 meters 0.06915455172331125 Centerline is valid? [True, True] Translation: X:128.22, Y:-9.09, Z:-3.32 [[ 9.98870145e-01 4.74693459e-02 -2.25727806e-03 1.28222651e+02] [-4.74691988e-02 9.98872695e-01 1.18751329e-04 -9.08971471e+00] [ 2.26037047e-03 -1.14659763e-05 9.99997445e-01 -3.31699436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76241403699999 meters 0.06925123530158693 Centerline is valid? [True, True] Translation: X:128.25, Y:-9.09, Z:-3.32 [[ 9.98705248e-01 5.06306834e-02 -4.93576782e-03 1.28249873e+02] [-5.06300028e-02 9.98717444e-01 2.62811779e-04 -9.09338628e+00] [ 4.94274377e-03 -1.25735641e-05 9.99987784e-01 -3.31995080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.792414037 meters 0.069206116218915 Centerline is valid? [True, True] Translation: X:128.28, Y:-9.10, Z:-3.32 [[ 9.98639984e-01 5.19772911e-02 -4.06746500e-03 1.28278421e+02] [-5.19768397e-02 9.98648267e-01 2.16666742e-04 -9.09773840e+00] [ 4.07322862e-03 -4.95809526e-06 9.99991704e-01 -3.32093638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.822414037 meters 0.06900706775101034 Centerline is valid? [True, True] Translation: X:128.31, Y:-9.10, Z:-3.32 [[ 9.98564987e-01 5.34215206e-02 -3.75597461e-03 1.28307047e+02] [-5.34211477e-02 9.98572051e-01 1.99614799e-04 -9.10352884e+00] [ 3.76127499e-03 1.32012467e-06 9.99992926e-01 -3.31926420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.852414037 meters 0.06900170459347806 Centerline is valid? [True, True] Translation: X:128.34, Y:-9.12, Z:-3.32 [[ 9.98561449e-01 5.34217649e-02 -4.59864873e-03 1.28335211e+02] [-5.34212053e-02 9.98572038e-01 2.44533096e-04 -9.11553508e+00] [ 4.60514542e-03 1.48403540e-06 9.99989396e-01 -3.32001145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.882414037 meters 0.06907492165484354 Centerline is valid? [True, True] Translation: X:128.36, Y:-9.12, Z:-3.32 [[ 9.98628605e-01 5.22320474e-02 -3.56680391e-03 1.28363088e+02] [-5.22317076e-02 9.98634975e-01 1.88437313e-04 -9.12200679e+00] [ 3.57177760e-03 -1.87863244e-06 9.99993621e-01 -3.32131989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.912414037 meters 0.0689997015999461 Centerline is valid? [True, True] Translation: X:128.39, Y:-9.13, Z:-3.32 [[ 9.98661088e-01 5.16599103e-02 -2.69909545e-03 1.28390397e+02] [-5.16597157e-02 9.98664735e-01 1.41801382e-04 -9.12865062e+00] [ 2.70281689e-03 -2.17701935e-06 9.99996347e-01 -3.32131987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.942414037 meters 0.06880849295517034 Centerline is valid? [True, True] Translation: X:128.42, Y:-9.14, Z:-3.32 [[ 9.98727283e-01 5.04358241e-02 -2.06954487e-04 1.28419249e+02] [-5.04358233e-02 9.98727304e-01 9.11496027e-06 -9.13588597e+00] [ 2.07150818e-04 1.33456044e-06 9.99999979e-01 -3.31968491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.972414037 meters 0.06868251155785 Centerline is valid? [True, True] Translation: X:128.45, Y:-9.15, Z:-3.32 [[ 9.98736157e-01 5.02555147e-02 -6.87244701e-04 1.28447936e+02] [-5.02555027e-02 9.98736393e-01 3.47007600e-05 -9.14865388e+00] [ 6.88120198e-04 -1.19075777e-07 9.99999763e-01 -3.31771592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.002414037 meters 0.06853271909934114 Centerline is valid? [True, True] Translation: X:128.48, Y:-9.15, Z:-3.32 [[ 9.98686658e-01 5.12319314e-02 -4.97546690e-04 1.28476843e+02] [-5.12319255e-02 9.98686782e-01 2.45561643e-05 -9.15491617e+00] [ 4.98151362e-04 9.66361310e-07 9.99999876e-01 -3.31736922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.032414037 meters 0.0683560884918846 Centerline is valid? [True, True] Translation: X:128.51, Y:-9.16, Z:-3.32 [[ 9.98679154e-01 5.13253638e-02 -2.37809594e-03 1.28505169e+02] [-5.13252130e-02 9.98681985e-01 1.24440188e-04 -9.16049958e+00] [ 2.38134851e-03 -2.21954102e-06 9.99997165e-01 -3.31606642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.062414037 meters 0.06837793985740596 Centerline is valid? [True, True] Translation: X:128.53, Y:-9.17, Z:-3.32 [[ 9.98645664e-01 5.18563496e-02 -4.21384920e-03 1.28532815e+02] [-5.18558780e-02 9.98654554e-01 2.21182166e-04 -9.17036918e+00] [ 4.21964940e-03 -2.36976090e-06 9.99991097e-01 -3.31641120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.092414037 meters 0.06849101549549616 Centerline is valid? [True, True] Translation: X:128.56, Y:-9.18, Z:-3.32 [[ 9.98645420e-01 5.19091337e-02 -3.57299521e-03 1.28560404e+02] [-5.19087972e-02 9.98651812e-01 1.86900509e-04 -9.17703979e+00] [ 3.57787999e-03 -1.17745361e-06 9.99993599e-01 -3.31903312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.122414037 meters 0.06842210430476128 Centerline is valid? [True, True] Translation: X:128.59, Y:-9.18, Z:-3.32 [[ 9.98704779e-01 5.07943554e-02 -2.94909421e-03 1.28589293e+02] [-5.07941216e-02 9.98709134e-01 1.54147207e-04 -9.18363434e+00] [ 2.95311713e-03 -4.15090195e-06 9.99995640e-01 -3.31854070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.152414037 meters 0.06818670407125625 Centerline is valid? [True, True] Translation: X:128.62, Y:-9.20, Z:-3.31 [[ 9.98900015e-01 4.67764221e-02 -3.27504706e-03 1.28617738e+02] [-4.67761126e-02 9.98905384e-01 1.71089815e-04 -9.19942519e+00] [ 3.27946511e-03 -1.77076492e-05 9.99994622e-01 -3.31316895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.182414037 meters 0.06861826169237152 Centerline is valid? [True, True] Translation: X:128.65, Y:-9.21, Z:-3.32 [[ 9.99055534e-01 4.33908719e-02 -2.29600603e-03 1.28645074e+02] [-4.33907138e-02 9.99058172e-01 1.18672674e-04 -9.21079341e+00] [ 2.29899289e-03 -1.89352511e-05 9.99997357e-01 -3.31740932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.212414037 meters 0.06856497959175625 Centerline is valid? [True, True] Translation: X:128.67, Y:-9.23, Z:-3.31 [[ 9.99261875e-01 3.81301515e-02 -4.66868866e-03 1.28673998e+02] [-3.81294220e-02 9.99272779e-01 2.45192423e-04 -9.22559060e+00] [ 4.67464272e-03 -6.69970400e-05 9.99989072e-01 -3.31385668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.242414037 meters 0.07052327364233761 Centerline is valid? [True, True] Translation: X:128.70, Y:-9.24, Z:-3.33 [[ 9.99322856e-01 3.59746006e-02 -7.72384248e-03 1.28702861e+02] [-3.59725331e-02 9.99352696e-01 4.06472725e-04 -9.23803579e+00] [ 7.73346550e-03 -1.28351304e-04 9.99970088e-01 -3.32854393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27241403699998 meters 0.06836966426903698 Centerline is valid? [True, True] Translation: X:128.73, Y:-9.24, Z:-3.31 [[ 9.99331688e-01 3.51471648e-02 -1.00426007e-02 1.28732840e+02] [-3.51436372e-02 9.99382132e-01 5.27580002e-04 -9.23626817e+00] [ 1.00549386e-02 -1.74293901e-04 9.99949433e-01 -3.31366567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30241403699998 meters 0.0721644731839021 Centerline is valid? [True, True] Translation: X:128.76, Y:-9.25, Z:-3.34 [[ 9.99361151e-01 3.43609447e-02 -9.82930472e-03 1.28758748e+02] [-3.43575478e-02 9.99409473e-01 5.14283173e-04 -9.25170523e+00] [ 9.84117150e-03 -1.76243817e-04 9.99951559e-01 -3.33732390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33241403699998 meters 0.06881981683695511 Centerline is valid? [True, True] Translation: X:128.79, Y:-9.25, Z:-3.32 [[ 9.99384199e-01 3.41602092e-02 -8.01891516e-03 1.28788604e+02] [-3.41579442e-02 9.99416359e-01 4.19289684e-04 -9.25259145e+00] [ 8.02855802e-03 -1.45121829e-04 9.99967760e-01 -3.31654202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36241403699998 meters 0.07058718293233614 Centerline is valid? [True, True] Translation: X:128.82, Y:-9.27, Z:-3.33 [[ 9.99404641e-01 3.35649465e-02 -7.98486901e-03 1.28816881e+02] [-3.35627078e-02 9.99436528e-01 4.14235822e-04 -9.26543998e+00] [ 7.99427356e-03 -1.45995377e-04 9.99968035e-01 -3.32775171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39241403699998 meters 0.07069710524074574 Centerline is valid? [True, True] Translation: X:128.84, Y:-9.28, Z:-3.33 [[ 9.99437315e-01 3.30859517e-02 -5.51117790e-03 1.28844948e+02] [-3.30848689e-02 9.99452505e-01 2.87552056e-04 -9.27652988e+00] [ 5.51767448e-03 -1.05053657e-04 9.99984772e-01 -3.32691158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42241403699998 meters 0.07113033545610013 Centerline is valid? [True, True] Translation: X:128.87, Y:-9.28, Z:-3.33 [[ 9.99442287e-01 3.28602626e-02 -5.94297958e-03 1.28873224e+02] [-3.28590066e-02 9.99459949e-01 3.08883934e-04 -9.28184148e+00] [ 5.94992007e-03 -1.13431260e-04 9.99982293e-01 -3.32919171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45241403699998 meters 0.0704940757788731 Centerline is valid? [True, True] Translation: X:128.90, Y:-9.28, Z:-3.33 [[ 9.99420822e-01 3.33350291e-02 -6.84080987e-03 1.28902657e+02] [-3.33333724e-02 9.99444225e-01 3.56089052e-04 -9.28307179e+00] [ 6.84887816e-03 -1.27855550e-04 9.99976538e-01 -3.32788175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48241403699998 meters 0.07095954701446713 Centerline is valid? [True, True] Translation: X:128.93, Y:-9.29, Z:-3.33 [[ 9.99406047e-01 3.35155046e-02 -8.01651527e-03 1.28930494e+02] [-3.35132487e-02 9.99438187e-01 4.15612994e-04 -9.28933843e+00] [ 8.02594096e-03 -1.46706669e-04 9.99967781e-01 -3.33107383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51241403699999 meters 0.07086957505805554 Centerline is valid? [True, True] Translation: X:128.96, Y:-9.29, Z:-3.33 [[ 9.99438458e-01 3.28930379e-02 -6.38883964e-03 1.28958957e+02] [-3.28915991e-02 9.99458870e-01 3.30174223e-04 -9.29410707e+00] [ 6.39624288e-03 -1.19849664e-04 9.99979537e-01 -3.33019911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.542414037 meters 0.07109391440610029 Centerline is valid? [True, True] Translation: X:128.99, Y:-9.30, Z:-3.33 [[ 9.99481271e-01 3.17219964e-02 -5.55906227e-03 1.28987927e+02] [-3.17208853e-02 9.99496725e-01 2.87961098e-04 -9.30002207e+00] [ 5.56539923e-03 -1.11473348e-04 9.99984507e-01 -3.33019670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.572414037 meters 0.07228597939945428 Centerline is valid? [True, True] Translation: X:129.02, Y:-9.31, Z:-3.33 [[ 9.99634282e-01 2.68140527e-02 -3.50838810e-03 1.29016975e+02] [-2.68135795e-02 9.99640435e-01 1.81826648e-04 -9.31284253e+00] [ 3.51200211e-03 -8.76877078e-05 9.99993829e-01 -3.32881283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.602414037 meters 0.07285038568018656 Centerline is valid? [True, True] Translation: X:129.05, Y:-9.32, Z:-3.33 [[ 9.99706207e-01 2.40571493e-02 -2.95846590e-03 1.29047070e+02] [-2.40567993e-02 9.99710581e-01 1.53829057e-04 -9.31923245e+00] [ 2.96131036e-03 -8.26126429e-05 9.99995612e-01 -3.32839633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.632414037 meters 0.0757281701209523 Centerline is valid? [True, True] Translation: X:129.08, Y:-9.33, Z:-3.33 [[ 9.99834924e-01 1.78160774e-02 -3.56528271e-03 1.29076419e+02] [-1.78155295e-02 9.99841274e-01 1.85381240e-04 -9.33379959e+00] [ 3.56801957e-03 -1.21833239e-04 9.99993627e-01 -3.33046281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.662414037 meters 0.07724704861470753 Centerline is valid? [True, True] Translation: X:129.11, Y:-9.34, Z:-3.33 [[ 9.99878128e-01 1.48597551e-02 -4.78724292e-03 1.29105412e+02] [-1.48587338e-02 9.99889572e-01 2.48826000e-04 -9.34106977e+00] [ 4.79041177e-03 -1.77663307e-04 9.99988510e-01 -3.33329308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.692414037 meters 0.07752713717457188 Centerline is valid? [True, True] Translation: X:129.14, Y:-9.35, Z:-3.33 [[ 9.99905577e-01 1.21319270e-02 -6.45388619e-03 1.29135045e+02] [-1.21300182e-02 9.99926373e-01 3.34828277e-04 -9.34533621e+00] [ 6.45747312e-03 -2.56510905e-04 9.99979117e-01 -3.33369388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.722414037 meters 0.079476530587045 Centerline is valid? [True, True] Translation: X:129.16, Y:-9.36, Z:-3.34 [[ 9.99933872e-01 8.55480451e-03 -7.68547110e-03 1.29164304e+02] [-8.55199244e-03 9.99963352e-01 3.98684210e-04 -9.35535753e+00] [ 7.68860010e-03 -3.32931755e-04 9.99970387e-01 -3.33725432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.752414037 meters 0.08140039964832048 Centerline is valid? [True, True] Translation: X:129.19, Y:-9.36, Z:-3.34 [[ 9.99949698e-01 7.59536592e-03 -6.55066730e-03 1.29191613e+02] [-7.59332584e-03 9.99971114e-01 3.36246710e-04 -9.36264944e+00] [ 6.55303199e-03 -2.86488445e-04 9.99978488e-01 -3.33988236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.782414037 meters 0.08149141831965268 Centerline is valid? [True, True] Translation: X:129.22, Y:-9.37, Z:-3.34 [[ 9.99957607e-01 7.39790823e-03 -5.48216756e-03 1.29220189e+02] [-7.39647593e-03 9.99972606e-01 2.81494923e-04 -9.36563397e+00] [ 5.48409986e-03 -2.40934269e-04 9.99984933e-01 -3.33984475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.812414037 meters 0.07862302858442578 Centerline is valid? [True, True] Translation: X:129.25, Y:-9.36, Z:-3.34 [[ 9.99958897e-01 8.03743502e-03 -4.19579265e-03 1.29248980e+02] [-8.03660602e-03 9.99967683e-01 2.14401858e-04 -9.36218481e+00] [ 4.19738029e-03 -1.80673113e-04 9.99991175e-01 -3.33559301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.842414037 meters 0.07840891167741128 Centerline is valid? [True, True] Translation: X:129.28, Y:-9.36, Z:-3.34 [[ 9.99936319e-01 9.21118805e-03 -6.52009947e-03 1.29278046e+02] [-9.20920113e-03 9.99957538e-01 3.34695626e-04 -9.36358288e+00] [ 6.52290556e-03 -2.74629405e-04 9.99978688e-01 -3.33832147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.872414037 meters 0.07763763450775593 Centerline is valid? [True, True] Translation: X:129.31, Y:-9.36, Z:-3.34 [[ 9.99917160e-01 1.08295509e-02 -6.95656902e-03 1.29306847e+02] [-1.08273358e-02 9.99941319e-01 3.56004052e-04 -9.36353889e+00] [ 6.96001616e-03 -2.80653452e-04 9.99975739e-01 -3.33954685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.902414037 meters 0.07833868478363228 Centerline is valid? [True, True] Translation: X:129.34, Y:-9.37, Z:-3.34 [[ 9.99883935e-01 1.41502107e-02 -5.64701314e-03 1.29335327e+02] [-1.41487926e-02 9.99899858e-01 2.90998478e-04 -9.36768168e+00] [ 5.65056533e-03 -2.11066286e-04 9.99984013e-01 -3.34317981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.932414037 meters 0.07830905818080079 Centerline is valid? [True, True] Translation: X:129.36, Y:-9.37, Z:-3.34 [[ 9.99873689e-01 1.49167118e-02 -5.48617695e-03 1.29363529e+02] [-1.49153961e-02 9.99888720e-01 2.80667127e-04 -9.36951828e+00] [ 5.48975308e-03 -1.98803173e-04 9.99984911e-01 -3.34457923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.962414037 meters 0.07571495308783076 Centerline is valid? [True, True] Translation: X:129.39, Y:-9.37, Z:-3.34 [[ 9.99860901e-01 1.57902252e-02 -5.37105661e-03 1.29393898e+02] [-1.57889757e-02 9.99875309e-01 2.74973965e-04 -9.36506556e+00] [ 5.37472879e-03 -1.90132234e-04 9.99985538e-01 -3.34078707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.992414037 meters 0.07491901676173379 Centerline is valid? [True, True] Translation: X:129.42, Y:-9.36, Z:-3.34 [[ 9.99829321e-01 1.80749227e-02 -3.82448350e-03 1.29422994e+02] [-1.80743077e-02 9.99836627e-01 1.95295060e-04 -9.36362975e+00] [ 3.82738863e-03 -1.26136835e-04 9.99992668e-01 -3.34094690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02241403699998 meters 0.07497299774792246 Centerline is valid? [True, True] Translation: X:129.45, Y:-9.37, Z:-3.34 [[ 9.99827988e-01 1.83060853e-02 -2.98006975e-03 1.29452608e+02] [-1.83057141e-02 9.99832425e-01 1.51796890e-04 -9.36510083e+00] [ 2.98234917e-03 -9.72184741e-05 9.99995548e-01 -3.34103346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05241403699998 meters 0.07459885087836637 Centerline is valid? [True, True] Translation: X:129.48, Y:-9.37, Z:-3.34 [[ 9.99794685e-01 2.01752801e-02 -1.88300994e-03 1.29482285e+02] [-2.01751350e-02 9.99796457e-01 9.60357634e-05 -9.36819358e+00] [ 1.88456421e-03 -5.80260662e-05 9.99998223e-01 -3.34068286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08241403699998 meters 0.07386537004545418 Centerline is valid? [True, True] Translation: X:129.51, Y:-9.37, Z:-3.34 [[ 9.99788872e-01 2.04977911e-02 -1.43269591e-03 1.29512808e+02] [-2.04977067e-02 9.99789897e-01 7.35195048e-05 -9.36846365e+00] [ 1.43390189e-03 -4.41370020e-05 9.99998971e-01 -3.33929684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11241403699998 meters 0.07405449896661763 Centerline is valid? [True, True] Translation: X:129.54, Y:-9.37, Z:-3.34 [[ 9.99798677e-01 1.99167497e-02 -2.43471468e-03 1.29542921e+02] [-1.99165044e-02 9.99801639e-01 1.24938597e-04 -9.37034116e+00] [ 2.43672010e-03 -7.64224385e-05 9.99997028e-01 -3.33996366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14241403699998 meters 0.07548620494775511 Centerline is valid? [True, True] Translation: X:129.57, Y:-9.37, Z:-3.34 [[ 9.99851896e-01 1.68011607e-02 -3.72912233e-03 1.29573182e+02] [-1.68005637e-02 9.99858842e-01 1.91361771e-04 -9.37381481e+00] [ 3.73181104e-03 -1.28682072e-04 9.99993028e-01 -3.34374163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17241403699998 meters 0.0765067529383977 Centerline is valid? [True, True] Translation: X:129.60, Y:-9.38, Z:-3.35 [[ 9.99881460e-01 1.48153841e-02 -4.19175267e-03 1.29603348e+02] [-1.48146123e-02 9.99890234e-01 2.15101877e-04 -9.37820127e+00] [ 4.19447937e-03 -1.52977188e-04 9.99991191e-01 -3.34630686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20241403699998 meters 0.07950267860230052 Centerline is valid? [True, True] Translation: X:129.63, Y:-9.39, Z:-3.35 [[ 9.99911962e-01 1.28554815e-02 -3.28715728e-03 1.29631979e+02] [-1.28549952e-02 9.99917357e-01 1.69045929e-04 -9.38768825e+00] [ 3.28905879e-03 -1.26774656e-04 9.99994583e-01 -3.35118270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23241403699998 meters 0.07692001184860704 Centerline is valid? [True, True] Translation: X:129.66, Y:-9.39, Z:-3.34 [[ 9.99933648e-01 1.09581740e-02 3.55220248e-03 1.29662549e+02] [-1.09575934e-02 9.99939947e-01 -1.82849151e-04 -9.38727504e+00] [-3.55399285e-03 1.43913428e-04 9.99993674e-01 -3.34211083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26241403699999 meters 0.07655703396599657 Centerline is valid? [True, True] Translation: X:129.69, Y:-9.39, Z:-3.34 [[ 9.99918891e-01 1.12386006e-02 5.99208130e-03 1.29694824e+02] [-1.12369992e-02 9.99936818e-01 -3.00850533e-04 -9.38846809e+00] [-5.99508385e-03 2.33493119e-04 9.99982002e-01 -3.34015783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.292414037 meters 0.07646833804789946 Centerline is valid? [True, True] Translation: X:129.73, Y:-9.39, Z:-3.34 [[ 9.99892371e-01 1.19677210e-02 8.48644539e-03 1.29727035e+02] [-1.19644836e-02 9.99928330e-01 -4.32147117e-04 -9.38881767e+00] [-8.49100897e-03 3.30564669e-04 9.99963896e-01 -3.33868294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.322414037 meters 0.07527153182307879 Centerline is valid? [True, True] Translation: X:129.76, Y:-9.38, Z:-3.34 [[ 9.99887391e-01 1.33115547e-02 6.92873547e-03 1.29760162e+02] [-1.33094338e-02 9.99911364e-01 -3.52136264e-04 -9.38428661e+00] [-6.93280881e-03 2.59879064e-04 9.99975934e-01 -3.34013563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.352414037 meters 0.07544805446121523 Centerline is valid? [True, True] Translation: X:129.79, Y:-9.39, Z:-3.34 [[ 9.99885155e-01 1.39422848e-02 5.94042843e-03 1.29792634e+02] [-1.39407327e-02 9.99902777e-01 -3.02609470e-04 -9.38574894e+00] [-5.94406995e-03 2.19760792e-04 9.99982310e-01 -3.34260235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.382414037 meters 0.07544805446121523 Centerline is valid? [True, True] Translation: X:129.83, Y:-9.39, Z:-3.34 [[ 9.99880278e-01 1.42878211e-02 5.94032197e-03 1.29825091e+02] [-1.42862629e-02 9.99897900e-01 -3.04659256e-04 -9.38771391e+00] [-5.94406838e-03 2.19757780e-04 9.99982310e-01 -3.34352313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.412414037 meters 0.07613420975318663 Centerline is valid? [True, True] Translation: X:129.86, Y:-9.39, Z:-3.35 [[ 9.99898871e-01 1.34912661e-02 4.49816440e-03 1.29856753e+02] [-1.34903637e-02 9.99908974e-01 -2.30897495e-04 -9.39074053e+00] [-4.50087005e-03 1.70192271e-04 9.99989857e-01 -3.34573307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.442414037 meters 0.076349331082628 Centerline is valid? [True, True] Translation: X:129.89, Y:-9.39, Z:-3.35 [[ 9.99914568e-01 1.27180967e-02 3.01781973e-03 1.29888600e+02] [-1.27176928e-02 9.99919115e-01 -1.52969855e-04 -9.39296368e+00] [-3.01952112e-03 1.14577082e-04 9.99995435e-01 -3.34706042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.472414037 meters 0.07767096703106732 Centerline is valid? [True, True] Translation: X:129.92, Y:-9.40, Z:-3.35 [[ 9.99922336e-01 1.23559570e-02 1.62857969e-03 1.29919254e+02] [-1.23558435e-02 9.99923660e-01 -7.97464558e-05 -9.39725886e+00] [-1.62944071e-03 5.96177866e-05 9.99998671e-01 -3.35059045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.502414037 meters 0.07849921500827678 Centerline is valid? [True, True] Translation: X:129.95, Y:-9.40, Z:-3.35 [[ 9.99944374e-01 1.05189519e-02 7.75043673e-04 1.29950685e+02] [-1.05189236e-02 9.99944674e-01 -4.05548531e-05 -9.39815853e+00] [-7.75427387e-04 3.23999720e-05 9.99999699e-01 -3.35426093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.532414037 meters 0.07856674836186756 Centerline is valid? [True, True] Translation: X:129.98, Y:-9.40, Z:-3.35 [[ 9.99951144e-01 9.83030009e-03 1.03673969e-03 1.29981776e+02] [-9.83024867e-03 9.99951680e-01 -5.46838652e-05 -9.39873104e+00] [-1.03722716e-03 4.44897846e-05 9.99999461e-01 -3.35482636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.562414037 meters 0.07880304204752835 Centerline is valid? [True, True] Translation: X:130.01, Y:-9.40, Z:-3.35 [[ 9.99962786e-01 8.25105622e-03 2.51914644e-03 1.30012726e+02] [-8.25074301e-03 9.99965953e-01 -1.34699673e-04 -9.40038479e+00] [-2.52017208e-03 1.13909831e-04 9.99996818e-01 -3.35403507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.592414037 meters 0.08018680454705608 Centerline is valid? [True, True] Translation: X:130.04, Y:-9.40, Z:-3.35 [[ 9.99972106e-01 6.04809811e-03 4.38264359e-03 1.30043341e+02] [-6.04712426e-03 9.99981688e-01 -2.35423493e-04 -9.40454869e+00] [-4.38398720e-03 2.08914536e-04 9.99990368e-01 -3.35340093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.622414037 meters 0.08042864855780735 Centerline is valid? [True, True] Translation: X:130.07, Y:-9.41, Z:-3.35 [[ 9.99976055e-01 1.56171697e-03 6.74175461e-03 1.30074441e+02] [-1.55930734e-03 9.99998719e-01 -3.62660703e-04 -9.40516243e+00] [-6.74231234e-03 3.52139551e-04 9.99977208e-01 -3.35034701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.652414037 meters 0.08107041604504295 Centerline is valid? [True, True] Translation: X:130.11, Y:-9.41, Z:-3.35 [[ 9.99987503e-01 -6.93517890e-04 4.95109993e-03 1.30105618e+02] [ 6.94846415e-04 9.99999723e-01 -2.66614028e-04 -9.40660858e+00] [-4.95091365e-03 2.70050950e-04 9.99987708e-01 -3.35155273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.682414037 meters 0.0745813249853926 Centerline is valid? [True, True] Translation: X:130.14, Y:-9.39, Z:-3.35 [[ 9.99993091e-01 -2.70148090e-03 2.55340944e-03 1.30136888e+02] [ 2.70183833e-03 9.99996341e-01 -1.36545026e-04 -9.39002307e+00] [-2.55303122e-03 1.43442982e-04 9.99996731e-01 -3.34576883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.712414037 meters 0.07463994779517735 Centerline is valid? [True, True] Translation: X:130.17, Y:-9.39, Z:-3.35 [[ 9.99983661e-01 -4.87855874e-03 -2.97956388e-03 1.30167335e+02] [ 4.87906146e-03 9.99988084e-01 1.61478783e-04 -9.38524495e+00] [ 2.97874059e-03 -1.76013620e-04 9.99995548e-01 -3.34873005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.742414037 meters 0.07612144122075214 Centerline is valid? [True, True] Translation: X:130.20, Y:-9.39, Z:-3.35 [[ 9.99970743e-01 -6.43314483e-03 -4.13867574e-03 1.30196060e+02] [ 6.43412278e-03 9.99979276e-01 2.23023583e-04 -9.38719587e+00] [ 4.13715523e-03 -2.49645806e-04 9.99991411e-01 -3.35245209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77241403699998 meters 0.07705472294826415 Centerline is valid? [True, True] Translation: X:130.22, Y:-9.39, Z:-3.35 [[ 9.99966454e-01 -7.30849414e-03 -3.69809865e-03 1.30224402e+02] [ 7.30927809e-03 9.99973267e-01 1.98514229e-04 -9.38559674e+00] [ 3.69654895e-03 -2.25538001e-04 9.99993142e-01 -3.35432679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80241403699998 meters 0.0769841298851364 Centerline is valid? [True, True] Translation: X:130.25, Y:-9.38, Z:-3.35 [[ 9.99969424e-01 -7.71936765e-03 -1.25029335e-03 1.30253170e+02] [ 7.71944932e-03 9.99970203e-01 6.05120971e-05 -9.38442253e+00] [ 1.24978898e-03 -7.01618230e-05 9.99999217e-01 -3.35360011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83241403699998 meters 0.07691805588703496 Centerline is valid? [True, True] Translation: X:130.28, Y:-9.38, Z:-3.35 [[ 9.99966338e-01 -8.18642061e-03 -5.52767149e-04 1.30283370e+02] [ 8.18643775e-03 9.99966490e-01 2.87654981e-05 -9.38245627e+00] [ 5.52513140e-04 -3.32897237e-05 9.99999847e-01 -3.35333170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86241403699998 meters 0.07766752416365375 Centerline is valid? [True, True] Translation: X:130.31, Y:-9.38, Z:-3.35 [[ 9.99956989e-01 -9.26915059e-03 -3.20224327e-04 1.30312673e+02] [ 9.26915627e-03 9.99957040e-01 1.62490154e-05 -9.37789489e+00] [ 3.20059956e-04 -1.92165258e-05 9.99999949e-01 -3.35472886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89241403699998 meters 0.07783588088818529 Centerline is valid? [True, True] Translation: X:130.34, Y:-9.38, Z:-3.36 [[ 9.99952781e-01 -9.70984235e-03 -3.93904496e-04 1.30342856e+02] [ 9.70985125e-03 9.99952858e-01 2.06913312e-05 -9.37553408e+00] [ 3.93685017e-04 -2.45151082e-05 9.99999922e-01 -3.35641689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92241403699998 meters 0.07862552026425589 Centerline is valid? [True, True] Translation: X:130.37, Y:-9.37, Z:-3.36 [[ 9.99941088e-01 -1.08213005e-02 -8.48897759e-04 1.30372431e+02] [ 1.08213427e-02 9.99941447e-01 4.51371011e-05 -9.37440657e+00] [ 8.48359611e-04 -5.43206555e-05 9.99999639e-01 -3.35796845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95241403699998 meters 0.07882928195264946 Centerline is valid? [True, True] Translation: X:130.40, Y:-9.37, Z:-3.36 [[ 9.99912440e-01 -1.31539581e-02 1.44398112e-03 1.30403442e+02] [ 1.31540838e-02 9.99913478e-01 -7.75911924e-05 -9.36721471e+00] [-1.44283555e-03 9.65786472e-05 9.99998954e-01 -3.35907187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98241403699998 meters 0.0824828337845774 Centerline is valid? [True, True] Translation: X:130.43, Y:-9.37, Z:-3.36 [[ 9.99881626e-01 -1.49617382e-02 3.58888846e-03 1.30433606e+02] [ 1.49625248e-02 9.99888037e-01 -1.92426555e-04 -9.37231030e+00] [-3.58560760e-03 2.46102610e-04 9.99993541e-01 -3.36226770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01241403699999 meters 0.08440655484638478 Centerline is valid? [True, True] Translation: X:130.46, Y:-9.37, Z:-3.36 [[ 9.99755154e-01 -2.17135191e-02 4.26097052e-03 1.30464289e+02] [ 2.17146911e-02 9.99764182e-01 -2.28982593e-04 -9.36591866e+00] [-4.25499369e-03 3.21452186e-04 9.99990896e-01 -3.36289905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.042414037 meters 0.08292653979578031 Centerline is valid? [True, True] Translation: X:130.50, Y:-9.36, Z:-3.36 [[ 9.99688099e-01 -2.45874024e-02 4.37780962e-03 1.30495497e+02] [ 2.45886648e-02 9.99697626e-01 -2.34771565e-04 -9.35904013e+00] [-4.37071346e-03 3.42342833e-04 9.99990390e-01 -3.36392054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.072414037 meters 0.0851322011000215 Centerline is valid? [True, True] Translation: X:130.53, Y:-9.36, Z:-3.37 [[ 9.99618588e-01 -2.73729194e-02 3.66095395e-03 1.30525241e+02] [ 2.73738240e-02 9.99625247e-01 -1.97205834e-04 -9.35997992e+00] [-3.65418390e-03 2.97344926e-04 9.99993279e-01 -3.36735517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.102414037 meters 0.08467118584633976 Centerline is valid? [True, True] Translation: X:130.56, Y:-9.36, Z:-3.37 [[ 9.99563343e-01 -2.92902352e-02 3.89949762e-03 1.30556725e+02] [ 2.92912711e-02 9.99570897e-01 -2.08813943e-04 -9.35571407e+00] [-3.89170812e-03 3.22944005e-04 9.99992375e-01 -3.36911153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.132414037 meters 0.0916584623271653 Centerline is valid? [True, True] Translation: X:130.59, Y:-9.36, Z:-3.37 [[ 9.99526019e-01 -3.05773618e-02 3.57232279e-03 1.30586761e+02] [ 3.05782410e-02 9.99532358e-01 -1.91760917e-04 -9.35916656e+00] [-3.56478868e-03 3.00905373e-04 9.99993601e-01 -3.37462273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.162414037 meters 0.08154997919974752 Centerline is valid? [True, True] Translation: X:130.62, Y:-9.33, Z:-3.37 [[ 9.99562763e-01 -2.91837296e-02 4.75324834e-03 1.30619490e+02] [ 2.91852696e-02 9.99573987e-01 -2.54943565e-04 -9.33395329e+00] [-4.74378319e-03 3.93556929e-04 9.99988671e-01 -3.37058813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.192414037 meters 0.08150765443815762 Centerline is valid? [True, True] Translation: X:130.65, Y:-9.32, Z:-3.37 [[ 9.99711785e-01 -2.33792385e-02 5.45509009e-03 1.30650384e+02] [ 2.33811877e-02 9.99726579e-01 -2.93800823e-04 -9.32101154e+00] [-5.44672972e-03 4.21262630e-04 9.99985078e-01 -3.37225923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.222414037 meters 0.08048155311625467 Centerline is valid? [True, True] Translation: X:130.68, Y:-9.31, Z:-3.37 [[ 9.99786879e-01 -1.96620388e-02 6.29284091e-03 1.30681171e+02] [ 1.96645590e-02 9.99806576e-01 -3.38849601e-04 -9.31371380e+00] [-6.28496125e-03 4.62523326e-04 9.99980142e-01 -3.37364899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.252414037 meters 0.07843345935424906 Centerline is valid? [True, True] Translation: X:130.71, Y:-9.30, Z:-3.37 [[ 9.99839463e-01 -1.62601561e-02 7.52699535e-03 1.30712508e+02] [ 1.62636654e-02 9.99867656e-01 -4.05252000e-04 -9.30387600e+00] [-7.51940974e-03 5.27603476e-04 9.99971590e-01 -3.37357456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.282414037 meters 0.07865808391417706 Centerline is valid? [True, True] Translation: X:130.74, Y:-9.29, Z:-3.37 [[ 9.99885923e-01 -1.13644641e-02 9.94937817e-03 1.30742889e+02] [ 1.13703560e-02 9.99935212e-01 -5.35816758e-04 -9.29367270e+00] [-9.94264430e-03 6.48883606e-04 9.99950360e-01 -3.37492719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.312414037 meters 0.07820343175593217 Centerline is valid? [True, True] Translation: X:130.78, Y:-9.29, Z:-3.38 [[ 9.99893543e-01 -1.02228575e-02 1.04112990e-02 1.30775119e+02] [ 1.02292343e-02 9.99947524e-01 -5.59424802e-04 -9.28911815e+00] [-1.04050337e-02 6.65864865e-04 9.99945644e-01 -3.37574204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.342414037 meters 0.07733953596958756 Centerline is valid? [True, True] Translation: X:130.81, Y:-9.28, Z:-3.38 [[ 9.99895222e-01 -1.11945307e-02 9.17755606e-03 1.30808124e+02] [ 1.11995298e-02 9.99937162e-01 -4.93493094e-04 -9.27956472e+00] [-9.17145493e-03 5.96225699e-04 9.99957764e-01 -3.37703859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.372414037 meters 0.07876285970334725 Centerline is valid? [True, True] Translation: X:130.84, Y:-9.28, Z:-3.38 [[ 9.99881792e-01 -1.33613087e-02 7.60772823e-03 1.30837672e+02] [ 1.33648190e-02 9.99910602e-01 -4.10750271e-04 -9.28095862e+00] [-7.60155996e-03 5.12377628e-04 9.99970976e-01 -3.37975849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.402414037 meters 0.07900555193210335 Centerline is valid? [True, True] Translation: X:130.87, Y:-9.28, Z:-3.38 [[ 9.99842683e-01 -1.62272905e-02 7.16128688e-03 1.30868683e+02] [ 1.62304713e-02 9.99868203e-01 -3.86272914e-04 -9.27918130e+00] [-7.15407488e-03 5.02443208e-04 9.99974283e-01 -3.38138591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.432414037 meters 0.0815434716243995 Centerline is valid? [True, True] Translation: X:130.90, Y:-9.28, Z:-3.38 [[ 9.99700776e-01 -2.34710192e-02 6.88986749e-03 1.30897989e+02] [ 2.34741355e-02 9.99724375e-01 -3.71763511e-04 -9.27861597e+00] [-6.87924281e-03 5.33385953e-04 9.99976195e-01 -3.38202067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.462414037 meters 0.08193027160068782 Centerline is valid? [True, True] Translation: X:130.93, Y:-9.28, Z:-3.38 [[ 9.99617503e-01 -2.69457826e-02 6.22672788e-03 1.30928800e+02] [ 2.69483970e-02 9.99636769e-01 -3.36329012e-04 -9.27645062e+00] [-6.21540349e-03 5.04000702e-04 9.99980557e-01 -3.38259748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.492414037 meters 0.08683811184316578 Centerline is valid? [True, True] Translation: X:130.96, Y:-9.28, Z:-3.39 [[ 9.99431043e-01 -3.35901719e-02 3.04794011e-03 1.30958270e+02] [ 3.35908291e-02 9.99435655e-01 -1.64655286e-04 -9.27784938e+00] [-3.04068922e-03 2.66944440e-04 9.99995341e-01 -3.38676624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52241403699998 meters 0.08599834340211941 Centerline is valid? [True, True] Translation: X:130.99, Y:-9.27, Z:-3.39 [[ 9.99343821e-01 -3.62047013e-02 1.07071364e-03 1.30989387e+02] [ 3.62047838e-02 9.99344390e-01 -5.77634555e-05 -9.27237549e+00] [-1.06792036e-03 9.64905084e-05 9.99999425e-01 -3.38795288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55241403699998 meters 0.08967145157201988 Centerline is valid? [True, True] Translation: X:131.02, Y:-9.28, Z:-3.39 [[ 9.99241647e-01 -3.89252753e-02 9.76426462e-04 1.31018722e+02] [ 3.89253456e-02 9.99242120e-01 -5.31495694e-05 -9.27592290e+00] [-9.73617587e-04 9.11170008e-05 9.99999522e-01 -3.39107962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58241403699998 meters 0.09123909738835158 Centerline is valid? [True, True] Translation: X:131.05, Y:-9.28, Z:-3.39 [[ 9.99151216e-01 -4.11567054e-02 1.72402546e-03 1.31049217e+02] [ 4.11569260e-02 9.99152690e-01 -9.26810866e-05 -9.27540781e+00] [-1.71875023e-03 1.63558009e-04 9.99998510e-01 -3.39188154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61241403699998 meters 0.08882009984492753 Centerline is valid? [True, True] Translation: X:131.08, Y:-9.26, Z:-3.39 [[ 9.99044716e-01 -4.33713448e-02 5.34622024e-03 1.31081795e+02] [ 4.33735016e-02 9.99058885e-01 -2.88083947e-04 -9.26066387e+00] [-5.32869425e-03 5.19693038e-04 9.99985667e-01 -3.38692364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64241403699998 meters 0.0889988717523073 Centerline is valid? [True, True] Translation: X:131.11, Y:-9.25, Z:-3.39 [[ 9.99141948e-01 -4.09130780e-02 6.44103893e-03 1.31111993e+02] [ 4.09161676e-02 9.99162522e-01 -3.48572640e-04 -9.25042809e+00] [-6.42138353e-03 6.11816175e-04 9.99979196e-01 -3.38517242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67241403699998 meters 0.0885933880935025 Centerline is valid? [True, True] Translation: X:131.14, Y:-9.24, Z:-3.39 [[ 9.99248628e-01 -3.83644323e-02 5.50913504e-03 1.31143219e+02] [ 3.83666501e-02 9.99263685e-01 -2.97414171e-04 -9.24497123e+00] [-5.49366845e-03 5.08557758e-04 9.99984780e-01 -3.38636465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70241403699998 meters 0.0878235333460743 Centerline is valid? [True, True] Translation: X:131.17, Y:-9.24, Z:-3.39 [[ 9.99361928e-01 -3.54541696e-02 4.32883140e-03 1.31174476e+02] [ 3.54555125e-02 9.99371228e-01 -2.33837156e-04 -9.23851844e+00] [-4.31781905e-03 3.87168887e-04 9.99990603e-01 -3.38776543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73241403699998 meters 0.08285544963125432 Centerline is valid? [True, True] Translation: X:131.21, Y:-9.22, Z:-3.39 [[ 9.99472784e-01 -3.23307143e-02 2.97970005e-03 1.31206163e+02] [ 3.23313360e-02 9.99477193e-01 -1.60714143e-04 -9.22348526e+00] [-2.97294624e-03 2.56967095e-04 9.99995548e-01 -3.38744304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76241403699999 meters 0.08702304103042736 Centerline is valid? [True, True] Translation: X:131.24, Y:-9.23, Z:-3.39 [[ 9.99578088e-01 -2.90016016e-02 1.59814880e-03 1.31235659e+02] [ 2.90017770e-02 9.99579356e-01 -8.66733480e-05 -9.22726608e+00] [-1.59496288e-03 1.32985935e-04 9.99998719e-01 -3.39233992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.792414037 meters 0.08564016514808338 Centerline is valid? [True, True] Translation: X:131.27, Y:-9.21, Z:-3.39 [[ 9.99730979e-01 -2.31900183e-02 4.38430645e-04 1.31266173e+02] [ 2.31900310e-02 9.99731075e-01 -2.37618142e-05 -9.21404300e+00] [-4.37761703e-04 3.39226420e-05 9.99999904e-01 -3.39482133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.822414037 meters 0.08503760892183247 Centerline is valid? [True, True] Translation: X:131.30, Y:-9.21, Z:-3.40 [[ 9.99774531e-01 -2.12337873e-02 1.18058511e-04 1.31297847e+02] [ 2.12337881e-02 9.99774538e-01 -5.45328228e-06 -9.21032019e+00] [-1.17916099e-04 7.95888214e-06 9.99999993e-01 -3.39638150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.852414037 meters 0.07984197242749848 Centerline is valid? [True, True] Translation: X:131.33, Y:-9.19, Z:-3.39 [[ 9.99771265e-01 -2.11716538e-02 3.02957892e-03 1.31331175e+02] [ 2.11722419e-02 9.99775830e-01 -1.62182616e-04 -9.19300508e+00] [-3.02546611e-03 2.26288497e-04 9.99995398e-01 -3.39171450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.882414037 meters 0.0813115165771432 Centerline is valid? [True, True] Translation: X:131.36, Y:-9.20, Z:-3.39 [[ 9.99742851e-01 -2.22140255e-02 4.55733920e-03 1.31362433e+02] [ 2.22153694e-02 9.99753178e-01 -2.44470951e-04 -9.19503853e+00] [-4.55078367e-03 3.45651059e-04 9.99989585e-01 -3.39208774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.912414037 meters 0.08367887129865687 Centerline is valid? [True, True] Translation: X:131.39, Y:-9.20, Z:-3.39 [[ 9.99659013e-01 -2.58311355e-02 3.82238103e-03 1.31391957e+02] [ 2.58321158e-02 9.99666274e-01 -2.07322351e-04 -9.19560818e+00] [-3.81575003e-03 3.05991846e-04 9.99992673e-01 -3.39259433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.942414037 meters 0.08325173523907844 Centerline is valid? [True, True] Translation: X:131.42, Y:-9.19, Z:-3.39 [[ 9.99625067e-01 -2.73345818e-02 1.59537113e-03 1.31423206e+02] [ 2.73347530e-02 9.99626332e-01 -8.55551505e-05 -9.19249660e+00] [-1.59243638e-03 1.29132149e-04 9.99998724e-01 -3.39343175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.972414037 meters 0.0841532821251933 Centerline is valid? [True, True] Translation: X:131.45, Y:-9.19, Z:-3.40 [[ 9.99613051e-01 -2.76869580e-02 -2.67975630e-03 1.31454371e+02] [ 2.76874502e-02 9.99616618e-01 1.46720540e-04 -9.19259642e+00] [ 2.67466669e-03 -2.20859386e-04 9.99996399e-01 -3.39749230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.002414037 meters 0.08576322122088166 Centerline is valid? [True, True] Translation: X:131.48, Y:-9.19, Z:-3.40 [[ 9.99590446e-01 -2.79831225e-02 -5.99035055e-03 1.31484802e+02] [ 2.79855776e-02 9.99608274e-01 3.26382947e-04 -9.19455768e+00] [ 5.97887076e-03 -4.93892696e-04 9.99982004e-01 -3.40234032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.032414037 meters 0.08492361226398892 Centerline is valid? [True, True] Translation: X:131.52, Y:-9.19, Z:-3.41 [[ 9.99668421e-01 -2.49587585e-02 -6.33307712e-03 1.31516263e+02] [ 2.49614422e-02 9.99688355e-01 3.45053250e-04 -9.18796662e+00] [ 6.32249134e-03 -5.03021576e-04 9.99979886e-01 -3.40511590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.062414037 meters 0.08255664591696202 Centerline is valid? [True, True] Translation: X:131.55, Y:-9.18, Z:-3.40 [[ 9.99754537e-01 -2.16380230e-02 -4.76052032e-03 1.31546920e+02] [ 2.16395005e-02 9.99765805e-01 2.59063108e-04 -9.17942139e+00] [ 4.75379981e-03 -3.62014800e-04 9.99988635e-01 -3.40424885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.092414037 meters 0.08216684294063263 Centerline is valid? [True, True] Translation: X:131.58, Y:-9.17, Z:-3.41 [[ 9.99893890e-01 -1.34726229e-02 -5.54041916e-03 1.31576534e+02] [ 1.34744963e-02 9.99909170e-01 3.00929338e-04 -9.17020175e+00] [ 5.53586162e-03 -3.75551764e-04 9.99984606e-01 -3.40554431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.122414037 meters 0.079635728493017 Centerline is valid? [True, True] Translation: X:131.61, Y:-9.16, Z:-3.40 [[ 9.99941212e-01 -9.29206418e-03 -5.58837703e-03 1.31608062e+02] [ 9.29390814e-03 9.99956764e-01 3.04084125e-04 -9.16176452e+00] [ 5.58530985e-03 -3.56004112e-04 9.99984339e-01 -3.40398833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.152414037 meters 0.07895026287943907 Centerline is valid? [True, True] Translation: X:131.64, Y:-9.16, Z:-3.40 [[ 9.99978055e-01 -4.42352612e-03 -4.93178550e-03 1.31637892e+02] [ 4.42490001e-03 9.99990174e-01 2.67703574e-04 -9.15554090e+00] [ 4.93055285e-03 -2.89520357e-04 9.99987803e-01 -3.40427787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.182414037 meters 0.07849188037375385 Centerline is valid? [True, True] Translation: X:131.67, Y:-9.15, Z:-3.40 [[ 9.99993067e-01 -2.29891414e-03 -2.92934402e-03 1.31667542e+02] [ 2.29938757e-03 9.99997344e-01 1.58256645e-04 -9.15347430e+00] [ 2.92897243e-03 -1.64991245e-04 9.99995697e-01 -3.40415263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.212414037 meters 0.07778406750756321 Centerline is valid? [True, True] Translation: X:131.70, Y:-9.15, Z:-3.40 [[ 9.99999141e-01 -3.03044352e-04 -1.27558671e-03 1.31697902e+02] [ 3.03132391e-04 9.99999952e-01 6.88258275e-05 -9.15111371e+00] [ 1.27556579e-03 -6.92124400e-05 9.99999184e-01 -3.40343497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.242414037 meters 0.07760244462314465 Centerline is valid? [True, True] Translation: X:131.73, Y:-9.15, Z:-3.40 [[ 9.99997396e-01 2.09050495e-03 9.15446746e-04 1.31727549e+02] [-2.09046029e-03 9.99997814e-01 -4.97402284e-05 -9.15207313e+00] [-9.15548727e-04 4.78263938e-05 9.99999580e-01 -3.40334281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27241403699998 meters 0.07760244462314465 Centerline is valid? [True, True] Translation: X:131.76, Y:-9.15, Z:-3.40 [[ 9.99997396e-01 2.09050495e-03 9.15446746e-04 1.31757544e+02] [-2.09046029e-03 9.99997814e-01 -4.97402284e-05 -9.15370294e+00] [-9.15548727e-04 4.78263938e-05 9.99999580e-01 -3.40419291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30241403699998 meters 0.07530552970131754 Centerline is valid? [True, True] Translation: X:131.79, Y:-9.15, Z:-3.40 [[ 9.99978305e-01 6.32171722e-03 1.85061187e-03 1.31788156e+02] [-6.32154126e-03 9.99980014e-01 -1.00918448e-04 -9.14643759e+00] [-1.85121287e-03 8.92175398e-05 9.99998283e-01 -3.40053121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33241403699998 meters 0.07515753614636594 Centerline is valid? [True, True] Translation: X:131.82, Y:-9.15, Z:-3.40 [[ 9.99968913e-01 7.86961645e-03 -4.92552721e-04 1.31818007e+02] [-7.86960472e-03 9.99969034e-01 2.57389302e-05 -9.14743543e+00] [ 4.92740025e-04 -2.18619348e-05 9.99999878e-01 -3.40228764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36241403699998 meters 0.07694781110978374 Centerline is valid? [True, True] Translation: X:131.84, Y:-9.16, Z:-3.41 [[ 9.99956743e-01 8.88625550e-03 -2.74707222e-03 1.31844915e+02] [-8.88588755e-03 9.99960509e-01 1.46119883e-04 -9.15542888e+00] [ 2.74826219e-03 -1.21703388e-04 9.99996216e-01 -3.40867089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39241403699998 meters 0.07510322684261715 Centerline is valid? [True, True] Translation: X:131.87, Y:-9.15, Z:-3.41 [[ 9.99924425e-01 1.10238782e-02 -5.44228218e-03 1.31873663e+02] [-1.10224489e-02 9.99939208e-01 2.92549535e-04 -9.15136301e+00] [ 5.44517636e-03 -2.32540149e-04 9.99985148e-01 -3.40732170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42241403699998 meters 0.07503367878053659 Centerline is valid? [True, True] Translation: X:131.90, Y:-9.15, Z:-3.41 [[ 9.99900985e-01 1.27220411e-02 -6.01408003e-03 1.31901425e+02] [-1.27203311e-02 9.99919041e-01 3.22497679e-04 -9.15401449e+00] [ 6.01769597e-03 -2.45964658e-04 9.99981863e-01 -3.40941228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45241403699998 meters 0.0744237630802632 Centerline is valid? [True, True] Translation: X:131.93, Y:-9.15, Z:-3.41 [[ 9.99791683e-01 1.95859392e-02 -5.74304535e-03 1.31931431e+02] [-1.95844800e-02 9.99808158e-01 3.10205048e-04 -9.15409827e+00] [ 5.74801925e-03 -1.97665870e-04 9.99983460e-01 -3.41167114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48241403699998 meters 0.07407086540701638 Centerline is valid? [True, True] Translation: X:131.96, Y:-9.15, Z:-3.41 [[ 9.99704202e-01 2.40240377e-02 -3.78874510e-03 1.31959957e+02] [-2.40234358e-02 9.99711375e-01 2.04292780e-04 -9.15493703e+00] [ 3.79255951e-03 -1.13213676e-04 9.99992802e-01 -3.41354792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51241403699999 meters 0.07340317577240175 Centerline is valid? [True, True] Translation: X:131.99, Y:-9.16, Z:-3.41 [[ 9.99585010e-01 2.87058596e-02 -2.40441341e-03 1.31989728e+02] [-2.87056327e-02 9.99587900e-01 1.28834126e-04 -9.15515895e+00] [ 2.40712084e-03 -5.97604529e-05 9.99997101e-01 -3.41321725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.542414037 meters 0.07273168418757885 Centerline is valid? [True, True] Translation: X:132.02, Y:-9.16, Z:-3.41 [[ 9.99347444e-01 3.61011435e-02 1.18032667e-03 1.32019079e+02] [-3.61010928e-02 9.99348141e-01 -6.42648150e-05 -9.15656046e+00] [-1.18187729e-03 2.16117961e-05 9.99999301e-01 -3.41224361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.572414037 meters 0.07239104157499357 Centerline is valid? [True, True] Translation: X:132.05, Y:-9.16, Z:-3.41 [[ 9.99248224e-01 3.87596480e-02 8.21996698e-04 1.32047897e+02] [-3.87596230e-02 9.99248562e-01 -4.62726147e-05 -9.15742825e+00] [-8.23172529e-04 1.43775459e-05 9.99999661e-01 -3.40908123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.602414037 meters 0.07224247196732773 Centerline is valid? [True, True] Translation: X:132.08, Y:-9.16, Z:-3.41 [[ 9.99151228e-01 4.11852023e-02 7.76384377e-04 1.32076151e+02] [-4.11851807e-02 9.99151530e-01 -4.37549287e-05 -9.16152880e+00] [-7.77527694e-04 1.17422599e-05 9.99999698e-01 -3.41016352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.632414037 meters 0.07188010312777858 Centerline is valid? [True, True] Translation: X:132.10, Y:-9.17, Z:-3.41 [[ 9.99042214e-01 4.37407024e-02 -1.18589875e-03 1.32104240e+02] [-4.37406599e-02 9.99042917e-01 6.17911481e-05 -9.16970447e+00] [ 1.18746654e-03 -9.85997151e-06 9.99999295e-01 -3.41026398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.662414037 meters 0.07185862567758022 Centerline is valid? [True, True] Translation: X:132.13, Y:-9.18, Z:-3.41 [[ 9.99033955e-01 4.39230320e-02 -1.38686138e-03 1.32131265e+02] [-4.39229743e-02 9.99034918e-01 7.20061587e-05 -9.17527618e+00] [ 1.38868567e-03 -1.10215209e-05 9.99999036e-01 -3.41162260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.692414037 meters 0.07183325344884087 Centerline is valid? [True, True] Translation: X:132.16, Y:-9.18, Z:-3.41 [[ 9.99043678e-01 4.36174669e-02 -3.04081918e-03 1.32160020e+02] [-4.36171788e-02 9.99048305e-01 1.61038844e-04 -9.18139198e+00] [ 3.04494936e-03 -2.82528854e-05 9.99995364e-01 -3.41237275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.722414037 meters 0.0720904734442813 Centerline is valid? [True, True] Translation: X:132.19, Y:-9.20, Z:-3.42 [[ 9.99106566e-01 4.18939042e-02 -5.56516273e-03 1.32189013e+02] [-4.18928991e-02 9.99122063e-01 2.97106244e-04 -9.19722617e+00] [ 5.57272381e-03 -6.36999981e-05 9.99984470e-01 -3.41711264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.752414037 meters 0.07211089361642276 Centerline is valid? [True, True] Translation: X:132.22, Y:-9.21, Z:-3.42 [[ 9.99156248e-01 4.04057718e-02 -7.35977867e-03 1.32215750e+02] [-4.04039910e-02 9.99183349e-01 3.90541294e-04 -9.20627301e+00] [ 7.36954842e-03 -9.28473425e-05 9.99972840e-01 -3.42096328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.782414037 meters 0.07212350101718829 Centerline is valid? [True, True] Translation: X:132.24, Y:-9.22, Z:-3.42 [[ 9.99238801e-01 3.85956429e-02 -5.67404115e-03 1.32243972e+02] [-3.85945558e-02 9.99254907e-01 3.00994109e-04 -9.21763278e+00] [ 5.68143053e-03 -8.17778942e-05 9.99983857e-01 -3.42031243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.812414037 meters 0.0720450725272301 Centerline is valid? [True, True] Translation: X:132.27, Y:-9.23, Z:-3.42 [[ 9.99255706e-01 3.82171274e-02 -5.24268842e-03 1.32271122e+02] [-3.82161998e-02 9.99269456e-01 2.77043250e-04 -9.22575566e+00] [ 5.24944620e-03 -7.64814203e-05 9.99986219e-01 -3.42292998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.842414037 meters 0.07185995025888889 Centerline is valid? [True, True] Translation: X:132.30, Y:-9.23, Z:-3.42 [[ 9.99276935e-01 3.76161597e-02 -5.53460289e-03 1.32299169e+02] [-3.76151187e-02 9.99292258e-01 2.92106384e-04 -9.23220779e+00] [ 5.54167374e-03 -8.37104275e-05 9.99984641e-01 -3.42189347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.872414037 meters 0.07214943441675872 Centerline is valid? [True, True] Translation: X:132.33, Y:-9.24, Z:-3.42 [[ 9.99325299e-01 3.60872232e-02 -6.83080001e-03 1.32325935e+02] [-3.60856057e-02 9.99348638e-01 3.59922854e-04 -9.24051535e+00] [ 6.83933930e-03 -1.13186458e-04 9.99976605e-01 -3.42379460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.902414037 meters 0.07194347505369336 Centerline is valid? [True, True] Translation: X:132.35, Y:-9.25, Z:-3.42 [[ 9.99392369e-01 3.40313542e-02 -7.53384577e-03 1.32354293e+02] [-3.40293232e-02 9.99420756e-01 3.97633614e-04 -9.24829709e+00] [ 7.54301384e-03 -1.41020327e-04 9.99971541e-01 -3.42305958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.932414037 meters 0.07241560080526147 Centerline is valid? [True, True] Translation: X:132.38, Y:-9.26, Z:-3.43 [[ 9.99564181e-01 2.85074043e-02 -7.66650665e-03 1.32381653e+02] [-2.85051426e-02 9.99593564e-01 4.04146252e-04 -9.26455880e+00] [ 7.67491187e-03 -1.85435252e-04 9.99970530e-01 -3.42545855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.962414037 meters 0.07250519783272293 Centerline is valid? [True, True] Translation: X:132.41, Y:-9.27, Z:-3.43 [[ 9.99673257e-01 2.51562216e-02 -4.53244196e-03 1.32409907e+02] [-2.51554016e-02 9.99683525e-01 2.37840246e-04 -9.27327957e+00] [ 4.53699071e-03 -1.23747136e-04 9.99989700e-01 -3.42574115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99241403699997 meters 0.07281665441151061 Centerline is valid? [True, True] Translation: X:132.44, Y:-9.29, Z:-3.42 [[ 9.99845664e-01 1.75400099e-02 -9.98132687e-04 1.32438502e+02] [-1.75399680e-02 9.99846162e-01 5.07510912e-05 -9.28911407e+00] [ 9.98869310e-04 -3.32360431e-05 9.99999501e-01 -3.42381601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02241403699998 meters 0.07336468178328905 Centerline is valid? [True, True] Translation: X:132.47, Y:-9.30, Z:-3.43 [[ 9.99905887e-01 1.36956540e-02 -8.04206628e-04 1.32466297e+02] [-1.36956259e-02 9.99906210e-01 4.04450759e-05 -9.29874898e+00] [ 8.04685123e-04 -2.94271564e-05 9.99999676e-01 -3.42529390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05241403699998 meters 0.07377184263484732 Centerline is valid? [True, True] Translation: X:132.50, Y:-9.31, Z:-3.43 [[ 9.99938948e-01 1.10357535e-02 -5.58688067e-04 1.32495290e+02] [-1.10357393e-02 9.99939104e-01 2.84661092e-05 -9.30742247e+00] [ 5.58968190e-04 -2.22988354e-05 9.99999844e-01 -3.42675255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08241403699998 meters 0.07445642395263452 Centerline is valid? [True, True] Translation: X:132.52, Y:-9.32, Z:-3.43 [[ 9.99967166e-01 7.65612670e-03 -2.65532729e-03 1.32524790e+02] [-7.65578328e-03 9.99970684e-01 1.39473342e-04 -9.32003905e+00] [ 2.65631728e-03 -1.19140152e-04 9.99996465e-01 -3.42924219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11241403699998 meters 0.07499123258273672 Centerline is valid? [True, True] Translation: X:132.55, Y:-9.33, Z:-3.43 [[ 9.99962518e-01 8.07129306e-03 -3.13306338e-03 1.32552185e+02] [-8.07082371e-03 9.99967417e-01 1.62419539e-04 -9.32747099e+00] [ 3.13427223e-03 -1.37127049e-04 9.99995079e-01 -3.43233846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14241403699998 meters 0.07508202152710738 Centerline is valid? [True, True] Translation: X:132.58, Y:-9.33, Z:-3.44 [[ 9.99961193e-01 7.56399251e-03 -4.51647587e-03 1.32580481e+02] [-7.56300615e-03 9.99971372e-01 2.35429280e-04 -9.33439960e+00] [ 4.51812736e-03 -2.01262009e-04 9.99989773e-01 -3.43542837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17241403699998 meters 0.0745423584085381 Centerline is valid? [True, True] Translation: X:132.61, Y:-9.34, Z:-3.43 [[ 9.99968482e-01 7.01200778e-03 -3.72389617e-03 1.32609622e+02] [-7.01133584e-03 9.99975402e-01 1.93463968e-04 -9.33669664e+00] [ 3.72516114e-03 -1.67348383e-04 9.99993048e-01 -3.43408494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20241403699998 meters 0.07512901888770675 Centerline is valid? [True, True] Translation: X:132.64, Y:-9.34, Z:-3.44 [[ 9.99976407e-01 6.85891769e-03 -3.76086730e-04 1.32638164e+02] [-6.85891132e-03 9.99976477e-01 1.82385383e-05 -9.34373042e+00] [ 3.76202980e-04 -1.56585625e-05 9.99999929e-01 -3.43592225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23241403699998 meters 0.07512083384619755 Centerline is valid? [True, True] Translation: X:132.67, Y:-9.35, Z:-3.43 [[ 9.99979655e-01 6.24668553e-03 1.29180596e-03 1.32668056e+02] [-6.24660205e-03 9.99980487e-01 -6.86480502e-05 -9.34784681e+00] [-1.29220958e-03 6.05772557e-05 9.99999163e-01 -3.43485581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26241403699999 meters 0.07590397762578452 Centerline is valid? [True, True] Translation: X:132.70, Y:-9.36, Z:-3.44 [[ 9.99991744e-01 4.03677056e-03 4.64624101e-04 1.32697140e+02] [-4.03675947e-03 9.99991852e-01 -2.48136022e-05 -9.35560070e+00] [-4.64720482e-04 2.29378216e-05 9.99999892e-01 -3.43599024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.292414037 meters 0.07478936526838213 Centerline is valid? [True, True] Translation: X:132.73, Y:-9.36, Z:-3.44 [[ 9.99995522e-01 2.63528900e-03 -1.41790660e-03 1.32727331e+02] [-2.63518708e-03 9.99996525e-01 7.37482611e-05 -9.35516097e+00] [ 1.41809602e-03 -7.00114818e-05 9.99998992e-01 -3.43500297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.322414037 meters 0.07717684252981633 Centerline is valid? [True, True] Translation: X:132.76, Y:-9.37, Z:-3.44 [[ 9.99997245e-01 1.41738992e-03 -1.87083851e-03 1.32755707e+02] [-1.41721109e-03 9.99998991e-01 9.69078166e-05 -9.36649461e+00] [ 1.87097398e-03 -9.42561766e-05 9.99998245e-01 -3.44033126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.352414037 meters 0.07560343285222086 Centerline is valid? [True, True] Translation: X:132.79, Y:-9.37, Z:-3.44 [[ 9.99996596e-01 7.12907079e-04 -2.51006491e-03 1.32785413e+02] [-7.12582313e-04 9.99999738e-01 1.30277065e-04 -9.36503276e+00] [ 2.51015713e-03 -1.28487993e-04 9.99996841e-01 -3.43849775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.382414037 meters 0.07563885123672334 Centerline is valid? [True, True] Translation: X:132.81, Y:-9.37, Z:-3.44 [[ 9.99992442e-01 1.61595884e-03 -3.53619844e-03 1.32814716e+02] [-1.61534035e-03 9.99998680e-01 1.77753170e-04 -9.36583492e+00] [ 3.53648102e-03 -1.72039662e-04 9.99993732e-01 -3.43964799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.412414037 meters 0.07488706528313603 Centerline is valid? [True, True] Translation: X:132.84, Y:-9.36, Z:-3.44 [[ 9.99957292e-01 7.25331180e-03 -5.72752728e-03 1.32844967e+02] [-7.25172573e-03 9.99973662e-01 2.97640136e-04 -9.36257585e+00] [ 5.72953531e-03 -2.56092968e-04 9.99983553e-01 -3.44258949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.442414037 meters 0.07459204341990305 Centerline is valid? [True, True] Translation: X:132.88, Y:-9.36, Z:-3.45 [[ 9.99924055e-01 1.11156763e-02 -5.32222928e-03 1.32875397e+02] [-1.11143620e-02 9.99938195e-01 2.76457027e-04 -9.36198986e+00] [ 5.32497335e-03 -2.17282848e-04 9.99985799e-01 -3.44523592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.472414037 meters 0.07380788577243401 Centerline is valid? [True, True] Translation: X:132.91, Y:-9.36, Z:-3.45 [[ 9.99873884e-01 1.49781254e-02 -5.27938182e-03 1.32905837e+02] [-1.49768911e-02 9.99887803e-01 2.73253251e-04 -9.36127798e+00] [ 5.28288230e-03 -1.94150062e-04 9.99986027e-01 -3.44553664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.502414037 meters 0.07292272491325169 Centerline is valid? [True, True] Translation: X:132.94, Y:-9.36, Z:-3.45 [[ 9.99821012e-01 1.87691158e-02 -2.37996798e-03 1.32936387e+02] [-1.87688749e-02 9.99823842e-01 1.23479818e-04 -9.35926097e+00] [ 2.38186633e-03 -7.87883948e-05 9.99997160e-01 -3.44508542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.532414037 meters 0.07219043055621212 Centerline is valid? [True, True] Translation: X:132.97, Y:-9.36, Z:-3.44 [[ 9.99690127e-01 2.46873568e-02 3.19115256e-03 1.32965714e+02] [-2.46869496e-02 9.99695217e-01 -1.66938960e-04 -9.35838152e+00] [-3.19430124e-03 8.81074072e-05 9.99994894e-01 -3.44349848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.562414037 meters 0.07158436154197885 Centerline is valid? [True, True] Translation: X:133.00, Y:-9.36, Z:-3.44 [[ 9.99624843e-01 2.68330169e-02 5.49196338e-03 1.32996029e+02] [-2.68318522e-02 9.99639920e-01 -2.85641614e-04 -9.35766008e+00] [-5.49765046e-03 1.38174904e-04 9.99984878e-01 -3.44177209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.592414037 meters 0.07111421828842635 Centerline is valid? [True, True] Translation: X:133.03, Y:-9.36, Z:-3.44 [[ 9.99600719e-01 2.74844863e-02 6.55784936e-03 1.33025635e+02] [-2.74828386e-02 9.99622217e-01 -3.41267698e-04 -9.35663658e+00] [-6.56475148e-03 1.60903121e-04 9.99978439e-01 -3.44057273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.622414037 meters 0.0711820454301432 Centerline is valid? [True, True] Translation: X:133.06, Y:-9.36, Z:-3.44 [[ 9.99619303e-01 2.71673054e-02 4.81533190e-03 1.33055307e+02] [-2.71664129e-02 9.99630893e-01 -2.50677134e-04 -9.35990249e+00] [-4.82036475e-03 1.19766407e-04 9.99988375e-01 -3.44174286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.652414037 meters 0.07138037204787098 Centerline is valid? [True, True] Translation: X:133.08, Y:-9.36, Z:-3.44 [[ 9.99634801e-01 2.66805777e-02 4.29087337e-03 1.33084303e+02] [-2.66798642e-02 9.99644004e-01 -2.23453962e-04 -9.36324106e+00] [-4.29530771e-03 1.08892438e-04 9.99990769e-01 -3.44338813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.682414037 meters 0.07312727609359365 Centerline is valid? [True, True] Translation: X:133.11, Y:-9.38, Z:-3.45 [[ 9.99746278e-01 2.21817477e-02 3.91783576e-03 1.33112553e+02] [-2.21811250e-02 9.99753948e-01 -2.02312133e-04 -9.37569261e+00] [-3.92135940e-03 1.15358797e-04 9.99992305e-01 -3.44944987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.712414037 meters 0.07247423702383923 Centerline is valid? [True, True] Translation: X:133.14, Y:-9.38, Z:-3.45 [[ 9.99814751e-01 1.87959426e-02 4.14451387e-03 1.33142978e+02] [-1.87952133e-02 9.99823331e-01 -2.14861875e-04 -9.37802627e+00] [-4.14782020e-03 1.36925050e-04 9.99991388e-01 -3.44714593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74241403699997 meters 0.07288880174396517 Centerline is valid? [True, True] Translation: X:133.17, Y:-9.38, Z:-3.45 [[ 9.99867129e-01 1.54139058e-02 5.30434339e-03 1.33173074e+02] [-1.54126635e-02 9.99881180e-01 -2.74990313e-04 -9.38430837e+00] [-5.30795181e-03 1.93199714e-04 9.99985894e-01 -3.44730964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77241403699998 meters 0.07413339159582047 Centerline is valid? [True, True] Translation: X:133.20, Y:-9.39, Z:-3.45 [[ 9.99936320e-01 9.73412138e-03 5.70996920e-03 1.33202215e+02] [-9.73258940e-03 9.99952593e-01 -2.96025153e-04 -9.39434728e+00] [-5.71258005e-03 2.40433516e-04 9.99983654e-01 -3.44863087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80241403699998 meters 0.07389777660511569 Centerline is valid? [True, True] Translation: X:133.23, Y:-9.40, Z:-3.45 [[ 9.99961229e-01 7.69607732e-03 4.27902248e-03 1.33233572e+02] [-7.69520203e-03 9.99970367e-01 -2.20980230e-04 -9.39533574e+00] [-4.28059636e-03 1.88043720e-04 9.99990821e-01 -3.44902091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83241403699998 meters 0.07439195158188736 Centerline is valid? [True, True] Translation: X:133.26, Y:-9.40, Z:-3.45 [[ 9.99979680e-01 6.28523680e-03 1.06532995e-03 1.33263168e+02] [-6.28518148e-03 9.99980247e-01 -5.52670083e-05 -9.40044990e+00] [-1.06565627e-03 4.85700932e-05 9.99999431e-01 -3.45087925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86241403699998 meters 0.07488499438440152 Centerline is valid? [True, True] Translation: X:133.29, Y:-9.40, Z:-3.45 [[ 9.99983652e-01 5.52384710e-03 -1.47750243e-03 1.33293583e+02] [-5.52373987e-03 9.99984741e-01 7.66496232e-05 -9.40479912e+00] [ 1.47790329e-03 -6.84870311e-05 9.99998906e-01 -3.45335783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89241403699998 meters 0.07510698832232528 Centerline is valid? [True, True] Translation: X:133.32, Y:-9.41, Z:-3.45 [[ 9.99985058e-01 5.32612751e-03 -1.23162169e-03 1.33322539e+02] [-5.32605474e-03 9.99985815e-01 6.23532134e-05 -9.40716216e+00] [ 1.23193632e-03 -5.57925972e-05 9.99999240e-01 -3.45388585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92241403699998 meters 0.07495214887515514 Centerline is valid? [True, True] Translation: X:133.35, Y:-9.41, Z:-3.45 [[ 9.99980092e-01 6.29840875e-03 -3.81009310e-04 1.33352804e+02] [-6.29840187e-03 9.99980165e-01 1.92513887e-05 -9.40647227e+00] [ 3.81123006e-04 -1.68512557e-05 9.99999927e-01 -3.45475341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95241403699998 meters 0.075130294580492 Centerline is valid? [True, True] Translation: X:133.38, Y:-9.41, Z:-3.46 [[ 9.99976399e-01 6.73780426e-03 -1.34259525e-03 1.33382289e+02] [-6.73771831e-03 9.99977299e-01 6.85360495e-05 -9.40638176e+00] [ 1.34302656e-03 -5.94884035e-05 9.99999096e-01 -3.45639073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98241403699998 meters 0.07463264693940305 Centerline is valid? [True, True] Translation: X:133.41, Y:-9.41, Z:-3.46 [[ 9.99970799e-01 6.84489103e-03 -3.39818321e-03 1.33412124e+02] [-6.84433641e-03 9.99976562e-01 1.74813204e-04 -9.40512677e+00] [ 3.39930014e-03 -1.51549791e-04 9.99994211e-01 -3.45628649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01241403699999 meters 0.07555406709431833 Centerline is valid? [True, True] Translation: X:133.44, Y:-9.41, Z:-3.46 [[ 9.99973806e-01 7.20723202e-03 -6.65521367e-04 1.33440676e+02] [-7.20721133e-03 9.99974027e-01 3.34816130e-05 -9.41134145e+00] [ 6.65745391e-04 -2.86841828e-05 9.99999778e-01 -3.45924349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.042414037 meters 0.07524976110899212 Centerline is valid? [True, True] Translation: X:133.47, Y:-9.41, Z:-3.46 [[ 9.99971135e-01 7.56177392e-03 7.40107417e-04 1.33470931e+02] [-7.56174732e-03 9.99971409e-01 -3.87396857e-05 -9.41163452e+00] [-7.40379197e-04 3.31420622e-05 9.99999725e-01 -3.45861722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.072414037 meters 0.07460414348658644 Centerline is valid? [True, True] Translation: X:133.50, Y:-9.41, Z:-3.46 [[ 9.99954496e-01 9.51866777e-03 6.33232881e-04 1.33501382e+02] [-9.51864865e-03 9.99954696e-01 -3.32113400e-05 -9.40785216e+00] [-6.33520321e-04 2.71823074e-05 9.99999799e-01 -3.45859790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.102414037 meters 0.07475610220542198 Centerline is valid? [True, True] Translation: X:133.53, Y:-9.41, Z:-3.46 [[ 9.99950866e-01 9.90857622e-03 -2.91881054e-04 1.33530607e+02] [-9.90857213e-03 9.99950909e-01 1.54466032e-05 -9.40815131e+00] [ 2.92019779e-04 -1.25537198e-05 9.99999957e-01 -3.46098403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.132414037 meters 0.07450438375761087 Centerline is valid? [True, True] Translation: X:133.56, Y:-9.41, Z:-3.46 [[ 9.99949510e-01 1.00339510e-02 -5.45880994e-04 1.33560659e+02] [-1.00339377e-02 9.99949658e-01 2.72009338e-05 -9.40777867e+00] [ 5.46126446e-04 -2.17222246e-05 9.99999851e-01 -3.46173720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.162414037 meters 0.07464543719405349 Centerline is valid? [True, True] Translation: X:133.59, Y:-9.41, Z:-3.46 [[ 9.99961462e-01 8.74733485e-03 7.47345129e-04 1.33590614e+02] [-8.74730772e-03 9.99961741e-01 -3.95692197e-05 -9.41204101e+00] [-7.47662661e-04 3.30304370e-05 9.99999720e-01 -3.46126720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.192414037 meters 0.07464543719405349 Centerline is valid? [True, True] Translation: X:133.62, Y:-9.41, Z:-3.46 [[ 9.99961769e-01 8.71215866e-03 7.47346524e-04 1.33619763e+02] [-8.71213154e-03 9.99962048e-01 -3.95425171e-05 -9.41351377e+00] [-7.47662661e-04 3.30300242e-05 9.99999720e-01 -3.46209327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.222414037 meters 0.07485176114463894 Centerline is valid? [True, True] Translation: X:133.65, Y:-9.42, Z:-3.46 [[ 9.99971367e-01 7.49743135e-03 1.02603602e-03 1.33649155e+02] [-7.49738001e-03 9.99971893e-01 -5.38753934e-05 -9.41781444e+00] [-1.02641111e-03 4.61812688e-05 9.99999472e-01 -3.46296047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.252414037 meters 0.07637206402488038 Centerline is valid? [True, True] Translation: X:133.68, Y:-9.43, Z:-3.47 [[ 9.99983789e-01 5.62338244e-03 8.93953350e-04 1.33678280e+02] [-5.62334306e-03 9.99984188e-01 -4.65531171e-05 -9.42503426e+00] [-8.94201001e-04 4.15253561e-05 9.99999599e-01 -3.46656734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.282414037 meters 0.0757313457846078 Centerline is valid? [True, True] Translation: X:133.71, Y:-9.42, Z:-3.47 [[ 9.99993183e-01 3.69228642e-03 2.85392666e-05 1.33708391e+02] [-3.69228636e-03 9.99993183e-01 -1.96254635e-06 -9.42390194e+00] [-2.85463184e-05 1.85715782e-06 1.00000000e+00 -3.46599403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.312414037 meters 0.07603520704561784 Centerline is valid? [True, True] Translation: X:133.74, Y:-9.43, Z:-3.47 [[ 9.99998983e-01 1.36285816e-03 -4.20296313e-04 1.33738995e+02] [-1.36284919e-03 9.99999071e-01 2.16485597e-05 -9.42618888e+00] [ 4.20325427e-04 -2.10757372e-05 9.99999911e-01 -3.46697404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.342414037 meters 0.07593283876989718 Centerline is valid? [True, True] Translation: X:133.77, Y:-9.43, Z:-3.47 [[ 9.99995867e-01 1.60157773e-03 2.38745533e-03 1.33769158e+02] [-1.60128869e-03 9.99998710e-01 -1.22972692e-04 -9.42741174e+00] [-2.38764920e-03 1.19149179e-04 9.99997142e-01 -3.46589738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.372414037 meters 0.07442136912777429 Centerline is valid? [True, True] Translation: X:133.80, Y:-9.42, Z:-3.46 [[ 9.99971297e-01 3.83457990e-03 6.53468012e-03 1.33799999e+02] [-3.83246204e-03 9.99992599e-01 -3.36587327e-04 -9.42360743e+00] [-6.53592243e-03 3.11533752e-04 9.99978592e-01 -3.46157178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.402414037 meters 0.07466686135667631 Centerline is valid? [True, True] Translation: X:133.83, Y:-9.43, Z:-3.46 [[ 9.99968876e-01 6.28715726e-03 4.76633919e-03 1.33831542e+02] [-6.28606633e-03 9.99980213e-01 -2.43828719e-04 -9.42519837e+00] [-4.76777786e-03 2.13859606e-04 9.99988611e-01 -3.46419349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.432414037 meters 0.07422634411036633 Centerline is valid? [True, True] Translation: X:133.86, Y:-9.42, Z:-3.47 [[ 9.99922449e-01 1.22563256e-02 -2.20889192e-03 1.33863368e+02] [-1.22561003e-02 9.99924885e-01 1.15535221e-04 -9.42245328e+00] [ 2.21014204e-03 -8.84538597e-05 9.99997554e-01 -3.47006780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.462414037 meters 0.07387424572857185 Centerline is valid? [True, True] Translation: X:133.89, Y:-9.42, Z:-3.47 [[ 9.99879689e-01 1.47521009e-02 -4.79398383e-03 1.33892284e+02] [-1.47510946e-02 9.99891167e-01 2.45188819e-04 -9.41959171e+00] [ 4.79707914e-03 -1.74442811e-04 9.99988479e-01 -3.47252440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49241403699997 meters 0.07345571380544678 Centerline is valid? [True, True] Translation: X:133.92, Y:-9.42, Z:-3.47 [[ 9.99837657e-01 1.75452972e-02 -4.10159688e-03 1.33922005e+02] [-1.75445818e-02 9.99846060e-01 2.10343718e-04 -9.41827697e+00] [ 4.10465602e-03 -1.38348769e-04 9.99991566e-01 -3.47424432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52241403699998 meters 0.07293668153584275 Centerline is valid? [True, True] Translation: X:133.95, Y:-9.42, Z:-3.47 [[ 9.99773153e-01 2.10950854e-02 -2.93920617e-03 1.33951701e+02] [-2.10947345e-02 9.99777470e-01 1.50349204e-04 -9.41636494e+00] [ 2.94172374e-03 -8.83133241e-05 9.99995669e-01 -3.47411155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55241403699998 meters 0.07240340192088678 Centerline is valid? [True, True] Translation: X:133.98, Y:-9.42, Z:-3.47 [[ 9.99689858e-01 2.48925068e-02 7.42494410e-04 1.33980903e+02] [-2.48924846e-02 9.99690133e-01 -3.91827644e-05 -9.41593355e+00] [-7.43239693e-04 2.06880815e-05 9.99999724e-01 -3.47330644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58241403699998 meters 0.07140983578704835 Centerline is valid? [True, True] Translation: X:134.01, Y:-9.41, Z:-3.47 [[ 9.99485182e-01 3.17166702e-02 4.83979784e-03 1.34010074e+02] [-3.17158337e-02 9.99496895e-01 -2.49516289e-04 -9.41425856e+00] [-4.84527674e-03 9.58896105e-05 9.99988257e-01 -3.47078168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61241403699998 meters 0.07084125190695445 Centerline is valid? [True, True] Translation: X:134.04, Y:-9.41, Z:-3.47 [[ 9.99374258e-01 3.50034680e-02 5.08434405e-03 1.34038955e+02] [-3.50025821e-02 9.99387187e-01 -2.63144806e-04 -9.41299942e+00] [-5.09043928e-03 8.50149749e-05 9.99987040e-01 -3.46970968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64241403699998 meters 0.07084604975043496 Centerline is valid? [True, True] Translation: X:134.07, Y:-9.41, Z:-3.47 [[ 9.99188787e-01 4.01731216e-02 2.80865567e-03 1.34067049e+02] [-4.01728685e-02 9.99192734e-01 -1.46483866e-04 -9.41248093e+00] [-2.81227305e-03 3.35332812e-05 9.99996045e-01 -3.47347063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67241403699998 meters 0.07068676289698791 Centerline is valid? [True, True] Translation: X:134.10, Y:-9.41, Z:-3.47 [[ 9.99076527e-01 4.29283017e-02 1.80369060e-03 1.34095713e+02] [-4.29282014e-02 9.99078155e-01 -9.43238939e-05 -9.41419500e+00] [-1.80607705e-03 1.68075949e-05 9.99998369e-01 -3.47400040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70241403699998 meters 0.07088369238320524 Centerline is valid? [True, True] Translation: X:134.12, Y:-9.42, Z:-3.48 [[ 9.98978766e-01 4.51537408e-02 1.60164155e-03 1.34122983e+02] [-4.51536636e-02 9.98980050e-01 -8.43069902e-05 -9.41718356e+00] [-1.60381473e-03 1.19009091e-05 9.99998714e-01 -3.47682336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73241403699998 meters 0.07088974045855467 Centerline is valid? [True, True] Translation: X:134.15, Y:-9.42, Z:-3.48 [[ 9.98907247e-01 4.66967974e-02 1.92874977e-03 1.34150837e+02] [-4.66966898e-02 9.98909109e-01 -1.00816829e-04 -9.42072316e+00] [-1.93135354e-03 1.06404315e-05 9.99998135e-01 -3.48039601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76241403699999 meters 0.07067614912913509 Centerline is valid? [True, True] Translation: X:134.18, Y:-9.43, Z:-3.48 [[ 9.98854650e-01 4.77490781e-02 3.06824998e-03 1.34179411e+02] [-4.77488169e-02 9.98859362e-01 -1.58379280e-04 -9.42718233e+00] [-3.07231268e-03 1.16925744e-05 9.99995280e-01 -3.47794685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.792414037 meters 0.07066411082631976 Centerline is valid? [True, True] Translation: X:134.21, Y:-9.43, Z:-3.48 [[ 9.98897140e-01 4.68533440e-02 3.04446851e-03 1.34207189e+02] [-4.68530819e-02 9.98901779e-01 -1.57379317e-04 -9.43165509e+00] [-3.04849876e-03 1.45630170e-05 9.99995353e-01 -3.47955823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.822414037 meters 0.07075329104102358 Centerline is valid? [True, True] Translation: X:134.24, Y:-9.44, Z:-3.48 [[ 9.99062608e-01 4.31297249e-02 3.70556291e-03 1.34235093e+02] [-4.31293159e-02 9.99069480e-01 -1.90255386e-04 -9.44158337e+00] [-3.71032047e-03 3.02586486e-05 9.99993116e-01 -3.47934615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.852414037 meters 0.07072951236164997 Centerline is valid? [True, True] Translation: X:134.26, Y:-9.45, Z:-3.48 [[ 9.99185877e-01 4.02115717e-02 3.25785875e-03 1.34263475e+02] [-4.02112400e-02 9.99191187e-01 -1.67284243e-04 -9.44935728e+00] [-3.26195051e-03 3.61455127e-05 9.99994679e-01 -3.47934443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.882414037 meters 0.07092609559641805 Centerline is valid? [True, True] Translation: X:134.29, Y:-9.46, Z:-3.48 [[ 9.99324013e-01 3.66433888e-02 2.96284263e-03 1.34292922e+02] [-3.66431015e-02 9.99328405e-01 -1.51216555e-04 -9.45824075e+00] [-2.96639388e-03 4.25465916e-05 9.99995599e-01 -3.48004299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.912414037 meters 0.07147109483537285 Centerline is valid? [True, True] Translation: X:134.32, Y:-9.48, Z:-3.48 [[ 9.99580677e-01 2.89156474e-02 1.53456153e-03 1.34321397e+02] [-2.89155606e-02 9.99581855e-01 -7.87343629e-05 -9.47506481e+00] [-1.53619651e-03 3.43286410e-05 9.99998819e-01 -3.47914499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.942414037 meters 0.07160430035748001 Centerline is valid? [True, True] Translation: X:134.35, Y:-9.48, Z:-3.48 [[ 9.99698083e-01 2.45691305e-02 -3.16000045e-04 1.34351299e+02] [-2.45691268e-02 9.99698133e-01 1.55074167e-05 -9.48252481e+00] [ 3.16285659e-04 -7.73888953e-06 9.99999950e-01 -3.47738175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.972414037 meters 0.07233325588660662 Centerline is valid? [True, True] Translation: X:134.38, Y:-9.49, Z:-3.48 [[ 9.99787939e-01 2.05928988e-02 9.37556336e-05 1.34379971e+02] [-2.05928984e-02 9.99787944e-01 -5.73691148e-06 -9.49269537e+00] [-9.38538918e-05 3.80499467e-06 9.99999996e-01 -3.47971283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.002414037 meters 0.07278262926543852 Centerline is valid? [True, True] Translation: X:134.41, Y:-9.50, Z:-3.48 [[ 9.99854781e-01 1.70288089e-02 -6.60156028e-04 1.34409744e+02] [-1.70287909e-02 9.99854999e-01 3.29277201e-05 -9.49989292e+00] [ 6.60621024e-04 -2.16812794e-05 9.99999782e-01 -3.47957472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.032414037 meters 0.07322463740646867 Centerline is valid? [True, True] Translation: X:134.44, Y:-9.51, Z:-3.48 [[ 9.99913247e-01 1.25359230e-02 -4.04330711e-03 1.34439317e+02] [-1.25351984e-02 9.99921410e-01 2.04496588e-04 -9.50862172e+00] [ 4.04555290e-03 -1.53795191e-04 9.99991805e-01 -3.47862834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.062414037 meters 0.07407379456965003 Centerline is valid? [True, True] Translation: X:134.47, Y:-9.52, Z:-3.48 [[ 9.99924897e-01 1.12250770e-02 -4.91921034e-03 1.34467010e+02] [-1.12239908e-02 9.99936978e-01 2.48349715e-04 -9.51513904e+00] [ 4.92168806e-03 -1.93117892e-04 9.99987870e-01 -3.48150852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.092414037 meters 0.0745958599424877 Centerline is valid? [True, True] Translation: X:134.50, Y:-9.52, Z:-3.48 [[ 9.99938387e-01 9.12520544e-03 -6.32086172e-03 1.34496197e+02] [-9.12337853e-03 9.99958331e-01 3.17802034e-04 -9.51992107e+00] [ 6.32349835e-03 -2.60114839e-04 9.99979973e-01 -3.48273130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.122414037 meters 0.07435585112167521 Centerline is valid? [True, True] Translation: X:134.53, Y:-9.52, Z:-3.48 [[ 9.99978202e-01 3.93078638e-03 -5.30517308e-03 1.34526443e+02] [-3.92942324e-03 9.99992244e-01 2.67343870e-04 -9.52484143e+00] [ 5.30618280e-03 -2.46491772e-04 9.99985892e-01 -3.47945907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.152414037 meters 0.07443306448416194 Centerline is valid? [True, True] Translation: X:134.56, Y:-9.53, Z:-3.48 [[ 9.99993185e-01 8.16946021e-04 -3.60028773e-03 1.34556144e+02] [-8.16300651e-04 9.99999650e-01 1.80720938e-04 -9.52882958e+00] [ 3.60043411e-03 -1.77780789e-04 9.99993503e-01 -3.47845672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.182414037 meters 0.0761817167944753 Centerline is valid? [True, True] Translation: X:134.59, Y:-9.54, Z:-3.48 [[ 9.99990628e-01 -3.62411521e-03 -2.36834290e-03 1.34585375e+02] [ 3.62440718e-03 9.99993425e-01 1.19000160e-04 -9.53642698e+00] [ 2.36789606e-03 -1.27582883e-04 9.99997188e-01 -3.47965858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.212414037 meters 0.07722959041241352 Centerline is valid? [True, True] Translation: X:134.62, Y:-9.54, Z:-3.48 [[ 9.99922245e-01 -1.24637858e-02 -3.97602162e-04 1.34615227e+02] [ 1.24637946e-02 9.99922324e-01 1.96338098e-05 -9.54045753e+00] [ 3.97326566e-04 -2.45879149e-05 9.99999921e-01 -3.47756470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24241403699997 meters 0.07765875467284225 Centerline is valid? [True, True] Translation: X:134.65, Y:-9.54, Z:-3.48 [[ 9.99855451e-01 -1.69518991e-02 1.30812395e-03 1.34646152e+02] [ 1.69519997e-02 9.99856302e-01 -6.58718246e-05 -9.54219206e+00] [-1.30681933e-03 8.80376196e-05 9.99999142e-01 -3.47670009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27241403699998 meters 0.07766843170000014 Centerline is valid? [True, True] Translation: X:134.68, Y:-9.54, Z:-3.48 [[ 9.99782355e-01 -2.07287094e-02 2.35859674e-03 1.34677011e+02] [ 2.07290470e-02 9.99785123e-01 -1.18769934e-04 -9.54265748e+00] [-2.35562799e-03 1.67635547e-04 9.99997211e-01 -3.47575899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30241403699998 meters 0.07912896798773342 Centerline is valid? [True, True] Translation: X:134.71, Y:-9.55, Z:-3.48 [[ 9.99707995e-01 -2.39252442e-02 3.39233257e-03 1.34707240e+02] [ 2.39259604e-02 9.99713719e-01 -1.70699156e-04 -9.54696374e+00] [-3.38727739e-03 2.51814125e-04 9.99994231e-01 -3.47641470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33241403699998 meters 0.07994024657381127 Centerline is valid? [True, True] Translation: X:134.74, Y:-9.55, Z:-3.48 [[ 9.99644797e-01 -2.64017721e-02 3.63680929e-03 1.34738831e+02] [ 2.64026103e-02 9.99651374e-01 -1.82670322e-04 -9.54690436e+00] [-3.63071858e-03 2.78626696e-04 9.99993370e-01 -3.47668140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36241403699998 meters 0.0806351558300249 Centerline is valid? [True, True] Translation: X:134.77, Y:-9.55, Z:-3.48 [[ 9.99657837e-01 -2.60087067e-02 2.78485692e-03 1.34770420e+02] [ 2.60091905e-02 9.99661694e-01 -1.37635550e-04 -9.54650802e+00] [-2.78033506e-03 2.10020330e-04 9.99996113e-01 -3.47928331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39241403699998 meters 0.08084074513106686 Centerline is valid? [True, True] Translation: X:134.80, Y:-9.54, Z:-3.48 [[ 9.99677145e-01 -2.53807910e-02 1.19227975e-03 1.34802066e+02] [ 2.53808798e-02 9.99677852e-01 -5.94136505e-05 -9.54353128e+00] [-1.19038770e-03 8.96555776e-05 9.99999287e-01 -3.48233371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42241403699998 meters 0.07877599705330483 Centerline is valid? [True, True] Translation: X:134.83, Y:-9.53, Z:-3.49 [[ 9.99762633e-01 -2.17869599e-02 -8.05414097e-05 1.34833726e+02] [ 2.17869604e-02 9.99762636e-01 4.58387978e-06 -9.52822294e+00] [ 8.04224232e-05 -6.33754422e-06 9.99999997e-01 -3.48599053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45241403699998 meters 0.07887986696082422 Centerline is valid? [True, True] Translation: X:134.86, Y:-9.52, Z:-3.49 [[ 9.99804027e-01 -1.97957388e-02 -1.91335038e-04 1.34863906e+02] [ 1.97957410e-02 9.99804045e-01 9.69568513e-06 -9.52440005e+00] [ 1.91105612e-04 -1.34814039e-05 9.99999982e-01 -3.48830256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48241403699998 meters 0.07754366338073916 Centerline is valid? [True, True] Translation: X:134.90, Y:-9.52, Z:-3.49 [[ 9.99833390e-01 -1.82316167e-02 8.94186203e-04 1.34895105e+02] [ 1.82316640e-02 9.99833788e-01 -4.48203604e-05 -9.51718452e+00] [-8.93220431e-04 6.11153953e-05 9.99999599e-01 -3.48979902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51241403699999 meters 0.07898761751884503 Centerline is valid? [True, True] Translation: X:134.93, Y:-9.52, Z:-3.49 [[ 9.99858850e-01 -1.67627126e-02 1.13630420e-03 1.34925427e+02] [ 1.67627883e-02 9.99859493e-01 -5.71112244e-05 -9.51681299e+00] [-1.13518721e-03 7.61507900e-05 9.99999353e-01 -3.49243601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.542414037 meters 0.07954201810405233 Centerline is valid? [True, True] Translation: X:134.96, Y:-9.51, Z:-3.50 [[ 9.99866901e-01 -1.62195011e-02 1.76307429e-03 1.34955938e+02] [ 1.62196804e-02 9.99868449e-01 -8.74872167e-05 -9.50747381e+00] [-1.76142336e-03 1.16072074e-04 9.99998442e-01 -3.49578171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.572414037 meters 0.07866239735373767 Centerline is valid? [True, True] Translation: X:134.99, Y:-9.50, Z:-3.50 [[ 9.99857878e-01 -1.66128336e-02 2.87013530e-03 1.34988234e+02] [ 1.66133150e-02 9.99861979e-01 -1.43967655e-04 -9.50094828e+00] [-2.86734745e-03 1.91629656e-04 9.99995871e-01 -3.49538765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.602414037 meters 0.0783004551030447 Centerline is valid? [True, True] Translation: X:135.02, Y:-9.50, Z:-3.50 [[ 9.99844217e-01 -1.73275737e-02 3.36106073e-03 1.35020115e+02] [ 1.73282413e-02 9.99849840e-01 -1.69593369e-04 -9.49728406e+00] [-3.35761739e-03 2.27808221e-04 9.99994337e-01 -3.49573933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.632414037 meters 0.07896665498209032 Centerline is valid? [True, True] Translation: X:135.05, Y:-9.49, Z:-3.50 [[ 9.99810713e-01 -1.90874375e-02 3.76936448e-03 1.35051721e+02] [ 1.90882927e-02 9.99817784e-01 -1.91023358e-04 -9.49156686e+00] [-3.76503150e-03 2.62937933e-04 9.99992878e-01 -3.49578414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.662414037 meters 0.08045699385870439 Centerline is valid? [True, True] Translation: X:135.08, Y:-9.49, Z:-3.50 [[ 9.99767803e-01 -2.13836016e-02 2.66121735e-03 1.35081547e+02] [ 2.13840378e-02 9.99771326e-01 -1.35565358e-04 -9.49166024e+00] [-2.65770993e-03 1.92441452e-04 9.99996450e-01 -3.49807610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.692414037 meters 0.07938768657344092 Centerline is valid? [True, True] Translation: X:135.11, Y:-9.49, Z:-3.50 [[ 9.99717721e-01 -2.37565471e-02 3.23368305e-04 1.35112334e+02] [ 2.37565536e-02 9.99717773e-01 -1.63243014e-05 -9.48549029e+00] [-3.22889233e-04 2.40018099e-05 9.99999948e-01 -3.49733905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.722414037 meters 0.0808886298801684 Centerline is valid? [True, True] Translation: X:135.14, Y:-9.48, Z:-3.50 [[ 9.99619216e-01 -2.75922777e-02 -2.99829630e-04 1.35141795e+02] [ 2.75922834e-02 9.99619260e-01 1.48549312e-05 -9.48003878e+00] [ 2.99305591e-04 -2.31222588e-05 9.99999955e-01 -3.49858382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.752414037 meters 0.08126871021939361 Centerline is valid? [True, True] Translation: X:135.17, Y:-9.48, Z:-3.50 [[ 9.99577246e-01 -2.90483074e-02 -1.23459863e-03 1.35172716e+02] [ 2.90484078e-02 9.99578004e-01 6.34020026e-05 -9.47762443e+00] [ 1.23223592e-03 -9.92383236e-05 9.99999236e-01 -3.49969070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.782414037 meters 0.08194619726755996 Centerline is valid? [True, True] Translation: X:135.20, Y:-9.48, Z:-3.50 [[ 9.99527373e-01 -3.06760943e-02 -2.00184328e-03 1.35203496e+02] [ 3.06763608e-02 9.99529364e-01 1.02526869e-04 -9.47632309e+00] [ 1.99775602e-03 -1.63887679e-04 9.99997991e-01 -3.50145588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.812414037 meters 0.0834909395461067 Centerline is valid? [True, True] Translation: X:135.23, Y:-9.47, Z:-3.50 [[ 9.99461491e-01 -3.27821388e-02 -1.43539522e-03 1.35233577e+02] [ 3.27822801e-02 9.99462514e-01 7.50502395e-05 -9.47456605e+00] [ 1.43216341e-03 -1.22065353e-04 9.99998967e-01 -3.50229957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.842414037 meters 0.08381155572964191 Centerline is valid? [True, True] Translation: X:135.27, Y:-9.47, Z:-3.50 [[ 9.99439832e-01 -3.34251250e-02 -1.66831015e-03 1.35265543e+02] [ 3.34253160e-02 9.99441214e-01 8.67080318e-05 -9.47202747e+00] [ 1.66447970e-03 -1.42423255e-04 9.99998605e-01 -3.50306556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.872414037 meters 0.08429572939583106 Centerline is valid? [True, True] Translation: X:135.30, Y:-9.47, Z:-3.50 [[ 9.99443059e-01 -3.32956051e-02 -2.23033628e-03 1.35296525e+02] [ 3.32959452e-02 9.99445530e-01 1.15522790e-04 -9.46854959e+00] [ 2.22525323e-03 -1.89719605e-04 9.99997506e-01 -3.50437105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.902414037 meters 0.08271015449934628 Centerline is valid? [True, True] Translation: X:135.33, Y:-9.46, Z:-3.50 [[ 9.99446567e-01 -3.31060839e-02 -3.24746463e-03 1.35329053e+02] [ 3.31068042e-02 9.99451805e-01 1.68290554e-04 -9.46016758e+00] [ 3.24011295e-03 -2.75710592e-04 9.99994713e-01 -3.50401678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.932414037 meters 0.08165887956154157 Centerline is valid? [True, True] Translation: X:135.36, Y:-9.45, Z:-3.50 [[ 9.99524198e-01 -3.08243267e-02 -1.11283887e-03 1.35360459e+02] [ 3.08244093e-02 9.99524813e-01 5.71818946e-05 -9.45055631e+00] [ 1.11054747e-03 -9.14572882e-05 9.99999379e-01 -3.50190697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.962414037 meters 0.0817798989697114 Centerline is valid? [True, True] Translation: X:135.39, Y:-9.45, Z:-3.50 [[ 9.99589262e-01 -2.86531562e-02 -5.51500970e-04 1.35390582e+02] [ 2.86531761e-02 9.99589413e-01 2.82440951e-05 -9.44900506e+00] [ 5.50465248e-04 -4.40347486e-05 9.99999848e-01 -3.50219143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99241403699997 meters 0.08218268849612194 Centerline is valid? [True, True] Translation: X:135.42, Y:-9.44, Z:-3.51 [[ 9.99728079e-01 -2.32058761e-02 -2.29229141e-03 1.35420667e+02] [ 2.32062058e-02 9.99730693e-01 1.17358037e-04 -9.44299772e+00] [ 2.28895068e-03 -1.70521511e-04 9.99997366e-01 -3.50528180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02241403699998 meters 0.07889876909100309 Centerline is valid? [True, True] Translation: X:135.45, Y:-9.43, Z:-3.50 [[ 9.99810011e-01 -1.91608332e-02 -3.57833560e-03 1.35452209e+02] [ 1.91616120e-02 9.99816383e-01 1.83469632e-04 -9.43182045e+00] [ 3.57416312e-03 -2.52001453e-04 9.99993581e-01 -3.50428518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05241403699998 meters 0.07901902514562101 Centerline is valid? [True, True] Translation: X:135.48, Y:-9.43, Z:-3.51 [[ 9.99873996e-01 -1.55284549e-02 -3.29523724e-03 1.35482099e+02] [ 1.55290937e-02 9.99879402e-01 1.68361996e-04 -9.42766905e+00] [ 3.29222544e-03 -2.19512829e-04 9.99994557e-01 -3.50624513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08241403699998 meters 0.07901902514562101 Centerline is valid? [True, True] Translation: X:135.51, Y:-9.43, Z:-3.51 [[ 9.99875061e-01 -1.54597894e-02 -3.29510716e-03 1.35513812e+02] [ 1.54604362e-02 9.99880466e-01 1.70900831e-04 -9.42936122e+00] [ 3.29207119e-03 -2.21823272e-04 9.99994557e-01 -3.50714391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11241403699998 meters 0.07827268340240963 Centerline is valid? [True, True] Translation: X:135.54, Y:-9.42, Z:-3.51 [[ 9.99930397e-01 -1.13064549e-02 -3.37122847e-03 1.35543912e+02] [ 1.13071001e-02 9.99936058e-01 1.72377416e-04 -9.42377918e+00] [ 3.36906392e-03 -2.10484236e-04 9.99994303e-01 -3.50765136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14241403699998 meters 0.07598287972260166 Centerline is valid? [True, True] Translation: X:135.58, Y:-9.41, Z:-3.51 [[ 9.99988588e-01 -3.74790800e-03 -2.96277575e-03 1.35575675e+02] [ 3.74837562e-03 9.99992963e-01 1.52294895e-04 -9.40826116e+00] [ 2.96218412e-03 -1.63398753e-04 9.99995599e-01 -3.50759689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17241403699998 meters 0.07614864441354653 Centerline is valid? [True, True] Translation: X:135.61, Y:-9.41, Z:-3.51 [[ 9.99995626e-01 -9.55961143e-04 -2.79904392e-03 1.35605692e+02] [ 9.56366584e-04 9.99999532e-01 1.43515021e-04 -9.40766702e+00] [ 2.79890541e-03 -1.46191305e-04 9.99996072e-01 -3.51020115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20241403699998 meters 0.07501540585380588 Centerline is valid? [True, True] Translation: X:135.64, Y:-9.40, Z:-3.51 [[ 9.99996626e-01 1.63734479e-03 -2.01655760e-03 1.35636119e+02] [-1.63714066e-03 9.99998655e-01 1.02873638e-04 -9.40347447e+00] [ 2.01672333e-03 -9.95719027e-05 9.99997961e-01 -3.50979182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23241403699998 meters 0.07438501122026973 Centerline is valid? [True, True] Translation: X:135.67, Y:-9.40, Z:-3.51 [[ 9.99992701e-01 3.24768101e-03 -2.01237534e-03 1.35665865e+02] [-3.24748212e-03 9.99994722e-01 1.02093266e-04 -9.40130247e+00] [ 2.01269628e-03 -9.55573679e-05 9.99997970e-01 -3.50957317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26241403699999 meters 0.07363104051395322 Centerline is valid? [True, True] Translation: X:135.70, Y:-9.39, Z:-3.51 [[ 9.99976172e-01 6.63385112e-03 -1.90982844e-03 1.35696541e+02] [-6.63367738e-03 9.99977992e-01 9.72917696e-05 -9.39441760e+00] [ 1.91043183e-03 -8.46202657e-05 9.99998172e-01 -3.50976367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.292414037 meters 0.0733572664820254 Centerline is valid? [True, True] Translation: X:135.73, Y:-9.39, Z:-3.51 [[ 9.99957961e-01 8.85383331e-03 -2.38439974e-03 1.35725495e+02] [-8.85357242e-03 9.99960799e-01 1.19946138e-04 -9.39197261e+00] [ 2.38536825e-03 -9.88306401e-05 9.99997150e-01 -3.51096318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.322414037 meters 0.07288693945313506 Centerline is valid? [True, True] Translation: X:135.75, Y:-9.39, Z:-3.51 [[ 9.99935364e-01 1.10922292e-02 -2.49608368e-03 1.35754963e+02] [-1.10919491e-02 9.99938475e-01 1.26003415e-04 -9.38835113e+00] [ 2.49732776e-03 -9.83088375e-05 9.99996877e-01 -3.51128023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.352414037 meters 0.07251275171501725 Centerline is valid? [True, True] Translation: X:135.78, Y:-9.39, Z:-3.51 [[ 9.99894305e-01 1.44565065e-02 -1.54565674e-03 1.35784672e+02] [-1.44564034e-02 9.99895498e-01 7.79047748e-05 -9.38519694e+00] [ 1.54662144e-03 -5.55519034e-05 9.99998802e-01 -3.51184997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.382414037 meters 0.07291238948209271 Centerline is valid? [True, True] Translation: X:135.81, Y:-9.39, Z:-3.51 [[ 9.99906876e-01 1.36454727e-02 1.99861420e-04 1.35812822e+02] [-1.36454705e-02 9.99906896e-01 -1.21580624e-05 -9.38801723e+00] [-2.00008715e-04 9.42972712e-06 9.99999980e-01 -3.51379055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.412414037 meters 0.07325855218064121 Centerline is valid? [True, True] Translation: X:135.84, Y:-9.39, Z:-3.51 [[ 9.99951340e-01 9.52325988e-03 2.57411698e-03 1.35842151e+02] [-9.52295130e-03 9.99954647e-01 -1.32106921e-04 -9.39384724e+00] [-2.57525833e-03 1.07587302e-04 9.99996678e-01 -3.51438126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.442414037 meters 0.07384482682472882 Centerline is valid? [True, True] Translation: X:135.87, Y:-9.40, Z:-3.52 [[ 9.99986600e-01 5.05000341e-03 1.13891664e-03 1.35872051e+02] [-5.04994009e-03 9.99987247e-01 -5.84608044e-05 -9.39874194e+00] [-1.13919734e-03 5.27085602e-05 9.99999350e-01 -3.51680079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.472414037 meters 0.07465506093469272 Centerline is valid? [True, True] Translation: X:135.90, Y:-9.40, Z:-3.52 [[ 9.99999805e-01 5.79443829e-04 -2.34375284e-04 1.35902079e+02] [-5.79441090e-04 9.99999832e-01 1.17531130e-05 -9.40291288e+00] [ 2.34382055e-04 -1.16173041e-05 9.99999972e-01 -3.51852391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.502414037 meters 0.07621967370557278 Centerline is valid? [True, True] Translation: X:135.93, Y:-9.41, Z:-3.52 [[ 9.99983836e-01 -5.67733273e-03 -3.07631519e-04 1.35930972e+02] [ 5.67733769e-03 9.99983884e-01 1.52453379e-05 -9.40952316e+00] [ 3.07540008e-04 -1.69916195e-05 9.99999953e-01 -3.52053217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.532414037 meters 0.07695762355040449 Centerline is valid? [True, True] Translation: X:135.96, Y:-9.41, Z:-3.52 [[ 9.99968901e-01 -7.77874369e-03 1.29940072e-03 1.35962541e+02] [ 7.77883436e-03 9.99969742e-01 -6.47399173e-05 -9.41297938e+00] [-1.29885781e-03 7.48457269e-05 9.99999154e-01 -3.52110675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.562414037 meters 0.07730131002108687 Centerline is valid? [True, True] Translation: X:135.99, Y:-9.42, Z:-3.52 [[ 9.99955442e-01 -8.90043049e-03 3.14570601e-03 1.35993094e+02] [ 8.90097589e-03 9.99960373e-01 -1.59421694e-04 -9.41671050e+00] [-3.14416243e-03 1.87414444e-04 9.99995040e-01 -3.52088341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.592414037 meters 0.0780351260446142 Centerline is valid? [True, True] Translation: X:136.02, Y:-9.42, Z:-3.52 [[ 9.99948348e-01 -1.00448880e-02 1.54970529e-03 1.36024184e+02] [ 1.00450211e-02 9.99949544e-01 -7.81122616e-05 -9.42009628e+00] [-1.54884247e-03 9.36750493e-05 9.99998796e-01 -3.52203624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.622414037 meters 0.0775198029950923 Centerline is valid? [True, True] Translation: X:136.06, Y:-9.42, Z:-3.52 [[ 9.99960480e-01 -8.88981963e-03 -9.55860070e-05 1.36056347e+02] [ 8.88982032e-03 9.99960485e-01 6.81899787e-06 -9.42213742e+00] [ 9.55216102e-05 -7.66847081e-06 9.99999995e-01 -3.52278621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.652414037 meters 0.07786300008599657 Centerline is valid? [True, True] Translation: X:136.09, Y:-9.43, Z:-3.52 [[ 9.99972027e-01 -7.44570296e-03 -7.11766499e-04 1.36087391e+02] [ 7.44573340e-03 9.99972279e-01 4.01201177e-05 -9.42553408e+00] [ 7.11448046e-04 -4.54186191e-05 9.99999746e-01 -3.52483521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.682414037 meters 0.07770599476384797 Centerline is valid? [True, True] Translation: X:136.12, Y:-9.43, Z:-3.53 [[ 9.99984136e-01 -5.58003610e-03 -7.68603531e-04 1.36118773e+02] [ 5.58006875e-03 9.99984430e-01 4.03453283e-05 -9.42767223e+00] [ 7.68366436e-04 -4.46335488e-05 9.99999704e-01 -3.52680732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.712414037 meters 0.07737914284359448 Centerline is valid? [True, True] Translation: X:136.15, Y:-9.43, Z:-3.53 [[ 9.99993229e-01 -7.93487525e-04 -3.59338081e-03 1.36148472e+02] [ 7.94154472e-04 9.99999668e-01 1.84181300e-04 -9.42870120e+00] [ 3.59323347e-03 -1.87033752e-04 9.99993527e-01 -3.53045088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74241403699997 meters 0.07466706208912034 Centerline is valid? [True, True] Translation: X:136.18, Y:-9.42, Z:-3.53 [[ 9.99982920e-01 3.08540884e-03 -4.96385445e-03 1.36179145e+02] [-3.08419219e-03 9.99995212e-01 2.52738363e-04 -9.42198333e+00] [ 4.96461048e-03 -2.37424565e-04 9.99987648e-01 -3.52785293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77241403699998 meters 0.07372304388100662 Centerline is valid? [True, True] Translation: X:136.21, Y:-9.42, Z:-3.53 [[ 9.99959962e-01 6.96412184e-03 -5.61915818e-03 1.36208854e+02] [-6.96262141e-03 9.99975720e-01 2.86538635e-04 -9.41979068e+00] [ 5.62101723e-03 -2.47403092e-04 9.99984171e-01 -3.52977368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80241403699998 meters 0.07278531707099886 Centerline is valid? [True, True] Translation: X:136.24, Y:-9.42, Z:-3.53 [[ 9.99865707e-01 1.56535774e-02 -4.85121349e-03 1.36238886e+02] [-1.56525621e-02 9.99877461e-01 2.47186424e-04 -9.41682941e+00] [ 4.85448838e-03 -1.71219308e-04 9.99988202e-01 -3.53131873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83241403699998 meters 0.07218798727698636 Centerline is valid? [True, True] Translation: X:136.27, Y:-9.42, Z:-3.53 [[ 9.99806477e-01 1.94675933e-02 -2.83222828e-03 1.36268205e+02] [-1.94672641e-02 9.99810485e-01 1.43760446e-04 -9.41741073e+00] [ 2.83449020e-03 -8.85968889e-05 9.99995979e-01 -3.53142613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86241403699998 meters 0.07063797628449862 Centerline is valid? [True, True] Translation: X:136.30, Y:-9.42, Z:-3.53 [[ 9.99608034e-01 2.79084098e-02 2.21329291e-03 1.36298739e+02] [-2.79082271e-02 9.99610483e-01 -1.13375636e-04 -9.41661712e+00] [-2.21559493e-03 5.15621152e-05 9.99997544e-01 -3.52688580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89241403699998 meters 0.07021339886401942 Centerline is valid? [True, True] Translation: X:136.33, Y:-9.42, Z:-3.53 [[ 9.99530395e-01 3.05179352e-02 2.76489655e-03 1.36326856e+02] [-3.05176562e-02 9.99534218e-01 -1.43053330e-04 -9.41848276e+00] [-2.76797441e-03 5.86079886e-05 9.99996167e-01 -3.52686022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92241403699998 meters 0.07002051022414495 Centerline is valid? [True, True] Translation: X:136.36, Y:-9.42, Z:-3.53 [[ 9.99511239e-01 3.12440216e-02 1.04603083e-03 1.36355169e+02] [-3.12439803e-02 9.99511786e-01 -5.57697357e-05 -9.41998375e+00] [-1.04726262e-03 2.30603109e-05 9.99999451e-01 -3.52720313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95241403699998 meters 0.07027285041658379 Centerline is valid? [True, True] Translation: X:136.38, Y:-9.43, Z:-3.53 [[ 9.99571168e-01 2.92618342e-02 -1.10676865e-03 1.36383616e+02] [-2.92617914e-02 9.99571781e-01 5.48329140e-05 -9.42755204e+00] [ 1.10789923e-03 -2.24233665e-05 9.99999386e-01 -3.52986067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98241403699998 meters 0.07025273655234572 Centerline is valid? [True, True] Translation: X:136.41, Y:-9.43, Z:-3.53 [[ 9.99614802e-01 2.77218159e-02 -1.32228382e-03 1.36412109e+02] [-2.77217539e-02 9.99615676e-01 6.52068517e-05 -9.43303495e+00] [ 1.32358329e-03 -2.85257076e-05 9.99999124e-01 -3.53007627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01241403699999 meters 0.07071192720515897 Centerline is valid? [True, True] Translation: X:136.44, Y:-9.44, Z:-3.53 [[ 9.99655060e-01 2.62631969e-02 -7.22628585e-05 1.36439633e+02] [-2.62631969e-02 9.99655063e-01 8.00206636e-07 -9.44111829e+00] [ 7.22589483e-05 1.09792307e-06 9.99999997e-01 -3.53412866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.042414037 meters 0.07037287319698109 Centerline is valid? [True, True] Translation: X:136.47, Y:-9.45, Z:-3.53 [[ 9.99699736e-01 2.45036701e-02 9.02104444e-05 1.36468375e+02] [-2.45036696e-02 9.99699740e-01 -6.53496770e-06 -9.44595386e+00] [-9.03434886e-05 4.32251856e-06 9.99999996e-01 -3.53379712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.072414037 meters 0.07083622578539277 Centerline is valid? [True, True] Translation: X:136.50, Y:-9.46, Z:-3.54 [[ 9.99795684e-01 2.01918161e-02 9.38173459e-04 1.36497783e+02] [-2.01917795e-02 9.99796124e-01 -4.84641022e-05 -9.45506658e+00] [-9.38960766e-04 2.95108086e-05 9.99999559e-01 -3.53587504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.102414037 meters 0.07077157824351528 Centerline is valid? [True, True] Translation: X:136.53, Y:-9.46, Z:-3.54 [[ 9.99827578e-01 1.85183241e-02 1.37308064e-03 1.36526514e+02] [-1.85182435e-02 9.99828520e-01 -7.13740055e-05 -9.45961952e+00] [-1.37416691e-03 4.59346574e-05 9.99999055e-01 -3.53611325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.132414037 meters 0.07066466983739562 Centerline is valid? [True, True] Translation: X:136.55, Y:-9.46, Z:-3.54 [[ 9.99841649e-01 1.75839064e-02 2.73569505e-03 1.36554965e+02] [-1.75835890e-02 9.99845387e-01 -1.40054949e-04 -9.46451747e+00] [-2.73773479e-03 9.19294334e-05 9.99996248e-01 -3.53607629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.162414037 meters 0.07078963155599372 Centerline is valid? [True, True] Translation: X:136.58, Y:-9.48, Z:-3.54 [[ 9.99842803e-01 1.66909728e-02 5.98162931e-03 1.36582754e+02] [-1.66894583e-02 9.99860675e-01 -3.03035262e-04 -9.47537230e+00] [-5.98585387e-03 2.03157474e-04 9.99982064e-01 -3.53696240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.192414037 meters 0.07092747094026215 Centerline is valid? [True, True] Translation: X:136.61, Y:-9.48, Z:-3.54 [[ 9.99837732e-01 1.65929442e-02 7.01317776e-03 1.36612665e+02] [-1.65908695e-02 9.99862299e-01 -3.53917474e-04 -9.48057638e+00] [-7.01808458e-03 2.37505328e-04 9.99975345e-01 -3.53820566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.222414037 meters 0.07059489691909081 Centerline is valid? [True, True] Translation: X:136.64, Y:-9.49, Z:-3.54 [[ 9.99832231e-01 1.74002643e-02 5.72190102e-03 1.36643151e+02] [-1.73988987e-02 9.99848586e-01 -2.88357678e-04 -9.48516857e+00] [-5.72605214e-03 1.88754524e-04 9.99983588e-01 -3.53907164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.252414037 meters 0.07040596224604104 Centerline is valid? [True, True] Translation: X:136.67, Y:-9.49, Z:-3.54 [[ 9.99829140e-01 1.81506559e-02 3.49914203e-03 1.36672409e+02] [-1.81501468e-02 9.99835257e-01 -1.77204577e-04 -9.48866924e+00] [-3.50178195e-03 1.13664358e-04 9.99993862e-01 -3.54129474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.282414037 meters 0.07039849949739015 Centerline is valid? [True, True] Translation: X:136.70, Y:-9.49, Z:-3.54 [[ 9.99766216e-01 2.16159648e-02 5.12733023e-04 1.36700542e+02] [-2.16159536e-02 9.99766348e-01 -2.72620923e-05 -9.49353536e+00] [-5.13202518e-04 1.61725056e-05 9.99999868e-01 -3.54479193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.312414037 meters 0.07016613130980474 Centerline is valid? [True, True] Translation: X:136.73, Y:-9.50, Z:-3.55 [[ 9.99706352e-01 2.42087057e-02 -1.07184370e-03 1.36729397e+02] [-2.42086639e-02 9.99706926e-01 5.19005551e-05 -9.49684589e+00] [ 1.07278601e-03 -2.59374108e-05 9.99999424e-01 -3.54662714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.342414037 meters 0.07002815867972317 Centerline is valid? [True, True] Translation: X:136.76, Y:-9.50, Z:-3.55 [[ 9.99650392e-01 2.64010221e-02 -1.44233084e-03 1.36757778e+02] [-2.64009479e-02 9.99651432e-01 7.04214017e-05 -9.50120705e+00] [ 1.44368729e-03 -3.23178804e-05 9.99998957e-01 -3.54893091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.372414037 meters 0.06944233976496803 Centerline is valid? [True, True] Translation: X:136.79, Y:-9.51, Z:-3.55 [[ 9.99562491e-01 2.95179727e-02 1.87503530e-03 1.36787409e+02] [-2.95178473e-02 9.99564249e-01 -9.45287094e-05 -9.50890145e+00] [-1.87700854e-03 3.91403467e-05 9.99998238e-01 -3.54839762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.402414037 meters 0.06930412803754554 Centerline is valid? [True, True] Translation: X:136.82, Y:-9.51, Z:-3.55 [[ 9.99515695e-01 3.10356896e-02 2.27166504e-03 1.36815327e+02] [-3.10355057e-02 9.99518276e-01 -1.16163136e-04 -9.51249000e+00] [-2.27417593e-03 4.56046045e-05 9.99997413e-01 -3.54945945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.432414037 meters 0.06897792962819208 Centerline is valid? [True, True] Translation: X:136.84, Y:-9.52, Z:-3.55 [[ 9.99485002e-01 3.20014830e-02 2.37391242e-03 1.36844380e+02] [-3.20012866e-02 9.99487820e-01 -1.20662050e-04 -9.51519802e+00] [-2.37655792e-03 4.46316579e-05 9.99997175e-01 -3.54867380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.462414037 meters 0.06882604920467449 Centerline is valid? [True, True] Translation: X:136.87, Y:-9.52, Z:-3.55 [[ 9.99418141e-01 3.40488079e-02 2.01457442e-03 1.36872919e+02] [-3.40486703e-02 9.99420171e-01 -1.02565071e-04 -9.51871724e+00] [-2.01689853e-03 3.39118123e-05 9.99997965e-01 -3.54968898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49241403699997 meters 0.0687727374003752 Centerline is valid? [True, True] Translation: X:136.90, Y:-9.53, Z:-3.55 [[ 9.99215553e-01 3.95945190e-02 7.42782581e-04 1.36900127e+02] [-3.95945006e-02 9.99215830e-01 -3.94788433e-05 -9.52565757e+00] [-7.43763259e-04 1.00377688e-05 9.99999723e-01 -3.55450554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52241403699998 meters 0.06845175523189022 Centerline is valid? [True, True] Translation: X:136.93, Y:-9.53, Z:-3.55 [[ 9.99104611e-01 4.22195593e-02 2.73596833e-03 1.36929110e+02] [-4.22193392e-02 9.99108357e-01 -1.38165368e-04 -9.52980533e+00] [-2.73936211e-03 2.25308805e-05 9.99996248e-01 -3.55408348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55241403699998 meters 0.06771100402383361 Centerline is valid? [True, True] Translation: X:136.96, Y:-9.54, Z:-3.55 [[ 9.98873472e-01 4.65048999e-02 9.43831768e-03 1.36958228e+02] [-4.65025310e-02 9.98918061e-01 -4.70401750e-04 -9.53663129e+00] [-9.44998199e-03 3.09661684e-05 9.99955347e-01 -3.55143889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58241403699998 meters 0.06745543289617612 Centerline is valid? [True, True] Translation: X:136.99, Y:-9.54, Z:-3.55 [[ 9.98789745e-01 4.77454922e-02 1.18073563e-02 1.36986480e+02] [-4.77418761e-02 9.98859533e-01 -5.88089665e-04 -9.54073005e+00] [-1.18219690e-02 2.36725859e-05 9.99930118e-01 -3.55128772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61241403699998 meters 0.06738762806164103 Centerline is valid? [True, True] Translation: X:137.01, Y:-9.55, Z:-3.55 [[ 9.98769521e-01 4.83063371e-02 1.12223674e-02 1.37014973e+02] [-4.83031083e-02 9.98832567e-01 -5.58732941e-04 -9.54553371e+00] [-1.12362564e-02 1.59702042e-05 9.99936871e-01 -3.55198071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64241403699998 meters 0.06778682728955115 Centerline is valid? [True, True] Translation: X:137.04, Y:-9.56, Z:-3.56 [[ 9.98758039e-01 4.93312670e-02 6.98605189e-03 1.37043754e+02] [-4.93300443e-02 9.98782472e-01 -3.47334202e-04 -9.55794307e+00] [-6.99468061e-03 2.28057739e-06 9.99975537e-01 -3.55648640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67241403699998 meters 0.06795741247956424 Centerline is valid? [True, True] Translation: X:137.07, Y:-9.57, Z:-3.56 [[ 9.98761153e-01 4.93702172e-02 6.22414777e-03 1.37072060e+02] [-4.93692434e-02 9.98780547e-01 -3.10093046e-04 -9.56707732e+00] [-6.23186708e-03 2.42742192e-06 9.99980582e-01 -3.55908813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70241403699998 meters 0.06781719868460731 Centerline is valid? [True, True] Translation: X:137.10, Y:-9.58, Z:-3.56 [[ 9.98738754e-01 4.97776812e-02 6.56384488e-03 1.37099163e+02] [-4.97766083e-02 9.98760323e-01 -3.26822527e-04 -9.57542053e+00] [-6.57197630e-03 -3.15612403e-07 9.99978404e-01 -3.56028197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73241403699998 meters 0.06780101556492987 Centerline is valid? [True, True] Translation: X:137.13, Y:-9.58, Z:-3.56 [[ 9.98673549e-01 5.06134407e-02 9.45632556e-03 1.37126953e+02] [-5.06112690e-02 9.98718318e-01 -4.68962730e-04 -9.58247305e+00] [-9.46794138e-03 -1.02559632e-05 9.99955178e-01 -3.56241686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76241403699999 meters 0.0672103238039309 Centerline is valid? [True, True] Translation: X:137.16, Y:-9.60, Z:-3.56 [[ 9.98545239e-01 5.25329520e-02 1.21529855e-02 1.37156588e+02] [-5.25295358e-02 9.98619190e-01 -6.00361353e-04 -9.59506363e+00] [-1.21677433e-02 -3.89027143e-05 9.99925970e-01 -3.55857436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.792414037 meters 0.0669296480319271 Centerline is valid? [True, True] Translation: X:137.19, Y:-9.60, Z:-3.56 [[ 9.98463904e-01 5.40582446e-02 1.21465223e-02 1.37186198e+02] [-5.40549524e-02 9.98537782e-01 -5.99419242e-04 -9.60368109e+00] [-1.21611650e-02 -5.80812103e-05 9.99926049e-01 -3.55520822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.822414037 meters 0.06703952503448597 Centerline is valid? [True, True] Translation: X:137.22, Y:-9.61, Z:-3.56 [[ 9.98410553e-01 5.50052336e-02 1.22797620e-02 1.37215259e+02] [-5.50019494e-02 9.98486064e-01 -6.05262428e-04 -9.61180572e+00] [-1.22944638e-02 -7.11104540e-05 9.99924418e-01 -3.55834596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.852414037 meters 0.06721045032878431 Centerline is valid? [True, True] Translation: X:137.24, Y:-9.63, Z:-3.56 [[ 9.98389673e-01 5.57654471e-02 1.04055668e-02 1.37243907e+02] [-5.57631346e-02 9.98443894e-01 -5.12464015e-04 -9.62741271e+00] [-1.04179524e-02 -6.86082418e-05 9.99945729e-01 -3.56400128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.882414037 meters 0.06708012669921759 Centerline is valid? [True, True] Translation: X:137.27, Y:-9.64, Z:-3.56 [[ 9.98423751e-01 5.53824425e-02 9.09939209e-03 1.37273431e+02] [-5.53806544e-02 9.98465213e-01 -4.48556700e-04 -9.63876415e+00] [-9.11026863e-03 -5.60806261e-05 9.99958499e-01 -3.56244983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.912414037 meters 0.06747227734058221 Centerline is valid? [True, True] Translation: X:137.30, Y:-9.65, Z:-3.57 [[ 9.98493521e-01 5.44022415e-02 7.14737495e-03 1.37302511e+02] [-5.44011134e-02 9.98519101e-01 -3.52302279e-04 -9.64749492e+00] [-7.15595644e-03 -3.70536125e-05 9.99974395e-01 -3.56726827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.942414037 meters 0.06741251758180024 Centerline is valid? [True, True] Translation: X:137.33, Y:-9.66, Z:-3.57 [[ 9.98581548e-01 5.28862143e-02 6.15962315e-03 1.37331263e+02] [-5.28853456e-02 9.98600545e-01 -3.03946229e-04 -9.65726159e+00] [-6.16707760e-03 -2.22387034e-05 9.99980983e-01 -3.56893035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.972414037 meters 0.06740238904457525 Centerline is valid? [True, True] Translation: X:137.36, Y:-9.68, Z:-3.57 [[ 9.98808628e-01 4.85952175e-02 4.45313609e-03 1.37361203e+02] [-4.85947342e-02 9.98818555e-01 -2.16728844e-04 -9.67734238e+00] [-4.45840693e-03 7.16744784e-08 9.99990061e-01 -3.56693601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.002414037 meters 0.06740238904457525 Centerline is valid? [True, True] Translation: X:137.39, Y:-9.68, Z:-3.57 [[ 9.98808624e-01 4.85952918e-02 4.45300681e-03 1.37391163e+02] [-4.85947968e-02 9.98818551e-01 -2.19353197e-04 -9.67881708e+00] [-4.45840534e-03 2.69890421e-06 9.99990061e-01 -3.56778478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.032414037 meters 0.06773434708471526 Centerline is valid? [True, True] Translation: X:137.42, Y:-9.69, Z:-3.57 [[ 9.98987824e-01 4.48857758e-02 2.93159474e-03 1.37421428e+02] [-4.48855469e-02 9.98992126e-01 -1.43878526e-04 -9.69155283e+00] [-2.93509816e-03 1.21466623e-05 9.99995693e-01 -3.57002320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.062414037 meters 0.06827748791234863 Centerline is valid? [True, True] Translation: X:137.45, Y:-9.71, Z:-3.57 [[ 9.99174038e-01 4.05616323e-02 2.44845357e-03 1.37451752e+02] [-4.05614611e-02 9.99177038e-01 -1.19576458e-04 -9.70502667e+00] [-2.45128880e-03 2.01648381e-05 9.99996995e-01 -3.57152654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.092414037 meters 0.06966213567484396 Centerline is valid? [True, True] Translation: X:137.48, Y:-9.73, Z:-3.57 [[ 9.99541532e-01 3.01666642e-02 2.58789560e-03 1.37482115e+02] [-3.01664377e-02 9.99544881e-01 -1.26544796e-04 -9.72974702e+00] [-2.59053524e-03 4.84191875e-05 9.99996643e-01 -3.57100186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.122414037 meters 0.07070173272097419 Centerline is valid? [True, True] Translation: X:137.51, Y:-9.74, Z:-3.57 [[ 9.99667124e-01 2.52519545e-02 5.28953646e-03 1.37513178e+02] [-2.52509455e-02 9.99681111e-01 -2.57454539e-04 -9.74255758e+00] [-5.29435091e-03 1.23803042e-04 9.99985977e-01 -3.56996251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.152414037 meters 0.07092100314669918 Centerline is valid? [True, True] Translation: X:137.55, Y:-9.75, Z:-3.57 [[ 9.99758517e-01 2.02237568e-02 8.59689428e-03 1.37545526e+02] [-2.02208950e-02 9.99795449e-01 -4.19691191e-04 -9.75078225e+00] [-8.60362351e-03 2.45752947e-04 9.99962958e-01 -3.56501636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.182414037 meters 0.07400448257859363 Centerline is valid? [True, True] Translation: X:137.57, Y:-9.77, Z:-3.57 [[ 9.99879278e-01 1.26831693e-02 8.97583718e-03 1.37574295e+02] [-1.26796791e-02 9.99919510e-01 -4.45644655e-04 -9.76841204e+00] [-8.98076690e-03 3.31780121e-04 9.99959617e-01 -3.56538963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.212414037 meters 0.07506844650068903 Centerline is valid? [True, True] Translation: X:137.61, Y:-9.77, Z:-3.57 [[ 9.99935256e-01 9.92035828e-03 5.57403940e-03 1.37605534e+02] [-9.91896638e-03 9.99950767e-01 -2.77302208e-04 -9.77481933e+00] [-5.57651591e-03 2.21995545e-04 9.99984426e-01 -3.56803833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24241403699997 meters 0.07522412823657638 Centerline is valid? [True, True] Translation: X:137.64, Y:-9.78, Z:-3.57 [[ 9.99962519e-01 8.33338613e-03 2.34844740e-03 1.37636601e+02] [-8.33313615e-03 9.99965272e-01 -1.16209876e-04 -9.77816160e+00] [-2.34933427e-03 9.66355884e-05 9.99997236e-01 -3.57088507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27241403699998 meters 0.07655930268227655 Centerline is valid? [True, True] Translation: X:137.67, Y:-9.78, Z:-3.57 [[ 9.99976997e-01 6.72844877e-03 8.56071890e-04 1.37666799e+02] [-6.72841812e-03 9.99977363e-01 -3.86762184e-05 -9.78481483e+00] [-8.56312742e-04 3.29153191e-05 9.99999633e-01 -3.57469165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30241403699998 meters 0.07723288594077173 Centerline is valid? [True, True] Translation: X:137.70, Y:-9.79, Z:-3.58 [[ 9.99987575e-01 4.98437156e-03 8.03048630e-05 1.37697906e+02] [-4.98437135e-03 9.99987578e-01 -2.83091188e-06 -9.78969293e+00] [-8.03179758e-05 2.43060744e-06 9.99999997e-01 -3.57575527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33241403699998 meters 0.07875249419547806 Centerline is valid? [True, True] Translation: X:137.73, Y:-9.80, Z:-3.58 [[ 9.99997018e-01 1.60307065e-03 1.84240982e-03 1.37727769e+02] [-1.60290296e-03 9.99998711e-01 -9.24863841e-05 -9.79778578e+00] [-1.84255570e-03 8.95329041e-05 9.99998298e-01 -3.57594581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36241403699998 meters 0.07904403719949883 Centerline is valid? [True, True] Translation: X:137.76, Y:-9.80, Z:-3.58 [[ 9.99998241e-01 6.51454518e-04 1.75874115e-03 1.37759087e+02] [-6.51302218e-04 9.99999784e-01 -8.71674333e-05 -9.80144697e+00] [-1.75879755e-03 8.60218080e-05 9.99998450e-01 -3.57704331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39241403699998 meters 0.07979571719768692 Centerline is valid? [True, True] Translation: X:137.79, Y:-9.81, Z:-3.58 [[ 9.99997455e-01 -2.56249518e-04 2.24163714e-03 1.37790507e+02] [ 2.56500184e-04 9.99999961e-01 -1.11535995e-04 -9.80548626e+00] [-2.24160847e-03 1.12110692e-04 9.99997481e-01 -3.57814435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42241403699998 meters 0.08002341170255726 Centerline is valid? [True, True] Translation: X:137.82, Y:-9.81, Z:-3.58 [[ 9.99991245e-01 -1.96702269e-03 3.69341928e-03 1.37821885e+02] [ 1.96771819e-03 9.99998047e-01 -1.84684020e-04 -9.80754258e+00] [-3.69304879e-03 1.91950012e-04 9.99993162e-01 -3.57653205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45241403699998 meters 0.08089709817323454 Centerline is valid? [True, True] Translation: X:137.85, Y:-9.81, Z:-3.58 [[ 9.99985897e-01 -2.28608425e-03 4.79371591e-03 1.37853156e+02] [ 2.28725985e-03 9.99997355e-01 -2.39770089e-04 -9.81099703e+00] [-4.79315510e-03 2.50731182e-04 9.99988481e-01 -3.57541581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48241403699998 meters 0.07933306934126479 Centerline is valid? [True, True] Translation: X:137.89, Y:-9.81, Z:-3.57 [[ 9.99986836e-01 -2.45143372e-03 4.50748036e-03 1.37885175e+02] [ 2.45247319e-03 9.99996967e-01 -2.25096498e-04 -9.80897425e+00] [-4.50691488e-03 2.36148010e-04 9.99989816e-01 -3.57366911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51241403699999 meters 0.07909357575616095 Centerline is valid? [True, True] Translation: X:137.92, Y:-9.81, Z:-3.58 [[ 9.99988232e-01 -4.68950768e-03 -1.24257225e-03 1.37916056e+02] [ 4.68959001e-03 9.99989002e-01 6.33527492e-05 -9.80561000e+00] [ 1.24226149e-03 -6.91791580e-05 9.99999226e-01 -3.57613369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.542414037 meters 0.07173060230452237 Centerline is valid? [True, True] Translation: X:137.95, Y:-9.79, Z:-3.57 [[ 9.99965658e-01 -6.89226422e-03 -4.60215056e-03 1.37947238e+02] [ 6.89340142e-03 9.99976213e-01 2.31284869e-04 -9.78679495e+00] [ 4.60044702e-03 -2.63001398e-04 9.99989383e-01 -3.56768613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.572414037 meters 0.07379373791330773 Centerline is valid? [True, True] Translation: X:137.98, Y:-9.79, Z:-3.57 [[ 9.99936332e-01 -9.48671671e-03 -6.11015511e-03 1.37975864e+02] [ 9.48877455e-03 9.99954933e-01 3.07887024e-04 -9.79198370e+00] [ 6.10695891e-03 -3.65845306e-04 9.99981285e-01 -3.57167470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.602414037 meters 0.07835284870117763 Centerline is valid? [True, True] Translation: X:138.00, Y:-9.80, Z:-3.58 [[ 9.99895847e-01 -1.33655384e-02 -5.44589943e-03 1.38004020e+02] [ 1.33672259e-02 9.99910617e-01 2.73572740e-04 -9.80258053e+00] [ 5.44175622e-03 -3.46340814e-04 9.99985134e-01 -3.57706448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.632414037 meters 0.07741416590365498 Centerline is valid? [True, True] Translation: X:138.04, Y:-9.80, Z:-3.57 [[ 9.99700940e-01 -2.40771213e-02 -4.28056968e-03 1.38035005e+02] [ 2.40782634e-02 9.99710053e-01 2.15474283e-04 -9.79741895e+00] [ 4.27414054e-03 -3.18478528e-04 9.99990815e-01 -3.57384322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.662414037 meters 0.07929907213416404 Centerline is valid? [True, True] Translation: X:138.06, Y:-9.80, Z:-3.58 [[ 9.99542776e-01 -2.98877674e-02 -4.57824786e-03 1.38064993e+02] [ 2.98891335e-02 9.99553194e-01 2.30249683e-04 -9.79874362e+00] [ 4.56932062e-03 -3.66984269e-04 9.99989493e-01 -3.57565284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.692414037 meters 0.0802821333835719 Centerline is valid? [True, True] Translation: X:138.10, Y:-9.80, Z:-3.58 [[ 9.99392016e-01 -3.45469524e-02 -4.70175584e-03 1.38095633e+02] [ 3.45484452e-02 9.99402996e-01 2.36622388e-04 -9.79765409e+00] [ 4.69077429e-03 -3.98916879e-04 9.99988919e-01 -3.57592696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.722414037 meters 0.07994878983784075 Centerline is valid? [True, True] Translation: X:138.13, Y:-9.79, Z:-3.58 [[ 9.99145077e-01 -4.12719438e-02 -2.39614497e-03 1.38126193e+02] [ 4.12723503e-02 9.99147926e-01 1.20452451e-04 -9.78750968e+00] [ 2.38913197e-03 -2.19244008e-04 9.99997122e-01 -3.57595372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.752414037 meters 0.08355499088680715 Centerline is valid? [True, True] Translation: X:138.15, Y:-9.79, Z:-3.58 [[ 9.99055059e-01 -4.34483563e-02 -1.10870733e-03 1.38154246e+02] [ 4.34484419e-02 9.99055669e-01 5.32612617e-05 -9.78982529e+00] [ 1.10534623e-03 -1.01382539e-04 9.99999384e-01 -3.57915097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.782414037 meters 0.08327809402587183 Centerline is valid? [True, True] Translation: X:138.18, Y:-9.78, Z:-3.58 [[ 9.98945059e-01 -4.58771451e-02 2.01431865e-03 1.38183884e+02] [ 4.58774446e-02 9.98947070e-01 -1.02688306e-04 -9.77801435e+00] [-2.00748667e-03 1.94991769e-04 9.99997966e-01 -3.57772432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.812414037 meters 0.08355901394718371 Centerline is valid? [True, True] Translation: X:138.21, Y:-9.77, Z:-3.58 [[ 9.98914640e-01 -4.64332817e-02 3.67318752e-03 1.38214024e+02] [ 4.64342743e-02 9.98921330e-01 -1.85375090e-04 -9.77285473e+00] [-3.66061779e-03 3.55735688e-04 9.99993237e-01 -3.57840275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.842414037 meters 0.08423904761837547 Centerline is valid? [True, True] Translation: X:138.24, Y:-9.77, Z:-3.58 [[ 9.98908364e-01 -4.65200458e-02 4.23848413e-03 1.38244692e+02] [ 4.65213633e-02 9.98917273e-01 -2.12744216e-04 -9.76729699e+00] [-4.22399813e-03 4.09692037e-04 9.99990995e-01 -3.57965603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.872414037 meters 0.08476188300101174 Centerline is valid? [True, True] Translation: X:138.28, Y:-9.76, Z:-3.58 [[ 9.98929410e-01 -4.60969003e-02 3.88700165e-03 1.38275597e+02] [ 4.60980052e-02 9.98936903e-01 -1.95102092e-04 -9.76071455e+00] [-3.87387579e-03 3.74076240e-04 9.99992427e-01 -3.58280118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.902414037 meters 0.08449694361357092 Centerline is valid? [True, True] Translation: X:138.31, Y:-9.74, Z:-3.59 [[ 9.98975239e-01 -4.52410629e-02 1.31108236e-03 1.38308014e+02] [ 4.52411866e-02 9.98976091e-01 -6.48578738e-05 -9.74300958e+00] [-1.30680569e-03 1.24106332e-04 9.99999138e-01 -3.58749714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.932414037 meters 0.08351693339293734 Centerline is valid? [True, True] Translation: X:138.34, Y:-9.73, Z:-3.59 [[ 9.98997046e-01 -4.47701508e-02 7.32181051e-04 1.38338599e+02] [ 4.47701897e-02 9.98997312e-01 -3.67765313e-05 -9.73391039e+00] [-7.29800411e-04 6.95195307e-05 9.99999731e-01 -3.58951386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.962414037 meters 0.0844306257505526 Centerline is valid? [True, True] Translation: X:138.37, Y:-9.73, Z:-3.59 [[ 9.98993892e-01 -4.48459515e-02 2.11320613e-04 1.38369690e+02] [ 4.48459547e-02 9.98993914e-01 -1.06143681e-05 -9.72895137e+00] [-2.10631995e-04 2.00805635e-05 9.99999978e-01 -3.59180270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99241403699997 meters 0.08793081303267039 Centerline is valid? [True, True] Translation: X:138.40, Y:-9.73, Z:-3.60 [[ 9.99003174e-01 -4.46374647e-02 3.93186474e-04 1.38399850e+02] [ 4.46374757e-02 9.99003251e-01 -1.92606826e-05 -9.73025402e+00] [-3.91934818e-04 3.67923347e-05 9.99999923e-01 -3.59622757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02241403699998 meters 0.08680037944028084 Centerline is valid? [True, True] Translation: X:138.43, Y:-9.72, Z:-3.60 [[ 9.98954496e-01 -4.57149657e-02 2.38959606e-04 1.38432223e+02] [ 4.57149696e-02 9.98954524e-01 -1.10348174e-05 -9.71553845e+00] [-2.38205324e-04 2.19473117e-05 9.99999971e-01 -3.59924939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05241403699998 meters 0.08782932151136595 Centerline is valid? [True, True] Translation: X:138.46, Y:-9.71, Z:-3.60 [[ 9.98930863e-01 -4.62196153e-02 -9.37364257e-04 1.38463171e+02] [ 4.62196807e-02 9.98931298e-01 4.82142486e-05 -9.71128078e+00] [ 9.34134051e-04 -9.14873775e-05 9.99999560e-01 -3.60184715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08241403699998 meters 0.0882116744174002 Centerline is valid? [True, True] Translation: X:138.49, Y:-9.71, Z:-3.60 [[ 9.98929545e-01 -4.62264690e-02 -1.69663813e-03 1.38494467e+02] [ 4.62266818e-02 9.98930972e-01 8.64008186e-05 -9.70729354e+00] [ 1.69083037e-03 -1.64738281e-04 9.99998557e-01 -3.60348063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11241403699998 meters 0.08985113930256311 Centerline is valid? [True, True] Translation: X:138.53, Y:-9.70, Z:-3.61 [[ 9.98943765e-01 -4.59489483e-02 -2.21647200e-04 1.38525535e+02] [ 4.59489524e-02 9.98943789e-01 1.32161865e-05 -9.69959644e+00] [ 2.20805824e-04 -2.33866838e-05 9.99999975e-01 -3.60530217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14241403699998 meters 0.08926756954285273 Centerline is valid? [True, True] Translation: X:138.56, Y:-9.69, Z:-3.61 [[ 9.98974485e-01 -4.52738735e-02 5.04318207e-04 1.38557792e+02] [ 4.52738914e-02 9.98974611e-01 -2.40817154e-05 -9.69375584e+00] [-5.02710813e-04 4.68894670e-05 9.99999873e-01 -3.60654974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17241403699998 meters 0.09010610683132175 Centerline is valid? [True, True] Translation: X:138.59, Y:-9.69, Z:-3.61 [[ 9.98991798e-01 -4.48872541e-02 7.22742494e-04 1.38588752e+02] [ 4.48872915e-02 9.98992057e-01 -3.55521615e-05 -9.68997552e+00] [-7.20418172e-04 6.79582707e-05 9.99999738e-01 -3.60784090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20241403699998 meters 0.08681881678156157 Centerline is valid? [True, True] Translation: X:138.62, Y:-9.68, Z:-3.61 [[ 9.98996105e-01 -4.47945867e-02 -4.75951477e-04 1.38621844e+02] [ 4.47946041e-02 9.98996218e-01 2.60372037e-05 -9.67788525e+00] [ 4.74307400e-04 -4.73311231e-05 9.99999886e-01 -3.60738945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23241403699998 meters 0.08906470154534313 Centerline is valid? [True, True] Translation: X:138.65, Y:-9.67, Z:-3.61 [[ 9.98933420e-01 -4.60945716e-02 -2.70411315e-03 1.38652392e+02] [ 4.60951091e-02 9.98937046e-01 1.36764853e-04 -9.66826418e+00] [ 2.69493469e-03 -2.61265373e-04 9.99996335e-01 -3.60987854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26241403699999 meters 0.08941023894330903 Centerline is valid? [True, True] Translation: X:138.68, Y:-9.66, Z:-3.61 [[ 9.98880889e-01 -4.71682802e-02 -3.48171333e-03 1.38683494e+02] [ 4.71691796e-02 9.98886899e-01 1.76634333e-04 -9.66384628e+00] [ 3.46950629e-03 -3.40666221e-04 9.99993923e-01 -3.61082208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.292414037 meters 0.08560829330202914 Centerline is valid? [True, True] Translation: X:138.71, Y:-9.65, Z:-3.61 [[ 9.98829449e-01 -4.81989109e-02 -4.07397812e-03 1.38714878e+02] [ 4.82001510e-02 9.98837676e-01 2.06693606e-04 -9.65134266e+00] [ 4.05928043e-03 -4.02818021e-04 9.99991680e-01 -3.60954913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.322414037 meters 0.08486761001808336 Centerline is valid? [True, True] Translation: X:138.75, Y:-9.64, Z:-3.61 [[ 9.98799068e-01 -4.88846914e-02 -3.27239275e-03 1.38747951e+02] [ 4.88855013e-02 9.98804375e-01 1.67893858e-04 -9.63827482e+00] [ 3.26027275e-03 -3.27664789e-04 9.99994632e-01 -3.60936323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.352414037 meters 0.0870927858261466 Centerline is valid? [True, True] Translation: X:138.78, Y:-9.64, Z:-3.61 [[ 9.98875907e-01 -4.73342950e-02 -2.52738115e-03 1.38778130e+02] [ 4.73347692e-02 9.98879073e-01 1.28096862e-04 -9.63735998e+00] [ 2.51848477e-03 -2.47585873e-04 9.99996798e-01 -3.61136500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.382414037 meters 0.08511349074381935 Centerline is valid? [True, True] Translation: X:138.81, Y:-9.63, Z:-3.61 [[ 9.98978191e-01 -4.50997025e-02 -2.93113140e-03 1.38809803e+02] [ 4.51003324e-02 9.98982451e-01 1.49109041e-04 -9.62816906e+00] [ 2.92142405e-03 -2.81151680e-04 9.99995693e-01 -3.60931343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.412414037 meters 0.08125411584535955 Centerline is valid? [True, True] Translation: X:138.84, Y:-9.61, Z:-3.61 [[ 9.99289937e-01 -3.75504291e-02 -3.09635221e-03 1.38841780e+02] [ 3.75510959e-02 9.99294696e-01 1.57474002e-04 -9.60648939e+00] [ 3.08825513e-03 -2.73633605e-04 9.99995194e-01 -3.60661455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.442414037 meters 0.08321045824304146 Centerline is valid? [True, True] Translation: X:138.87, Y:-9.61, Z:-3.61 [[ 9.99488677e-01 -3.17734363e-02 -3.58226011e-03 1.38871454e+02] [ 3.17742899e-02 9.99495053e-01 1.81622880e-04 -9.60561793e+00] [ 3.57468048e-03 -2.95353784e-04 9.99993567e-01 -3.61082988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.472414037 meters 0.07858934086650737 Centerline is valid? [True, True] Translation: X:138.90, Y:-9.59, Z:-3.61 [[ 9.99647398e-01 -2.58529838e-02 -6.05826528e-03 1.38902955e+02] [ 2.58553175e-02 9.99665648e-01 3.07193990e-04 -9.58984065e+00] [ 6.04829780e-03 -4.63724045e-04 9.99981601e-01 -3.60980344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.502414037 meters 0.07739663567579878 Centerline is valid? [True, True] Translation: X:138.93, Y:-9.58, Z:-3.61 [[ 9.99795471e-01 -1.88650640e-02 -7.28867054e-03 1.38933418e+02] [ 1.88682571e-02 9.99821910e-01 3.69569079e-04 -9.58253697e+00] [ 7.28040055e-03 -5.07018001e-04 9.99973369e-01 -3.61164750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.532414037 meters 0.07428814479026037 Centerline is valid? [True, True] Translation: X:138.96, Y:-9.56, Z:-3.61 [[ 9.99967308e-01 -4.77575853e-03 -6.52499585e-03 1.38964659e+02] [ 4.77801819e-03 9.99988531e-01 3.30762636e-04 -9.56286388e+00] [ 6.52334137e-03 -3.61928371e-04 9.99978657e-01 -3.61154695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.562414037 meters 0.07329820813688462 Centerline is valid? [True, True] Translation: X:138.99, Y:-9.55, Z:-3.61 [[ 9.99978119e-01 2.43587758e-03 -6.15050954e-03 1.38994681e+02] [-2.43401131e-03 9.99996989e-01 3.10899864e-04 -9.55380525e+00] [ 6.15124834e-03 -2.95922652e-04 9.99981037e-01 -3.61151081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.592414037 meters 0.0720007907435583 Centerline is valid? [True, True] Translation: X:139.03, Y:-9.54, Z:-3.61 [[ 9.99943143e-01 9.02400585e-03 -5.68130215e-03 1.39025615e+02] [-9.02251589e-03 9.99959255e-01 2.87831648e-04 -9.54476276e+00] [ 5.68366806e-03 -2.36555644e-04 9.99983820e-01 -3.61064917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.622414037 meters 0.07061389879119193 Centerline is valid? [True, True] Translation: X:139.06, Y:-9.53, Z:-3.61 [[ 9.99778456e-01 2.04159376e-02 -5.12145495e-03 1.39056687e+02] [-2.04148769e-02 9.99791561e-01 2.59301550e-04 -9.53201736e+00] [ 5.12568132e-03 -1.54690230e-04 9.99986852e-01 -3.61017244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.652414037 meters 0.07018233163236984 Centerline is valid? [True, True] Translation: X:139.09, Y:-9.53, Z:-3.61 [[ 9.99675745e-01 2.48208685e-02 -5.68582186e-03 1.39085866e+02] [-2.48196445e-02 9.99691904e-01 2.85749229e-04 -9.52984491e+00] [ 5.69116263e-03 -1.44536496e-04 9.99983795e-01 -3.61096940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.682414037 meters 0.06970067095637572 Centerline is valid? [True, True] Translation: X:139.12, Y:-9.53, Z:-3.61 [[ 9.99571823e-01 2.87106975e-02 -5.64499316e-03 1.39115165e+02] [-2.87095522e-02 9.99587756e-01 2.83835606e-04 -9.52767559e+00] [ 5.65081516e-03 -1.21648848e-04 9.99984027e-01 -3.61023921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.712414037 meters 0.06989840376190387 Centerline is valid? [True, True] Translation: X:139.14, Y:-9.53, Z:-3.61 [[ 9.99480750e-01 3.18311055e-02 -5.00111745e-03 1.39143368e+02] [-3.18302506e-02 9.99493258e-01 2.50455710e-04 -9.52792105e+00] [ 5.00655546e-03 -9.11388389e-05 9.99987463e-01 -3.61365374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74241403699997 meters 0.0692004616926703 Centerline is valid? [True, True] Translation: X:139.17, Y:-9.52, Z:-3.61 [[ 9.99272427e-01 3.78999438e-02 -4.26750962e-03 1.39172983e+02] [-3.78993742e-02 9.99281538e-01 2.14280144e-04 -9.52440473e+00] [ 4.27256478e-03 -5.23882949e-05 9.99990871e-01 -3.61210439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77241403699998 meters 0.06911167844544716 Centerline is valid? [True, True] Translation: X:139.20, Y:-9.52, Z:-3.61 [[ 9.99199114e-01 3.96954417e-02 -5.04017358e-03 1.39202144e+02] [-3.96946760e-02 9.99211824e-01 2.51915328e-04 -9.52490438e+00] [ 5.04620093e-03 -5.16455157e-05 9.99987267e-01 -3.61245105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80241403699998 meters 0.06942403596653106 Centerline is valid? [True, True] Translation: X:139.23, Y:-9.53, Z:-3.62 [[ 9.99127970e-01 4.13736803e-02 -5.61411718e-03 1.39229191e+02] [-4.13727674e-02 9.99143742e-01 2.78697534e-04 -9.52702632e+00] [ 5.62084078e-03 -4.61829372e-05 9.99984202e-01 -3.61599144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83241403699998 meters 0.06934414465602995 Centerline is valid? [True, True] Translation: X:139.26, Y:-9.53, Z:-3.62 [[ 9.98995385e-01 4.43632542e-02 -6.33429788e-03 1.39257144e+02] [-4.43621503e-02 9.99015466e-01 3.14732960e-04 -9.53401382e+00] [ 6.34202412e-03 -3.34136995e-05 9.99979889e-01 -3.61977261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86241403699998 meters 0.06933471138290542 Centerline is valid? [True, True] Translation: X:139.28, Y:-9.54, Z:-3.62 [[ 9.98980801e-01 4.48699830e-02 -4.90336559e-03 1.39284605e+02] [-4.48693305e-02 9.98992835e-01 2.43061224e-04 -9.53778409e+00] [ 4.90933324e-03 -2.28027656e-05 9.99987949e-01 -3.62174300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89241403699998 meters 0.06933471138290542 Centerline is valid? [True, True] Translation: X:139.31, Y:-9.54, Z:-3.62 [[ 9.98985348e-01 4.47686355e-02 -4.90341325e-03 1.39312047e+02] [-4.47679864e-02 9.98997382e-01 2.42105685e-04 -9.53906071e+00] [ 4.90933574e-03 -2.23440944e-05 9.99987949e-01 -3.62252107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92241403699998 meters 0.06908272025689752 Centerline is valid? [True, True] Translation: X:139.34, Y:-9.54, Z:-3.62 [[ 9.98950587e-01 4.56688466e-02 -3.47591209e-03 1.39340406e+02] [-4.56685263e-02 9.98956634e-01 1.71493603e-04 -9.54243169e+00] [ 3.48011736e-03 -1.25738528e-05 9.99993944e-01 -3.62173093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95241403699998 meters 0.06862183148962907 Centerline is valid? [True, True] Translation: X:139.37, Y:-9.55, Z:-3.62 [[ 9.98813863e-01 4.85180597e-02 -4.10662071e-03 1.39369504e+02] [-4.85176366e-02 9.98822305e-01 2.02637124e-04 -9.54624379e+00] [ 4.11161592e-03 -3.15323746e-06 9.99991547e-01 -3.61943315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98241403699998 meters 0.06888936459311522 Centerline is valid? [True, True] Translation: X:139.40, Y:-9.55, Z:-3.62 [[ 9.98719984e-01 5.02949832e-02 -5.36729387e-03 1.39397372e+02] [-5.02942879e-02 9.98734406e-01 2.64515496e-04 -9.54999563e+00] [ 5.37380486e-03 5.76731085e-06 9.99985561e-01 -3.62228725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01241403699999 meters 0.06880933495693084 Centerline is valid? [True, True] Translation: X:139.43, Y:-9.56, Z:-3.62 [[ 9.98702594e-01 5.03106820e-02 -7.87170225e-03 1.39426160e+02] [-5.03091736e-02 9.98733616e-01 3.89647709e-04 -9.55584309e+00] [ 7.88133709e-03 6.87665746e-06 9.99968942e-01 -3.62172893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.042414037 meters 0.06897011869464517 Centerline is valid? [True, True] Translation: X:139.45, Y:-9.56, Z:-3.63 [[ 9.98716432e-01 4.99141256e-02 -8.60630669e-03 1.39453734e+02] [-4.99123212e-02 9.98753513e-01 4.24455642e-04 -9.56348732e+00] [ 8.61676538e-03 5.64991934e-06 9.99962875e-01 -3.62627875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.072414037 meters 0.06859607628078121 Centerline is valid? [True, True] Translation: X:139.48, Y:-9.58, Z:-3.63 [[ 9.98864824e-01 4.69630694e-02 -7.97073277e-03 1.39481799e+02] [-4.69614295e-02 9.98896626e-01 3.92886277e-04 -9.58214102e+00] [ 7.98038921e-03 -1.81232777e-05 9.99968156e-01 -3.62598011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.102414037 meters 0.06858025587483912 Centerline is valid? [True, True] Translation: X:139.51, Y:-9.59, Z:-3.63 [[ 9.98979244e-01 4.45487485e-02 -7.47519444e-03 1.39510467e+02] [-4.45472436e-02 9.99007211e-01 3.67784800e-04 -9.59110169e+00] [ 7.48415750e-03 -3.44100743e-05 9.99971993e-01 -3.62648722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.132414037 meters 0.0684673984635445 Centerline is valid? [True, True] Translation: X:139.54, Y:-9.60, Z:-3.63 [[ 9.99093818e-01 4.16766227e-02 -8.63729044e-03 1.39538795e+02] [-4.16745089e-02 9.99131150e-01 4.24652009e-04 -9.59915383e+00] [ 8.64748400e-03 -6.43123598e-05 9.99962608e-01 -3.62782627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.162414037 meters 0.06879030267487171 Centerline is valid? [True, True] Translation: X:139.57, Y:-9.61, Z:-3.63 [[ 9.99191881e-01 3.90143116e-02 -9.66793262e-03 1.39565967e+02] [-3.90115489e-02 9.99238647e-01 4.74249264e-04 -9.60783490e+00] [ 9.67907442e-03 -9.67049878e-05 9.99953152e-01 -3.63332228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.192414037 meters 0.06877773508608113 Centerline is valid? [True, True] Translation: X:139.59, Y:-9.62, Z:-3.63 [[ 9.99412236e-01 3.28975649e-02 -9.64018056e-03 1.39593689e+02] [-3.28945416e-02 9.99458717e-01 4.72043288e-04 -9.62291656e+00] [ 9.65049156e-03 -1.54656518e-04 9.99953421e-01 -3.63213184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.222414037 meters 0.06969802505846051 Centerline is valid? [True, True] Translation: X:139.62, Y:-9.64, Z:-3.64 [[ 9.99508526e-01 3.00024906e-02 -9.08608974e-03 1.39620722e+02] [-2.99996937e-02 9.99549809e-01 4.43993378e-04 -9.63659749e+00] [ 9.09532018e-03 -1.71195257e-04 9.99958622e-01 -3.63960192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.252414037 meters 0.06950948629609469 Centerline is valid? [True, True] Translation: X:139.65, Y:-9.65, Z:-3.64 [[ 9.99612621e-01 2.68113282e-02 -7.46736423e-03 1.39649340e+02] [-2.68093531e-02 9.99640498e-01 3.64489721e-04 -9.64849530e+00] [ 7.47445215e-03 -1.64153321e-04 9.99972052e-01 -3.63832685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.282414037 meters 0.06951692909411332 Centerline is valid? [True, True] Translation: X:139.68, Y:-9.67, Z:-3.64 [[ 9.99775832e-01 2.06006065e-02 -4.88893003e-03 1.39677429e+02] [-2.05996909e-02 9.99787776e-01 2.37568290e-04 -9.66789759e+00] [ 4.89278653e-03 -1.36804587e-04 9.99988021e-01 -3.63651949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.312414037 meters 0.0695422535067122 Centerline is valid? [True, True] Translation: X:139.70, Y:-9.68, Z:-3.64 [[ 9.99824039e-01 1.83346105e-02 -3.96637202e-03 1.39704568e+02] [-1.83339947e-02 9.99831900e-01 1.91547537e-04 -9.67682564e+00] [ 3.96921723e-03 -1.18794389e-04 9.99992116e-01 -3.63634308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.342414037 meters 0.06934874301370139 Centerline is valid? [True, True] Translation: X:139.73, Y:-9.68, Z:-3.64 [[ 9.99845079e-01 1.74359033e-02 -2.40962509e-03 1.39733654e+02] [-1.74356737e-02 9.99847980e-01 1.16252694e-04 -9.68275449e+00] [ 2.41128575e-03 -7.42212472e-05 9.99997090e-01 -3.63560377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.372414037 meters 0.06940968711385674 Centerline is valid? [True, True] Translation: X:139.76, Y:-9.69, Z:-3.64 [[ 9.99845555e-01 1.74103841e-02 -2.39698326e-03 1.39761647e+02] [-1.74101596e-02 9.99848425e-01 1.14461339e-04 -9.68920686e+00] [ 2.39861275e-03 -7.27118002e-05 9.99997121e-01 -3.63575241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.402414037 meters 0.06915699941746668 Centerline is valid? [True, True] Translation: X:139.79, Y:-9.70, Z:-3.64 [[ 9.99829350e-01 1.83586769e-02 -2.05646384e-03 1.39790064e+02] [-1.83585137e-02 9.99831463e-01 9.81721689e-05 -9.70196026e+00] [ 2.05791957e-03 -6.04017962e-05 9.99997881e-01 -3.63583897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.432414037 meters 0.06912054415114607 Centerline is valid? [True, True] Translation: X:139.82, Y:-9.71, Z:-3.64 [[ 9.99833331e-01 1.82269952e-02 -1.04257711e-03 1.39817220e+02] [-1.82269550e-02 9.99833874e-01 4.80754756e-05 -9.71123481e+00] [ 1.04328018e-03 -2.90644569e-05 9.99999455e-01 -3.63674364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.462414037 meters 0.0691664678885362 Centerline is valid? [True, True] Translation: X:139.85, Y:-9.72, Z:-3.64 [[ 9.99826192e-01 1.86314815e-02 6.73397476e-04 1.39845577e+02] [-1.86314624e-02 9.99826419e-01 -3.46373194e-05 -9.71888369e+00] [-6.73925932e-04 2.20849194e-05 9.99999773e-01 -3.63707916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49241403699997 meters 0.06847859270943951 Centerline is valid? [True, True] Translation: X:139.88, Y:-9.72, Z:-3.64 [[ 9.99802521e-01 1.96222074e-02 3.14463614e-03 1.39875253e+02] [-1.96218215e-02 9.99807462e-01 -1.53540000e-04 -9.72250557e+00] [-3.14704347e-03 9.18061900e-05 9.99995044e-01 -3.63577274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52241403699998 meters 0.06823463149903354 Centerline is valid? [True, True] Translation: X:139.90, Y:-9.73, Z:-3.64 [[ 9.99724479e-01 2.31230662e-02 4.03618842e-03 1.39904531e+02] [-2.31224624e-02 9.99732621e-01 -1.96200638e-04 -9.72862175e+00] [-4.03964599e-03 1.02819965e-04 9.99991835e-01 -3.63601896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55241403699998 meters 0.0684365731363235 Centerline is valid? [True, True] Translation: X:139.93, Y:-9.73, Z:-3.64 [[ 9.99664373e-01 2.58082502e-02 2.25300495e-03 1.39934506e+02] [-2.58080675e-02 9.99666910e-01 -1.10138091e-04 -9.73101164e+00] [-2.25509697e-03 5.19554218e-05 9.99997456e-01 -3.63836171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58241403699998 meters 0.06817227922337298 Centerline is valid? [True, True] Translation: X:139.96, Y:-9.73, Z:-3.64 [[ 9.99555462e-01 2.97837817e-02 -1.34374250e-03 1.39962884e+02] [-2.97837239e-02 9.99556365e-01 6.30417431e-05 -9.73425437e+00] [ 1.34502399e-03 -2.29920630e-05 9.99999095e-01 -3.64113842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61241403699998 meters 0.06808551953444718 Centerline is valid? [True, True] Translation: X:139.99, Y:-9.74, Z:-3.64 [[ 9.99340218e-01 3.60578533e-02 -4.35426173e-03 1.39990913e+02] [-3.60572877e-02 9.99349703e-01 2.08347475e-04 -9.74218277e+00] [ 4.35894273e-03 -5.12071428e-05 9.99990498e-01 -3.64400870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64241403699998 meters 0.0679493925701742 Centerline is valid? [True, True] Translation: X:140.02, Y:-9.75, Z:-3.65 [[ 9.99276561e-01 3.79874739e-02 -1.81853340e-03 1.40018251e+02] [-3.79873818e-02 9.99278215e-01 8.52074927e-05 -9.74744935e+00] [ 1.82045763e-03 -1.60645278e-05 9.99998343e-01 -3.64534681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67241403699998 meters 0.06750679412687857 Centerline is valid? [True, True] Translation: X:140.05, Y:-9.75, Z:-3.64 [[ 9.99256371e-01 3.84744207e-02 2.53468345e-03 1.40048279e+02] [-3.84742333e-02 9.99259585e-01 -1.22674539e-04 -9.75128731e+00] [-2.53752656e-03 2.50633120e-05 9.99996780e-01 -3.64355366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70241403699998 meters 0.06708012845227962 Centerline is valid? [True, True] Translation: X:140.08, Y:-9.76, Z:-3.64 [[ 9.99212180e-01 3.92322623e-02 5.98733942e-03 1.40077419e+02] [-3.92312302e-02 9.99230117e-01 -2.89769578e-04 -9.75589065e+00] [-5.99409818e-03 5.46506010e-05 9.99982034e-01 -3.64113062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73241403699998 meters 0.06680780018304344 Centerline is valid? [True, True] Translation: X:140.11, Y:-9.77, Z:-3.64 [[ 9.99245583e-01 3.84220971e-02 5.65744371e-03 1.40106320e+02] [-3.84211659e-02 9.99261597e-01 -2.73224742e-04 -9.76640658e+00] [-5.66376410e-03 5.56530336e-05 9.99983959e-01 -3.63802696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76241403699999 meters 0.06712578865330997 Centerline is valid? [True, True] Translation: X:140.13, Y:-9.77, Z:-3.64 [[ 9.99275319e-01 3.79062965e-02 3.45684207e-03 1.40134932e+02] [-3.79059449e-02 9.99281297e-01 -1.67208118e-04 -9.77440814e+00] [-3.46069587e-03 3.60520804e-05 9.99994011e-01 -3.64020646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.792414037 meters 0.067200995113783 Centerline is valid? [True, True] Translation: X:140.16, Y:-9.78, Z:-3.64 [[ 9.99249317e-01 3.86977488e-02 1.81317951e-03 1.40163813e+02] [-3.86976518e-02 9.99250961e-01 -8.85646506e-05 -9.78232372e+00] [-1.81524862e-03 1.83323771e-05 9.99998352e-01 -3.64047055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.822414037 meters 0.0673606830560393 Centerline is valid? [True, True] Translation: X:140.19, Y:-9.79, Z:-3.64 [[ 9.99238037e-01 3.90298796e-02 1.20938114e-04 1.40193487e+02] [-3.90298791e-02 9.99238044e-01 -6.79376422e-06 -9.79063946e+00] [-1.21111125e-04 2.06838765e-06 9.99999993e-01 -3.64123405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.852414037 meters 0.06792285719680675 Centerline is valid? [True, True] Translation: X:140.22, Y:-9.80, Z:-3.65 [[ 9.99221271e-01 3.94563482e-02 2.19442122e-04 1.40221978e+02] [-3.94563463e-02 9.99221295e-01 -1.26040880e-05 -9.80118288e+00] [-2.19768552e-04 3.93588851e-06 9.99999976e-01 -3.65146317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.882414037 meters 0.06697600586816364 Centerline is valid? [True, True] Translation: X:140.25, Y:-9.81, Z:-3.65 [[ 9.99090605e-01 4.25127888e-02 3.25960892e-03 1.40250465e+02] [-4.25125032e-02 9.99095923e-01 -1.56884297e-04 -9.81303158e+00] [-3.26333157e-03 1.81674930e-05 9.99994675e-01 -3.64784910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.912414037 meters 0.06664843059874836 Centerline is valid? [True, True] Translation: X:140.28, Y:-9.82, Z:-3.65 [[ 9.99013625e-01 4.40950632e-02 5.23481507e-03 1.40280254e+02] [-4.40943548e-02 9.99027339e-01 -2.50717791e-04 -9.81910245e+00] [-5.24077879e-03 1.96446964e-05 9.99986267e-01 -3.64643740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.942414037 meters 0.06648469067290523 Centerline is valid? [True, True] Translation: X:140.31, Y:-9.82, Z:-3.65 [[ 9.98938740e-01 4.56403776e-02 6.19270601e-03 1.40309356e+02] [-4.56394130e-02 9.98957935e-01 -2.97067736e-04 -9.82485412e+00] [-6.19981109e-03 1.41210031e-05 9.99980781e-01 -3.64543838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.972414037 meters 0.06649717104613959 Centerline is valid? [True, True] Translation: X:140.34, Y:-9.83, Z:-3.65 [[ 9.98811452e-01 4.83791759e-02 5.92787105e-03 1.40339558e+02] [-4.83783437e-02 9.98829042e-01 -2.83784245e-04 -9.83001674e+00] [-5.93465901e-03 -3.33362877e-06 9.99982390e-01 -3.64676532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.002414037 meters 0.06730925763886116 Centerline is valid? [True, True] Translation: X:140.37, Y:-9.84, Z:-3.65 [[ 9.98570474e-01 5.34509872e-02 1.82039398e-05 1.40369513e+02] [-5.34509872e-02 9.98570474e-01 -2.75756960e-07 -9.84055943e+00] [-1.81926563e-05 -6.97655793e-07 1.00000000e+00 -3.65263797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.032414037 meters 0.06783323966046038 Centerline is valid? [True, True] Translation: X:140.40, Y:-9.85, Z:-3.66 [[ 9.98422021e-01 5.61333636e-02 -1.58524441e-03 1.40398565e+02] [-5.61333158e-02 9.98423280e-01 7.46618199e-05 -9.84660872e+00] [ 1.58693595e-03 1.44410201e-05 9.99998741e-01 -3.65597254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.062414037 meters 0.06793297587252072 Centerline is valid? [True, True] Translation: X:140.43, Y:-9.85, Z:-3.66 [[ 9.98310023e-01 5.80617548e-02 -2.43542067e-03 1.40428205e+02] [-5.80616465e-02 9.98312993e-01 1.15193478e-04 -9.85370472e+00] [ 2.43800043e-03 2.64057302e-05 9.99997028e-01 -3.65648683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.092414037 meters 0.06682030863635353 Centerline is valid? [True, True] Translation: X:140.46, Y:-9.87, Z:-3.64 [[ 9.98099790e-01 6.15592576e-02 -2.69566260e-03 1.40456939e+02] [-6.15591396e-02 9.98103430e-01 1.26802523e-04 -9.87036030e+00] [ 2.69835596e-03 3.93810983e-05 9.99996359e-01 -3.64405178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.122414037 meters 0.06704980424108507 Centerline is valid? [True, True] Translation: X:140.49, Y:-9.88, Z:-3.65 [[ 9.98008136e-01 6.30495512e-02 -2.12488051e-03 1.40485636e+02] [-6.30494792e-02 9.98010397e-01 1.00913247e-04 -9.87628946e+00] [ 2.12701538e-03 3.32603678e-05 9.99997737e-01 -3.64684989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.152414037 meters 0.06717039592186691 Centerline is valid? [True, True] Translation: X:140.52, Y:-9.88, Z:-3.65 [[ 9.97880120e-01 6.50387177e-02 -2.28722829e-03 1.40515201e+02] [-6.50386406e-02 9.97882740e-01 1.08121877e-04 -9.88274159e+00] [ 2.28941775e-03 4.08655476e-05 9.99997378e-01 -3.64778916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.182414037 meters 0.0670570454145303 Centerline is valid? [True, True] Translation: X:140.54, Y:-9.89, Z:-3.65 [[ 9.97815010e-01 6.60617187e-02 -1.02708681e-03 1.40544937e+02] [-6.60617033e-02 9.97815539e-01 4.89813448e-05 -9.89048556e+00] [ 1.02807897e-03 1.89767829e-05 9.99999471e-01 -3.64795069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.212414037 meters 0.06666832647295914 Centerline is valid? [True, True] Translation: X:140.58, Y:-9.91, Z:-3.64 [[ 9.97683688e-01 6.79984035e-02 1.86456022e-03 1.40575191e+02] [-6.79983569e-02 9.97685429e-01 -8.84539924e-05 -9.90729486e+00] [-1.86625929e-03 -3.85379259e-05 9.99998258e-01 -3.64466924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24241403699997 meters 0.06675622659916437 Centerline is valid? [True, True] Translation: X:140.61, Y:-9.92, Z:-3.65 [[ 9.97670430e-01 6.81592000e-02 2.83490271e-03 1.40606281e+02] [-6.81591072e-02 9.97674456e-01 -1.29443327e-04 -9.91569821e+00] [-2.83713278e-03 -6.40826587e-05 9.99995973e-01 -3.64647177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27241403699998 meters 0.06662598649913382 Centerline is valid? [True, True] Translation: X:140.64, Y:-9.93, Z:-3.65 [[ 9.97698051e-01 6.77694859e-02 2.42802051e-03 1.40637812e+02] [-6.77694192e-02 9.97701004e-01 -1.09830111e-04 -9.92556446e+00] [-2.42988163e-03 -5.49682525e-05 9.99997046e-01 -3.64739191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30241403699998 meters 0.06623259166961332 Centerline is valid? [True, True] Translation: X:140.67, Y:-9.94, Z:-3.65 [[ 9.97759825e-01 6.68476814e-02 2.59224134e-03 1.40669058e+02] [-6.68475987e-02 9.97763191e-01 -1.18640619e-04 -9.93757268e+00] [-2.59437384e-03 -5.49102657e-05 9.99996633e-01 -3.64537961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33241403699998 meters 0.0659192648138761 Centerline is valid? [True, True] Translation: X:140.70, Y:-9.96, Z:-3.65 [[ 9.98054385e-01 6.23342978e-02 1.37106323e-03 1.40699041e+02] [-6.23342737e-02 9.98055326e-01 -6.03550241e-05 -9.95697008e+00] [-1.37215915e-03 -2.52266341e-05 9.99999058e-01 -3.64689143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36241403699998 meters 0.06590857604889372 Centerline is valid? [True, True] Translation: X:140.73, Y:-9.97, Z:-3.65 [[ 9.98251078e-01 5.91140926e-02 -5.56512092e-04 1.40730839e+02] [-5.91140829e-02 9.98251233e-01 3.39558188e-05 -9.96919134e+00] [ 5.57546149e-04 -9.98730817e-07 9.99999845e-01 -3.64954753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39241403699998 meters 0.06607238591891122 Centerline is valid? [True, True] Translation: X:140.76, Y:-9.98, Z:-3.65 [[ 9.98502191e-01 5.46418671e-02 -2.76413291e-03 1.40761348e+02] [-5.46416834e-02 9.98506017e-01 1.41981562e-04 -9.98239360e+00] [ 2.76776148e-03 9.26797451e-06 9.99996170e-01 -3.65260837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42241403699998 meters 0.06598035906911941 Centerline is valid? [True, True] Translation: X:140.79, Y:-10.01, Z:-3.65 [[ 9.98923706e-01 4.61969809e-02 -4.15547925e-03 1.40791976e+02] [-4.61965009e-02 9.98932349e-01 2.11453764e-04 -1.00067599e+01] [ 4.16081117e-03 -1.92575763e-05 9.99991344e-01 -3.65014068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45241403699998 meters 0.06599950388998646 Centerline is valid? [True, True] Translation: X:140.82, Y:-10.02, Z:-3.65 [[ 9.99092323e-01 4.25261019e-02 -2.46183893e-03 1.40822552e+02] [-4.25259147e-02 9.99095356e-01 1.28361590e-04 -1.00189441e+01] [ 2.46507056e-03 -2.35531268e-05 9.99996961e-01 -3.65009784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48241403699998 meters 0.06591860928415483 Centerline is valid? [True, True] Translation: X:140.85, Y:-10.03, Z:-3.65 [[ 9.99222737e-01 3.94125105e-02 -7.58302781e-04 1.40854295e+02] [-3.94124880e-02 9.99223025e-01 4.46507243e-05 -1.00297561e+01] [ 7.59473396e-04 -1.47294197e-05 9.99999711e-01 -3.64733077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51241403699999 meters 0.06596312335995894 Centerline is valid? [True, True] Translation: X:140.88, Y:-10.05, Z:-3.64 [[ 9.99392428e-01 3.46837401e-02 -3.43714839e-03 1.40884203e+02] [-3.46833544e-02 9.99398337e-01 1.71775588e-04 -1.00474599e+01] [ 3.44103820e-03 -5.24593865e-05 9.99994078e-01 -3.64461563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.542414037 meters 0.06629628901889084 Centerline is valid? [True, True] Translation: X:140.91, Y:-10.06, Z:-3.65 [[ 9.99398837e-01 3.42027463e-02 -5.66888967e-03 1.40914590e+02] [-3.42016501e-02 9.99414910e-01 2.90236605e-04 -1.00553987e+01] [ 5.67549975e-03 -9.61767449e-05 9.99983890e-01 -3.64829627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.572414037 meters 0.0664951250080565 Centerline is valid? [True, True] Translation: X:140.95, Y:-10.06, Z:-3.65 [[ 9.99369717e-01 3.46715403e-02 -7.61925193e-03 1.40946266e+02] [-3.46695739e-02 9.99398754e-01 3.90049476e-04 -1.00617086e+01] [ 7.62819450e-03 -1.25647416e-04 9.99970897e-01 -3.65007581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.602414037 meters 0.06632138207771243 Centerline is valid? [True, True] Translation: X:140.98, Y:-10.07, Z:-3.65 [[ 9.99315055e-01 3.61915365e-02 -7.71968049e-03 1.40978599e+02] [-3.61895483e-02 9.99344865e-01 3.97128461e-04 -1.00665725e+01] [ 7.72899575e-03 -1.17484700e-04 9.99970124e-01 -3.65019707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.632414037 meters 0.06603912704078105 Centerline is valid? [True, True] Translation: X:141.01, Y:-10.08, Z:-3.65 [[ 9.99246247e-01 3.86830329e-02 -3.24967131e-03 1.41008309e+02] [-3.86827033e-02 9.99251531e-01 1.64256422e-04 -1.00755840e+01] [ 3.25359297e-03 -3.84265424e-05 9.99994706e-01 -3.64950279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.662414037 meters 0.06591490721715976 Centerline is valid? [True, True] Translation: X:141.04, Y:-10.08, Z:-3.65 [[ 9.99210703e-01 3.96891851e-02 -1.65490100e-03 1.41040680e+02] [-3.96890944e-02 9.99212074e-01 8.76391714e-05 -1.00803455e+01] [ 1.65707539e-03 -2.18884760e-05 9.99998627e-01 -3.64858899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.692414037 meters 0.06592493911933722 Centerline is valid? [True, True] Translation: X:141.07, Y:-10.09, Z:-3.65 [[ 9.99179620e-01 4.04922189e-02 6.84214566e-04 1.41072146e+02] [-4.04922091e-02 9.99179854e-01 -2.80341181e-05 -1.00855109e+01] [-6.84788573e-04 3.05760167e-07 9.99999766e-01 -3.65059761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.722414037 meters 0.06589649531638139 Centerline is valid? [True, True] Translation: X:141.10, Y:-10.09, Z:-3.65 [[ 9.99159073e-01 4.09994706e-02 -4.35099202e-04 1.41103715e+02] [-4.09994619e-02 9.99159168e-01 2.88681162e-05 -1.00900966e+01] [ 4.35916934e-04 -1.10050071e-05 9.99999905e-01 -3.65046159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.752414037 meters 0.0661751305878557 Centerline is valid? [True, True] Translation: X:141.13, Y:-10.10, Z:-3.65 [[ 9.99170092e-01 4.06106203e-02 -3.14717942e-03 1.41134010e+02] [-4.06103113e-02 9.99175048e-01 1.62040694e-04 -1.00979552e+01] [ 3.15116372e-03 -3.40982790e-05 9.99995034e-01 -3.65292614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.782414037 meters 0.06631614467179568 Centerline is valid? [True, True] Translation: X:141.17, Y:-10.10, Z:-3.65 [[ 9.99173217e-01 4.03115534e-02 -5.27828077e-03 1.41165642e+02] [-4.03106497e-02 9.99187157e-01 2.77518408e-04 -1.01022784e+01] [ 5.28517756e-03 -6.45180333e-05 9.99986031e-01 -3.65328674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.812414037 meters 0.06631614467179568 Centerline is valid? [True, True] Translation: X:141.20, Y:-10.10, Z:-3.65 [[ 9.99162337e-01 4.05803651e-02 -5.27813288e-03 1.41198067e+02] [-4.05794501e-02 9.99176276e-01 2.80371611e-04 -1.01040360e+01] [ 5.28516274e-03 -6.59530238e-05 9.99986031e-01 -3.65420689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.842414037 meters 0.06661042555517334 Centerline is valid? [True, True] Translation: X:141.23, Y:-10.11, Z:-3.66 [[ 9.99194381e-01 3.91914894e-02 -8.63811766e-03 1.41229005e+02] [-3.91890839e-02 9.99231713e-01 4.47632929e-04 -1.01101702e+01] [ 8.64902450e-03 -1.08752390e-04 9.99962591e-01 -3.65659133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.872414037 meters 0.06698179635018534 Centerline is valid? [True, True] Translation: X:141.26, Y:-10.11, Z:-3.66 [[ 9.99227749e-01 3.80743914e-02 -9.70801719e-03 1.41259811e+02] [-3.80712302e-02 9.99274898e-01 5.10289513e-04 -1.01142102e+01] [ 9.72040685e-03 -1.40299284e-04 9.99952746e-01 -3.65988132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.902414037 meters 0.06716425661115999 Centerline is valid? [True, True] Translation: X:141.29, Y:-10.12, Z:-3.66 [[ 9.99271465e-01 3.67270789e-02 -1.03760129e-02 1.41291177e+02] [-3.67234142e-02 9.99325320e-01 5.43558589e-04 -1.01186590e+01] [ 1.03889757e-02 -1.62119968e-04 9.99946020e-01 -3.66102211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.932414037 meters 0.06733412457865082 Centerline is valid? [True, True] Translation: X:141.32, Y:-10.12, Z:-3.66 [[ 9.99331710e-01 3.51006479e-02 -1.02018361e-02 1.41323551e+02] [-3.50969631e-02 9.99383766e-01 5.40053398e-04 -1.01232756e+01] [ 1.02145056e-02 -1.81639020e-04 9.99947814e-01 -3.66105428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.962414037 meters 0.06744948352148043 Centerline is valid? [True, True] Translation: X:141.36, Y:-10.13, Z:-3.66 [[ 9.99415642e-01 3.23550180e-02 -1.10239512e-02 1.41355111e+02] [-3.23505743e-02 9.99476414e-01 5.81223808e-04 -1.01279904e+01] [ 1.10369848e-02 -2.24253012e-04 9.99939065e-01 -3.66005720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99241403699997 meters 0.06784388134656465 Centerline is valid? [True, True] Translation: X:141.39, Y:-10.14, Z:-3.66 [[ 9.99642341e-01 2.51773310e-02 -9.01625146e-03 1.41386605e+02] [-2.51740689e-02 9.99682970e-01 4.75129213e-04 -1.01367782e+01] [ 9.02535552e-03 -2.47983543e-04 9.99959240e-01 -3.65984361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02241403699998 meters 0.06912946930553454 Centerline is valid? [True, True] Translation: X:141.42, Y:-10.15, Z:-3.66 [[ 9.99755337e-01 2.12299165e-02 -6.20948238e-03 1.41417642e+02] [-2.12282537e-02 9.99774600e-01 3.33568382e-04 -1.01466218e+01] [ 6.21516439e-03 -2.01670302e-04 9.99980665e-01 -3.66239696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05241403699998 meters 0.06904185647066031 Centerline is valid? [True, True] Translation: X:141.45, Y:-10.15, Z:-3.66 [[ 9.99862119e-01 1.63558763e-02 -2.86841706e-03 1.41450043e+02] [-1.63554888e-02 9.99866227e-01 1.58497652e-04 -1.01513719e+01] [ 2.87062572e-03 -1.11561435e-04 9.99995874e-01 -3.65976165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08241403699998 meters 0.06988270428023023 Centerline is valid? [True, True] Translation: X:141.48, Y:-10.16, Z:-3.66 [[ 9.99936860e-01 1.12356955e-02 -1.88990661e-04 1.41479521e+02] [-1.12356934e-02 9.99936878e-01 1.23541651e-05 -1.01583210e+01] [ 1.89117539e-04 -1.02299439e-05 9.99999982e-01 -3.65946330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11241403699998 meters 0.07179497654011822 Centerline is valid? [True, True] Translation: X:141.51, Y:-10.17, Z:-3.66 [[ 9.99998314e-01 5.94423732e-04 1.73744402e-03 1.41509122e+02] [-5.94264540e-04 9.99999819e-01 -9.21393403e-05 -1.01669409e+01] [-1.73749848e-03 9.11066836e-05 9.99998486e-01 -3.65965722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14241403699998 meters 0.07281630449558735 Centerline is valid? [True, True] Translation: X:141.54, Y:-10.17, Z:-3.66 [[ 9.99994528e-01 -3.00054912e-03 1.39277298e-03 1.41538849e+02] [ 3.00065489e-03 9.99995495e-01 -7.38546242e-05 -1.01710349e+01] [-1.39254511e-03 7.80334512e-05 9.99999027e-01 -3.65989709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17241403699998 meters 0.07422273437552854 Centerline is valid? [True, True] Translation: X:141.57, Y:-10.17, Z:-3.66 [[ 9.99977025e-01 -6.77295535e-03 2.77947141e-04 1.41567803e+02] [ 6.77295981e-03 9.99977063e-01 -1.51117291e-05 -1.01748695e+01] [-2.77838415e-04 1.69939068e-05 9.99999961e-01 -3.66296890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20241403699998 meters 0.07288108904541515 Centerline is valid? [True, True] Translation: X:141.60, Y:-10.17, Z:-3.66 [[ 9.99969320e-01 -7.58047066e-03 -1.97391549e-03 1.41597789e+02] [ 7.58068992e-03 9.99971261e-01 1.03617605e-04 -1.01708580e+01] [ 1.97307329e-03 -1.18578068e-04 9.99998046e-01 -3.66304766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23241403699998 meters 0.0719144552503941 Centerline is valid? [True, True] Translation: X:141.63, Y:-10.17, Z:-3.66 [[ 9.99962504e-01 -8.32653642e-03 -2.37904289e-03 1.41627218e+02] [ 8.32684220e-03 9.99965324e-01 1.18653727e-04 -1.01670938e+01] [ 2.37797242e-03 -1.38459193e-04 9.99997163e-01 -3.66400852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26241403699999 meters 0.07346672635132559 Centerline is valid? [True, True] Translation: X:141.66, Y:-10.17, Z:-3.67 [[ 9.99960985e-01 -8.55607211e-03 -2.19596264e-03 1.41655006e+02] [ 8.55634128e-03 9.99963387e-01 1.13207382e-04 -1.01693355e+01] [ 2.19491363e-03 -1.31992371e-04 9.99997582e-01 -3.66809188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.292414037 meters 0.07158405646553785 Centerline is valid? [True, True] Translation: X:141.68, Y:-10.16, Z:-3.67 [[ 9.99966673e-01 -8.16285599e-03 -1.45624377e-04 1.41684098e+02] [ 8.16285690e-03 9.99966683e-01 5.70294586e-06 -1.01591438e+01] [ 1.45572973e-04 -6.89146674e-06 9.99999989e-01 -3.66764434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.322414037 meters 0.07202057895332374 Centerline is valid? [True, True] Translation: X:141.71, Y:-10.16, Z:-3.67 [[ 9.99968861e-01 -7.71272123e-03 1.67039814e-03 1.41712992e+02] [ 7.71288095e-03 9.99970251e-01 -8.91952868e-05 -1.01590040e+01] [-1.66966051e-03 1.02076091e-04 9.99998601e-01 -3.66968708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.352414037 meters 0.0718456968333685 Centerline is valid? [True, True] Translation: X:141.74, Y:-10.16, Z:-3.67 [[ 9.99963895e-01 -7.72662892e-03 3.53676923e-03 1.41742748e+02] [ 7.72733712e-03 9.99970126e-01 -1.86615883e-04 -1.01567938e+01] [-3.53522166e-03 2.13938953e-04 9.99993728e-01 -3.67011642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.382414037 meters 0.07131347833812222 Centerline is valid? [True, True] Translation: X:141.77, Y:-10.15, Z:-3.67 [[ 9.99963190e-01 -7.63556573e-03 3.91358862e-03 1.41773020e+02] [ 7.63642800e-03 9.99970821e-01 -2.05431999e-04 -1.01528091e+01] [-3.91190583e-03 2.35310275e-04 9.99992321e-01 -3.67118390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.412414037 meters 0.07267055587966957 Centerline is valid? [True, True] Translation: X:141.80, Y:-10.15, Z:-3.67 [[ 9.99961390e-01 -8.11777974e-03 3.36465613e-03 1.41802227e+02] [ 8.11842124e-03 9.99967029e-01 -1.77046030e-04 -1.01543465e+01] [-3.36310797e-03 2.04354890e-04 9.99994324e-01 -3.67411945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.442414037 meters 0.07267111884651484 Centerline is valid? [True, True] Translation: X:141.83, Y:-10.15, Z:-3.68 [[ 9.99941998e-01 -1.05336271e-02 2.24581788e-03 1.41832303e+02] [ 1.05339193e-02 9.99944510e-01 -1.18289845e-04 -1.01483051e+01] [-2.24444724e-03 1.41940248e-04 9.99997471e-01 -3.67643770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.472414037 meters 0.07272730873898763 Centerline is valid? [True, True] Translation: X:141.86, Y:-10.15, Z:-3.68 [[ 9.99922605e-01 -1.23302520e-02 1.65812587e-03 1.41861486e+02] [ 1.23304154e-02 9.99923974e-01 -8.83429718e-05 -1.01456127e+01] [-1.65691052e-03 1.08781515e-04 9.99998621e-01 -3.67776934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.502414037 meters 0.07253448647563886 Centerline is valid? [True, True] Translation: X:141.89, Y:-10.14, Z:-3.68 [[ 9.99876099e-01 -1.54309888e-02 3.10982982e-03 1.41892168e+02] [ 1.54315715e-02 9.99880913e-01 -1.63442999e-04 -1.01357291e+01] [-3.10693739e-03 2.11412309e-04 9.99995151e-01 -3.67985435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.532414037 meters 0.07331581739743487 Centerline is valid? [True, True] Translation: X:141.92, Y:-10.13, Z:-3.68 [[ 9.99856140e-01 -1.62457503e-02 4.87599677e-03 1.41920961e+02] [ 1.62471941e-02 9.99867973e-01 -2.56641853e-04 -1.01332348e+01] [-4.87118366e-03 3.35826198e-04 9.99988079e-01 -3.68195285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.562414037 meters 0.08728154303593938 Centerline is valid? [True, True] Translation: X:141.95, Y:-10.16, Z:-3.69 [[ 9.99842931e-01 -1.72780195e-02 3.94763663e-03 1.41948686e+02] [ 1.72789734e-02 9.99850686e-01 -2.07674428e-04 -1.01583193e+01] [-3.94345899e-03 2.75852917e-04 9.99992186e-01 -3.69319303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.592414037 meters 0.08822412052417361 Centerline is valid? [True, True] Translation: X:141.98, Y:-10.16, Z:-3.69 [[ 9.99798791e-01 -1.92128464e-02 5.76572329e-03 1.41978059e+02] [ 1.92149432e-02 9.99815328e-01 -3.08489526e-04 -1.01563755e+01] [-5.75873156e-03 4.19215501e-04 9.99983330e-01 -3.69305148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.622414037 meters 0.09218493692014088 Centerline is valid? [True, True] Translation: X:142.01, Y:-10.15, Z:-3.69 [[ 9.99695659e-01 -2.20052880e-02 1.11515617e-02 1.42007081e+02] [ 2.20131335e-02 9.99757513e-01 -5.81265937e-04 -1.01544109e+01] [-1.11360667e-02 8.26569851e-04 9.99937650e-01 -3.69007656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.652414037 meters 0.08978180867876359 Centerline is valid? [True, True] Translation: X:142.04, Y:-10.15, Z:-3.69 [[ 9.99629573e-01 -2.31119182e-02 1.43720793e-02 1.42037879e+02] [ 2.31250154e-02 9.99732303e-01 -7.45755125e-04 -1.01461041e+01] [-1.43509961e-02 1.07783343e-03 9.99896438e-01 -3.68763674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.682414037 meters 0.09136004311883547 Centerline is valid? [True, True] Translation: X:142.07, Y:-10.14, Z:-3.69 [[ 9.99621192e-01 -2.36046987e-02 1.41523860e-02 1.42068177e+02] [ 2.36174433e-02 9.99720800e-01 -7.34051635e-04 -1.01444724e+01] [-1.41311076e-02 1.06801674e-03 9.99899581e-01 -3.68870322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.712414037 meters 0.09232746684850353 Centerline is valid? [True, True] Translation: X:142.10, Y:-10.14, Z:-3.69 [[ 9.99628898e-01 -2.37061462e-02 1.34195358e-02 1.42099136e+02] [ 2.37176218e-02 9.99718455e-01 -6.96617683e-04 -1.01412887e+01] [-1.33992435e-02 1.01463864e-03 9.99909711e-01 -3.69198807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74241403699997 meters 0.0912862128876063 Centerline is valid? [True, True] Translation: X:142.13, Y:-10.13, Z:-3.70 [[ 9.99716980e-01 -2.25709383e-02 7.51744277e-03 1.42130685e+02] [ 2.25745073e-02 9.99745087e-01 -3.90235821e-04 -1.01272808e+01] [-7.50671849e-03 5.59827943e-04 9.99971667e-01 -3.69907750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77241403699998 meters 0.09321361378406841 Centerline is valid? [True, True] Translation: X:142.16, Y:-10.13, Z:-3.70 [[ 9.99740694e-01 -2.15777523e-02 7.27630172e-03 1.42160586e+02] [ 2.15810677e-02 9.99767030e-01 -3.77417148e-04 -1.01253732e+01] [-7.26646275e-03 5.34349642e-04 9.99973456e-01 -3.70244699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80241403699998 meters 0.091992424563519 Centerline is valid? [True, True] Translation: X:142.19, Y:-10.12, Z:-3.70 [[ 9.99767007e-01 -2.06757526e-02 6.20036213e-03 1.42190327e+02] [ 2.06781505e-02 9.99786132e-01 -3.22861196e-04 -1.01190481e+01] [-6.19236068e-03 4.50997993e-04 9.99980725e-01 -3.70378986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83241403699998 meters 0.08994092060714357 Centerline is valid? [True, True] Translation: X:142.22, Y:-10.11, Z:-3.70 [[ 9.99767559e-01 -2.01846018e-02 7.57695842e-03 1.42220915e+02] [ 2.01881644e-02 9.99796121e-01 -3.93994526e-04 -1.01077248e+01] [-7.56746101e-03 5.46867827e-04 9.99971217e-01 -3.70249670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86241403699998 meters 0.08872095211571049 Centerline is valid? [True, True] Translation: X:142.25, Y:-10.10, Z:-3.70 [[ 9.99790026e-01 -1.94977376e-02 6.30406512e-03 1.42251739e+02] [ 1.95001839e-02 9.99809800e-01 -3.26813511e-04 -1.01021397e+01] [-6.29649396e-03 4.49675317e-04 9.99980076e-01 -3.70382454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89241403699998 meters 0.0904396638216404 Centerline is valid? [True, True] Translation: X:142.28, Y:-10.10, Z:-3.71 [[ 9.99805448e-01 -1.88306817e-02 5.87118303e-03 1.42281056e+02] [ 1.88327950e-02 9.99822601e-01 -3.04849689e-04 -1.01009114e+01] [-5.86440096e-03 4.15361166e-04 9.99982718e-01 -3.70650865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92241403699998 meters 0.08635951956569235 Centerline is valid? [True, True] Translation: X:142.31, Y:-10.09, Z:-3.71 [[ 9.99839412e-01 -1.73176135e-02 4.60981016e-03 1.42312126e+02] [ 1.73188980e-02 9.99849988e-01 -2.38882040e-04 -1.00889114e+01] [-4.60498177e-03 3.18680510e-04 9.99989346e-01 -3.70708345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95241403699998 meters 0.0857588793324849 Centerline is valid? [True, True] Translation: X:142.34, Y:-10.08, Z:-3.71 [[ 9.99909343e-01 -1.33203538e-02 1.96846334e-03 1.42342009e+02] [ 1.33205814e-02 9.99911272e-01 -1.02579367e-04 -1.00784943e+01] [-1.96692228e-03 1.28791143e-04 9.99998057e-01 -3.71342387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98241403699998 meters 0.08486848660071793 Centerline is valid? [True, True] Translation: X:142.37, Y:-10.07, Z:-3.71 [[ 9.99934512e-01 -1.14189437e-02 7.61461131e-04 1.42371610e+02] [ 1.14189779e-02 9.99934801e-01 -4.06277932e-05 -1.00740835e+01] [-7.60947558e-04 4.93202404e-05 9.99999709e-01 -3.71484170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01241403699999 meters 0.08406949669933633 Centerline is valid? [True, True] Translation: X:142.40, Y:-10.07, Z:-3.72 [[ 9.99957703e-01 -9.12386263e-03 1.16034261e-03 1.42401642e+02] [ 9.12393978e-03 9.99958374e-01 -6.12149944e-05 -1.00705628e+01] [-1.15973579e-03 7.17993013e-05 9.99999325e-01 -3.71525917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.042414037 meters 0.08366281766644418 Centerline is valid? [True, True] Translation: X:142.43, Y:-10.07, Z:-3.72 [[ 9.99976842e-01 -6.51067696e-03 1.98160177e-03 1.42431628e+02] [ 6.51089277e-03 9.99978799e-01 -1.02473682e-04 -1.00673852e+01] [-1.98089259e-03 1.15373305e-04 9.99998031e-01 -3.71625684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.072414037 meters 0.08151517390501724 Centerline is valid? [True, True] Translation: X:142.46, Y:-10.06, Z:-3.71 [[ 9.99983402e-01 -8.99761319e-04 5.69089631e-03 1.42461462e+02] [ 9.01453466e-04 9.99999550e-01 -2.94784756e-04 -1.00570809e+01] [-5.69062851e-03 2.99909941e-04 9.99983763e-01 -3.71482560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.102414037 meters 0.08023355302560817 Centerline is valid? [True, True] Translation: X:142.49, Y:-10.05, Z:-3.71 [[ 9.99969090e-01 1.64359148e-03 7.68877876e-03 1.42493157e+02] [-1.64059063e-03 9.99998576e-01 -3.96581044e-04 -1.00525792e+01] [-7.68941962e-03 3.83954648e-04 9.99970362e-01 -3.71423757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.132414037 meters 0.0781446811352113 Centerline is valid? [True, True] Translation: X:142.53, Y:-10.05, Z:-3.71 [[ 9.99961278e-01 3.86706833e-03 7.90495911e-03 1.42525158e+02] [-3.86396302e-03 9.99992452e-01 -4.08065851e-04 -1.00468035e+01] [-7.90647746e-03 3.77505581e-04 9.99968672e-01 -3.71347917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.162414037 meters 0.07649838343696717 Centerline is valid? [True, True] Translation: X:142.56, Y:-10.04, Z:-3.71 [[ 9.99934961e-01 7.96326649e-03 8.16462131e-03 1.42557621e+02] [-7.96009033e-03 9.99968229e-01 -4.21437241e-04 -1.00383670e+01] [-8.16771793e-03 3.56418708e-04 9.99966580e-01 -3.71397237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.192414037 meters 0.07601090626716014 Centerline is valid? [True, True] Translation: X:142.59, Y:-10.04, Z:-3.72 [[ 9.99913577e-01 9.85058050e-03 8.70658812e-03 1.42590297e+02] [-9.84704135e-03 9.99951416e-01 -4.49267171e-04 -1.00359124e+01] [-8.71059066e-03 3.63494211e-04 9.99961996e-01 -3.71542082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.222414037 meters 0.07500609181813248 Centerline is valid? [True, True] Translation: X:142.62, Y:-10.03, Z:-3.72 [[ 9.99895018e-01 1.14363544e-02 8.89733451e-03 1.42622285e+02] [-1.14327458e-02 9.99934540e-01 -4.56347547e-04 -1.00322789e+01] [-8.90197104e-03 3.54578675e-04 9.99960314e-01 -3.71583928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.252414037 meters 0.07397497441825884 Centerline is valid? [True, True] Translation: X:142.65, Y:-10.03, Z:-3.71 [[ 9.99821801e-01 1.41278810e-02 1.25207506e-02 1.42653668e+02] [-1.41208033e-02 9.99900083e-01 -6.53503527e-04 -1.00258968e+01] [-1.25287322e-02 4.76584017e-04 9.99921399e-01 -3.71289933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.282414037 meters 0.07381589355797681 Centerline is valid? [True, True] Translation: X:142.69, Y:-10.02, Z:-3.71 [[ 9.99796394e-01 1.52543497e-02 1.32088823e-02 1.42685162e+02] [-1.52465877e-02 9.99883527e-01 -6.88142727e-04 -1.00245244e+01] [-1.32178410e-02 4.86612236e-04 9.99912522e-01 -3.71149542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.312414037 meters 0.07324754350155997 Centerline is valid? [True, True] Translation: X:142.72, Y:-10.02, Z:-3.71 [[ 9.99763219e-01 1.68923649e-02 1.37169009e-02 1.42717604e+02] [-1.68841385e-02 9.99857197e-01 -7.15322244e-04 -1.00223166e+01] [-1.37270256e-02 4.83554815e-04 9.99905663e-01 -3.71105641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.342414037 meters 0.07242136558507846 Centerline is valid? [True, True] Translation: X:142.75, Y:-10.02, Z:-3.71 [[ 9.99774173e-01 1.90105294e-02 9.49746517e-03 1.42750855e+02] [-1.90066890e-02 9.99819234e-01 -4.94471765e-04 -1.00185500e+01] [-9.50514853e-03 3.13844734e-04 9.99954776e-01 -3.71442475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.372414037 meters 0.07286121680496623 Centerline is valid? [True, True] Translation: X:142.78, Y:-10.02, Z:-3.72 [[ 9.99750128e-01 2.11420622e-02 7.25906076e-03 1.42781786e+02] [-2.11398629e-02 9.99776456e-01 -3.79574695e-04 -1.00205552e+01] [-7.26546304e-03 2.26024300e-04 9.99973581e-01 -3.71923567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.402414037 meters 0.07196351449595788 Centerline is valid? [True, True] Translation: X:142.81, Y:-10.02, Z:-3.72 [[ 9.99715656e-01 2.33188576e-02 4.98372308e-03 1.42814834e+02] [-2.33178609e-02 9.99728068e-01 -2.58005515e-04 -1.00184364e+01] [-4.98838425e-03 1.41722391e-04 9.99987548e-01 -3.72181939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.432414037 meters 0.07131708058084203 Centerline is valid? [True, True] Translation: X:142.85, Y:-10.02, Z:-3.72 [[ 9.99627906e-01 2.68024131e-02 5.06753327e-03 1.42847326e+02] [-2.68014123e-02 9.99640742e-01 -2.65316904e-04 -1.00160101e+01] [-5.07282385e-03 1.29401133e-04 9.99987125e-01 -3.72476802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.462414037 meters 0.06983876705915232 Centerline is valid? [True, True] Translation: X:142.88, Y:-10.01, Z:-3.73 [[ 9.99412224e-01 3.39576011e-02 4.69974241e-03 1.42878680e+02] [-3.39567870e-02 9.99423270e-01 -2.52933667e-04 -1.00069126e+01] [-4.70562094e-03 9.31968466e-05 9.99988924e-01 -3.72746172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49241403699997 meters 0.0691453932406661 Centerline is valid? [True, True] Translation: X:142.91, Y:-10.01, Z:-3.73 [[ 9.99257048e-01 3.83213019e-02 4.10241494e-03 1.42910645e+02] [-3.83207435e-02 9.99265467e-01 -2.14656231e-04 -1.00052569e+01] [-4.10762748e-03 5.72891610e-05 9.99991562e-01 -3.72931826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52241403699998 meters 0.06891909816376333 Centerline is valid? [True, True] Translation: X:142.94, Y:-10.01, Z:-3.73 [[ 9.99129713e-01 4.16145061e-02 2.83709632e-03 1.42942080e+02] [-4.16142389e-02 9.99133741e-01 -1.53194307e-04 -1.00057202e+01] [-2.84101376e-03 3.49973803e-05 9.99995964e-01 -3.73226913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55241403699998 meters 0.0685963047237882 Centerline is valid? [True, True] Translation: X:142.97, Y:-10.00, Z:-3.74 [[ 9.98833052e-01 4.82958186e-02 -2.18158254e-04 1.42972728e+02] [-4.82958171e-02 9.98833076e-01 1.18717381e-05 -1.00049453e+01] [ 2.18477036e-04 -1.32175321e-06 9.99999976e-01 -3.73815008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58241403699998 meters 0.06852731837325322 Centerline is valid? [True, True] Translation: X:143.00, Y:-10.00, Z:-3.74 [[ 9.98694477e-01 5.10811515e-02 -2.41202529e-04 1.43001799e+02] [-5.10811500e-02 9.98694506e-01 1.25299958e-05 -1.00047901e+01] [ 2.41527687e-04 -1.92734987e-07 9.99999971e-01 -3.74038010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61241403699998 meters 0.06818858449179867 Centerline is valid? [True, True] Translation: X:143.03, Y:-10.00, Z:-3.74 [[ 9.98519123e-01 5.43503933e-02 2.36562102e-03 1.43031634e+02] [-5.43502384e-02 9.98521925e-01 -1.29777520e-04 -1.00044343e+01] [-2.36917791e-03 1.01326961e-06 9.99997193e-01 -3.73916146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64241403699998 meters 0.06785609116024706 Centerline is valid? [True, True] Translation: X:143.06, Y:-10.00, Z:-3.74 [[ 9.98345778e-01 5.73502188e-02 4.08169353e-03 1.43062271e+02] [-5.73497931e-02 9.98354122e-01 -2.21351578e-04 -1.00048913e+01] [-4.08767012e-03 -1.30988660e-05 9.99991645e-01 -3.73769184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67241403699998 meters 0.06763504194632526 Centerline is valid? [True, True] Translation: X:143.09, Y:-10.01, Z:-3.73 [[ 9.98040665e-01 6.20570329e-02 7.98467031e-03 1.43093337e+02] [-6.20555521e-02 9.98072603e-01 -4.33314392e-04 -1.00069284e+01] [-7.99617089e-03 -6.30277406e-05 9.99968028e-01 -3.73341417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70241403699998 meters 0.06763504194632526 Centerline is valid? [True, True] Translation: X:143.12, Y:-10.01, Z:-3.73 [[ 9.98022246e-01 6.23525196e-02 7.98493282e-03 1.43124955e+02] [-6.23510867e-02 9.98054186e-01 -4.28506894e-04 -1.00088714e+01] [-7.99611411e-03 -7.02098253e-05 9.99968028e-01 -3.73431059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73241403699998 meters 0.06771933922311005 Centerline is valid? [True, True] Translation: X:143.16, Y:-10.01, Z:-3.73 [[ 9.97955890e-01 6.34672347e-02 7.48006904e-03 1.43157284e+02] [-6.34659977e-02 9.97983920e-01 -4.02867649e-04 -1.00142627e+01] [-7.49055751e-03 -7.26859011e-05 9.99971943e-01 -3.73411413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76241403699999 meters 0.06733804608425974 Centerline is valid? [True, True] Translation: X:143.19, Y:-10.02, Z:-3.73 [[ 9.97972986e-01 6.32732562e-02 6.81282359e-03 1.43189520e+02] [-6.32722168e-02 9.97996238e-01 -3.68207401e-04 -1.00238075e+01] [-6.82247000e-03 -6.36014119e-05 9.99976725e-01 -3.72743178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.792414037 meters 0.06743713152879717 Centerline is valid? [True, True] Translation: X:143.22, Y:-10.03, Z:-3.73 [[ 9.98022873e-01 6.26372753e-02 5.18810256e-03 1.43220587e+02] [-6.26366563e-02 9.98036357e-01 -2.81875142e-04 -1.00298117e+01] [-5.19557087e-03 -4.36475577e-05 9.99986502e-01 -3.73073096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.822414037 meters 0.06750759515792552 Centerline is valid? [True, True] Translation: X:143.25, Y:-10.04, Z:-3.73 [[ 9.98127372e-01 6.09694805e-02 4.94679929e-03 1.43252593e+02] [-6.09688944e-02 9.98139630e-01 -2.69334753e-04 -1.00369258e+01] [-4.95401761e-03 -3.27704938e-05 9.99987728e-01 -3.73170998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.852414037 meters 0.06781197107437766 Centerline is valid? [True, True] Translation: X:143.28, Y:-10.05, Z:-3.74 [[ 9.98500373e-01 5.43728713e-02 6.37145749e-03 1.43283640e+02] [-5.43717250e-02 9.98520701e-01 -3.53117911e-04 -1.00505018e+01] [-6.38123224e-03 6.16123118e-06 9.99979640e-01 -3.73828342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.882414037 meters 0.0680207812436777 Centerline is valid? [True, True] Translation: X:143.31, Y:-10.06, Z:-3.74 [[ 9.98698177e-01 5.04014663e-02 7.85137084e-03 1.43314317e+02] [-5.03996185e-02 9.98729038e-01 -4.33151593e-04 -1.00610112e+01] [-7.86322352e-03 3.68816115e-05 9.99969084e-01 -3.73822412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.912414037 meters 0.06941223455256029 Centerline is valid? [True, True] Translation: X:143.35, Y:-10.08, Z:-3.74 [[ 9.99142648e-01 4.09664850e-02 5.97634949e-03 1.43345054e+02] [-4.09652467e-02 9.99160518e-01 -3.29527895e-04 -1.00815395e+01] [-5.98483205e-03 8.44227424e-05 9.99982087e-01 -3.73973026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.942414037 meters 0.07075594054398202 Centerline is valid? [True, True] Translation: X:143.38, Y:-10.09, Z:-3.74 [[ 9.99334490e-01 3.62693429e-02 3.88752448e-03 1.43376186e+02] [-3.62687898e-02 9.99342048e-01 -2.12702000e-04 -1.00924721e+01] [-3.89268124e-03 7.15646362e-05 9.99992421e-01 -3.74314702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.972414037 meters 0.07223440700183528 Centerline is valid? [True, True] Translation: X:143.41, Y:-10.10, Z:-3.75 [[ 9.99497792e-01 3.16850007e-02 4.73408942e-04 1.43406385e+02] [-3.16849918e-02 9.99497904e-01 -2.62667886e-05 -1.01014154e+01] [-4.74003509e-04 1.12536387e-05 9.99999888e-01 -3.74809585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.002414037 meters 0.07412062593985806 Centerline is valid? [True, True] Translation: X:143.44, Y:-10.11, Z:-3.75 [[ 9.99620999e-01 2.73437396e-02 -3.19021356e-03 1.43436022e+02] [-2.73433007e-02 9.99626086e-01 1.81129395e-04 -1.01102834e+01] [ 3.19397345e-03 -9.38297780e-05 9.99994895e-01 -3.75301091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.032414037 meters 0.07669285765809868 Centerline is valid? [True, True] Translation: X:143.47, Y:-10.12, Z:-3.76 [[ 9.99768335e-01 2.12079709e-02 -3.67396048e-03 1.43465766e+02] [-2.12073449e-02 9.99775077e-01 2.09266652e-04 -1.01246332e+01] [ 3.67757224e-03 -1.31303225e-04 9.99993229e-01 -3.75622810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.062414037 meters 0.07764434466383097 Centerline is valid? [True, True] Translation: X:143.50, Y:-10.13, Z:-3.76 [[ 9.99819933e-01 1.88092434e-02 -2.51277142e-03 1.43495741e+02] [-1.88089441e-02 9.99823086e-01 1.42719464e-04 -1.01326498e+01] [ 2.51501132e-03 -9.54311876e-05 9.99996833e-01 -3.75521943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.092414037 meters 0.07807800969828256 Centerline is valid? [True, True] Translation: X:143.53, Y:-10.14, Z:-3.75 [[ 9.99859346e-01 1.67652159e-02 4.63844534e-04 1.43527101e+02] [-1.67652061e-02 9.99859454e-01 -2.51806687e-05 -1.01394646e+01] [-4.64201501e-04 1.74006778e-05 9.99999892e-01 -3.75246720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.122414037 meters 0.0791169557466635 Centerline is valid? [True, True] Translation: X:143.56, Y:-10.15, Z:-3.75 [[ 9.99889510e-01 1.44905591e-02 3.31532374e-03 1.43558624e+02] [-1.44900377e-02 9.99894997e-01 -1.81240984e-04 -1.01467391e+01] [-3.31760191e-03 1.33181793e-04 9.99994488e-01 -3.75027081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.152414037 meters 0.07988364871690201 Centerline is valid? [True, True] Translation: X:143.59, Y:-10.15, Z:-3.75 [[ 9.99951283e-01 8.64509041e-03 4.76374959e-03 1.43589825e+02] [-8.64389662e-03 9.99962604e-01 -2.71132440e-04 -1.01519523e+01] [-4.76591541e-03 2.29941873e-04 9.99988617e-01 -3.74753790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.182414037 meters 0.0842557899154104 Centerline is valid? [True, True] Translation: X:143.62, Y:-10.16, Z:-3.75 [[ 9.99976014e-01 5.11451756e-03 4.67051021e-03 1.43619277e+02] [-5.11332604e-03 9.99986891e-01 -2.67021176e-04 -1.01631701e+01] [-4.67181467e-03 2.43132929e-04 9.99989057e-01 -3.75117752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.212414037 meters 0.08362879330764549 Centerline is valid? [True, True] Translation: X:143.65, Y:-10.17, Z:-3.75 [[ 9.99987425e-01 -3.10436612e-03 3.93867086e-03 1.43650413e+02] [ 3.10527361e-03 9.99995153e-01 -2.24310473e-04 -1.01653558e+01] [-3.93795543e-03 2.36538303e-04 9.99992218e-01 -3.74754514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24241403699997 meters 0.08575486368845021 Centerline is valid? [True, True] Translation: X:143.68, Y:-10.17, Z:-3.75 [[ 9.99963630e-01 -6.90275476e-03 5.00906561e-03 1.43681271e+02] [ 6.90427390e-03 9.99976124e-01 -2.86049178e-04 -1.01717971e+01] [-5.00697149e-03 3.20622736e-04 9.99987414e-01 -3.74742462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27241403699998 meters 0.08763528743127315 Centerline is valid? [True, True] Translation: X:143.71, Y:-10.18, Z:-3.75 [[ 9.99941131e-01 -1.00903480e-02 3.99000485e-03 1.43711960e+02] [ 1.00913371e-02 9.99949055e-01 -2.27819332e-04 -1.01761013e+01] [-3.98750280e-03 2.68070404e-04 9.99992014e-01 -3.74919605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30241403699998 meters 0.08964489694595067 Centerline is valid? [True, True] Translation: X:143.74, Y:-10.18, Z:-3.75 [[ 9.99917748e-01 -1.28161799e-02 4.91872870e-04 1.43742044e+02] [ 1.28161952e-02 9.99917869e-01 -2.79303965e-05 -1.01777772e+01] [-4.91474511e-04 3.42320379e-05 9.99999879e-01 -3.75446772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33241403699998 meters 0.09118670231845806 Centerline is valid? [True, True] Translation: X:143.77, Y:-10.18, Z:-3.76 [[ 9.99915008e-01 -1.29506453e-02 -1.50258294e-03 1.43770535e+02] [ 1.29507863e-02 9.99916132e-01 8.41421762e-05 -1.01794258e+01] [ 1.50136723e-03 -1.03594655e-04 9.99998868e-01 -3.75820307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36241403699998 meters 0.08986934888035535 Centerline is valid? [True, True] Translation: X:143.80, Y:-10.18, Z:-3.76 [[ 9.99925697e-01 -1.18661121e-02 -2.79199541e-03 1.43799452e+02] [ 1.18665779e-02 9.99929578e-01 1.50343215e-04 -1.01756850e+01] [ 2.79001480e-03 -1.83463475e-04 9.99996091e-01 -3.76065201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39241403699998 meters 0.08942762548648513 Centerline is valid? [True, True] Translation: X:143.83, Y:-10.17, Z:-3.76 [[ 9.99949588e-01 -9.73074017e-03 -2.47653033e-03 1.43828851e+02] [ 9.73111560e-03 9.99952642e-01 1.39591281e-04 -1.01734611e+01] [ 2.47505472e-03 -1.63683647e-04 9.99996924e-01 -3.76186818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42241403699998 meters 0.08575227340172505 Centerline is valid? [True, True] Translation: X:143.86, Y:-10.16, Z:-3.76 [[ 9.99993037e-01 -3.26462395e-03 1.80777119e-03 1.43860462e+02] [ 3.26481460e-03 9.99994665e-01 -1.02517723e-04 -1.01627493e+01] [-1.80742687e-03 1.08419047e-04 9.99998361e-01 -3.75838886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45241403699998 meters 0.08473705602580564 Centerline is valid? [True, True] Translation: X:143.89, Y:-10.16, Z:-3.76 [[ 9.99990300e-01 6.64377019e-05 4.40392214e-03 1.43890888e+02] [-6.53355327e-05 9.99999967e-01 -2.50413305e-04 -1.01586060e+01] [-4.40393863e-03 2.50123143e-04 9.99990271e-01 -3.75788696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48241403699998 meters 0.08301904969385814 Centerline is valid? [True, True] Translation: X:143.92, Y:-10.15, Z:-3.76 [[ 9.99988524e-01 3.37903174e-03 3.39628586e-03 1.43923227e+02] [-3.37840054e-03 9.99994275e-01 -1.91571581e-04 -1.01518449e+01] [-3.39691374e-03 1.80095369e-04 9.99994214e-01 -3.75823275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51241403699999 meters 0.08045422438311069 Centerline is valid? [True, True] Translation: X:143.95, Y:-10.14, Z:-3.76 [[ 9.99944302e-01 1.04665333e-02 -1.35797272e-03 1.43954711e+02] [-1.04664372e-02 9.99945222e-01 7.79083807e-05 -1.01380999e+01] [ 1.35871376e-03 -6.36909053e-05 9.99999075e-01 -3.76348336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.542414037 meters 0.07967757164061105 Centerline is valid? [True, True] Translation: X:143.99, Y:-10.13, Z:-3.77 [[ 9.99903802e-01 1.34358430e-02 -3.44466771e-03 1.43985806e+02] [-1.34352446e-02 9.99909724e-01 1.96804210e-04 -1.01345008e+01] [ 3.44700096e-03 -1.50505325e-04 9.99994048e-01 -3.76573573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.572414037 meters 0.07915586873935235 Centerline is valid? [True, True] Translation: X:144.02, Y:-10.13, Z:-3.77 [[ 9.99861516e-01 1.59455309e-02 -4.76330512e-03 1.44015485e+02] [-1.59444221e-02 9.99872843e-01 2.70665447e-04 -1.01324916e+01] [ 4.76701534e-03 -1.94679817e-04 9.99988619e-01 -3.76782942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.602414037 meters 0.0785621975374825 Centerline is valid? [True, True] Translation: X:144.05, Y:-10.13, Z:-3.77 [[ 9.99842946e-01 1.74231736e-02 -3.24274084e-03 1.44045848e+02] [-1.74226683e-02 9.99848197e-01 1.84017234e-04 -1.01310746e+01] [ 3.24545474e-03 -1.27491136e-04 9.99994725e-01 -3.76836557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.632414037 meters 0.07873275829984776 Centerline is valid? [True, True] Translation: X:144.08, Y:-10.13, Z:-3.77 [[ 9.99815337e-01 1.91619732e-02 -1.45249045e-03 1.44075260e+02] [-1.91618741e-02 9.99816391e-01 8.20808537e-05 -1.01287568e+01] [ 1.45379659e-03 -5.42332572e-05 9.99998942e-01 -3.77011638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.662414037 meters 0.07796393944398061 Centerline is valid? [True, True] Translation: X:144.11, Y:-10.13, Z:-3.77 [[ 9.99800003e-01 1.99706764e-02 -1.06129473e-03 1.44106364e+02] [-1.99706230e-02 9.99800565e-01 6.09695983e-05 -1.01268503e+01] [ 1.06230067e-03 -3.97626878e-05 9.99999435e-01 -3.77031320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.692414037 meters 0.07685664298231201 Centerline is valid? [True, True] Translation: X:144.14, Y:-10.12, Z:-3.77 [[ 9.99795326e-01 2.02305611e-02 -1.72715189e-04 1.44137462e+02] [-2.02305597e-02 9.99795341e-01 9.83155199e-06 -1.01249363e+01] [ 1.72878739e-04 -6.33541478e-06 9.99999985e-01 -3.76896108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.722414037 meters 0.07761587392530686 Centerline is valid? [True, True] Translation: X:144.17, Y:-10.13, Z:-3.77 [[ 9.99780005e-01 2.07094491e-02 3.32579942e-03 1.44167828e+02] [-2.07089354e-02 9.99785529e-01 -1.88808956e-04 -1.01280975e+01] [-3.32899627e-03 1.19893653e-04 9.99994452e-01 -3.76925545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.752414037 meters 0.0779653476403369 Centerline is valid? [True, True] Translation: X:144.20, Y:-10.13, Z:-3.77 [[ 9.99767138e-01 2.09123206e-02 5.32388709e-03 1.44198573e+02] [-2.09110212e-02 9.99781296e-01 -2.99626115e-04 -1.01305282e+01] [-5.32898861e-03 1.88228428e-04 9.99985783e-01 -3.76878228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.782414037 meters 0.07476577222362836 Centerline is valid? [True, True] Translation: X:144.23, Y:-10.12, Z:-3.77 [[ 9.99749678e-01 2.18998532e-02 4.58025383e-03 1.44232511e+02] [-2.18989223e-02 9.99760158e-01 -2.53298975e-04 -1.01242633e+01] [-4.58470250e-03 1.52932946e-04 9.99989479e-01 -3.76508984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.812414037 meters 0.07480112417065653 Centerline is valid? [True, True] Translation: X:144.26, Y:-10.13, Z:-3.77 [[ 9.99708049e-01 2.38908389e-02 3.61186538e-03 1.44263928e+02] [-2.38902699e-02 9.99714567e-01 -2.00596467e-04 -1.01252907e+01] [-3.61562685e-03 1.14249464e-04 9.99993457e-01 -3.76863329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.842414037 meters 0.07493207602025322 Centerline is valid? [True, True] Translation: X:144.30, Y:-10.13, Z:-3.77 [[ 9.99692339e-01 2.47539142e-02 1.57209963e-03 1.44296274e+02] [-2.47538145e-02 9.99693574e-01 -8.28625638e-05 -1.01272078e+01] [-1.57366907e-03 4.39216075e-05 9.99998761e-01 -3.77071708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.872414037 meters 0.0749006457223738 Centerline is valid? [True, True] Translation: X:144.33, Y:-10.13, Z:-3.77 [[ 9.99690126e-01 2.48630610e-02 1.21662562e-03 1.44328735e+02] [-2.48630033e-02 9.99690866e-01 -6.25736349e-05 -1.01291117e+01] [-1.21780529e-03 3.23052782e-05 9.99999258e-01 -3.77150119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.902414037 meters 0.0752326779945686 Centerline is valid? [True, True] Translation: X:144.36, Y:-10.13, Z:-3.77 [[ 9.99689512e-01 2.44536119e-02 4.78548975e-03 1.44359780e+02] [-2.44525864e-02 9.99700954e-01 -2.72687733e-04 -1.01333986e+01] [-4.79072687e-03 1.55585465e-04 9.99988512e-01 -3.76940676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.932414037 meters 0.07510298508808627 Centerline is valid? [True, True] Translation: X:144.39, Y:-10.14, Z:-3.77 [[ 9.99686953e-01 2.46847862e-02 4.08135241e-03 1.44391897e+02] [-2.46840444e-02 9.99695276e-01 -2.32028908e-04 -1.01358791e+01] [-4.08583630e-03 1.31211988e-04 9.99991644e-01 -3.77037867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.962414037 meters 0.07564879251079935 Centerline is valid? [True, True] Translation: X:144.42, Y:-10.14, Z:-3.77 [[ 9.99700534e-01 2.43680867e-02 2.24462800e-03 1.44423634e+02] [-2.43678683e-02 9.99703052e-01 -1.24589674e-04 -1.01391593e+01] [-2.24699748e-03 6.98555639e-05 9.99997473e-01 -3.77278127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99241403699997 meters 0.07570867723941911 Centerline is valid? [True, True] Translation: X:144.46, Y:-10.14, Z:-3.78 [[ 9.99692784e-01 2.47629624e-02 1.06460766e-03 1.44455744e+02] [-2.47629178e-02 9.99693350e-01 -5.50554471e-05 -1.01409289e+01] [-1.06564454e-03 2.86757412e-05 9.99999432e-01 -3.77535067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02241403699998 meters 0.0759397276999975 Centerline is valid? [True, True] Translation: X:144.49, Y:-10.14, Z:-3.78 [[ 9.99682172e-01 2.51929712e-02 9.32602428e-04 1.44486741e+02] [-2.51929373e-02 9.99682606e-01 -4.81349440e-05 -1.01431635e+01] [-9.33519089e-04 2.46246508e-05 9.99999564e-01 -3.77750208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05241403699998 meters 0.07437612203497604 Centerline is valid? [True, True] Translation: X:144.52, Y:-10.14, Z:-3.78 [[ 9.99681683e-01 2.52295972e-02 3.12446678e-05 1.44518681e+02] [-2.52295974e-02 9.99681683e-01 6.33137943e-06 -1.01404863e+01] [-3.10749839e-05 -7.11765443e-06 9.99999999e-01 -3.77530899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08241403699998 meters 0.07570866574214692 Centerline is valid? [True, True] Translation: X:144.55, Y:-10.15, Z:-3.78 [[ 9.99673871e-01 2.55327038e-02 4.82849041e-04 1.44549579e+02] [-2.55326966e-02 9.99673987e-01 -2.10089719e-05 -1.01465810e+01] [-4.83228042e-04 8.67368218e-06 9.99999883e-01 -3.77925177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11241403699998 meters 0.07593430421661441 Centerline is valid? [True, True] Translation: X:144.58, Y:-10.15, Z:-3.78 [[ 9.99684019e-01 2.50842221e-02 -1.62624064e-03 1.44580574e+02] [-2.50840936e-02 9.99685340e-01 9.93511118e-05 -1.01498163e+01] [ 1.62822107e-03 -5.85269461e-05 9.99998673e-01 -3.78083062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14241403699998 meters 0.07817179529861976 Centerline is valid? [True, True] Translation: X:144.61, Y:-10.16, Z:-3.79 [[ 9.99735416e-01 2.27599398e-02 -3.32914668e-03 1.44610109e+02] [-2.27593945e-02 9.99740951e-01 2.01603031e-04 -1.01600111e+01] [ 3.33287274e-03 -1.25780327e-04 9.99994438e-01 -3.78719033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17241403699998 meters 0.07734367437149943 Centerline is valid? [True, True] Translation: X:144.64, Y:-10.16, Z:-3.79 [[ 9.99753307e-01 2.14282931e-02 -5.84401783e-03 1.44640141e+02] [-2.14266003e-02 9.99770362e-01 3.52126297e-04 -1.01611067e+01] [ 5.85022129e-03 -2.26821996e-04 9.99982862e-01 -3.78655247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20241403699998 meters 0.07971466334818855 Centerline is valid? [True, True] Translation: X:144.67, Y:-10.17, Z:-3.79 [[ 9.99775143e-01 2.03560574e-02 -5.94096092e-03 1.44668678e+02] [-2.03542985e-02 9.99792766e-01 3.56392406e-04 -1.01688704e+01] [ 5.94698449e-03 -2.35388177e-04 9.99982289e-01 -3.79131974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23241403699998 meters 0.08025622740161893 Centerline is valid? [True, True] Translation: X:144.70, Y:-10.17, Z:-3.79 [[ 9.99802498e-01 1.95172440e-02 -3.74719031e-03 1.44697473e+02] [-1.95165412e-02 9.99809509e-01 2.24015772e-04 -1.01722053e+01] [ 3.75084868e-03 -1.50839335e-04 9.99992954e-01 -3.79027719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26241403699999 meters 0.07778044870761898 Centerline is valid? [True, True] Translation: X:144.73, Y:-10.17, Z:-3.79 [[ 9.99804646e-01 1.95402876e-02 -2.97446993e-03 1.44727435e+02] [-1.95398449e-02 9.99809063e-01 1.77831802e-04 -1.01695990e+01] [ 2.97737688e-03 -1.19676381e-04 9.99995560e-01 -3.78581228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.292414037 meters 0.07912697801188952 Centerline is valid? [True, True] Translation: X:144.76, Y:-10.18, Z:-3.79 [[ 9.99782858e-01 2.07753231e-02 -1.61928218e-03 1.44757122e+02] [-2.07751924e-02 9.99784168e-01 9.74666861e-05 -1.01765460e+01] [ 1.62095759e-03 -6.38046232e-05 9.99998684e-01 -3.78735923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.322414037 meters 0.0766235416230073 Centerline is valid? [True, True] Translation: X:144.79, Y:-10.17, Z:-3.78 [[ 9.99736060e-01 2.28973011e-02 -1.87716695e-03 1.44788066e+02] [-2.28971293e-02 9.99737820e-01 1.12989104e-04 -1.01745820e+01] [ 1.87926194e-03 -6.99775470e-05 9.99998232e-01 -3.78404211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.352414037 meters 0.07551201371435569 Centerline is valid? [True, True] Translation: X:144.82, Y:-10.17, Z:-3.78 [[ 9.99668947e-01 2.56651323e-02 -1.81605958e-03 1.44818810e+02] [-2.56649760e-02 9.99670594e-01 1.09310972e-04 -1.01738284e+01] [ 1.81826684e-03 -6.26656590e-05 9.99998345e-01 -3.78472910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.382414037 meters 0.07322432072918923 Centerline is valid? [True, True] Translation: X:144.85, Y:-10.17, Z:-3.79 [[ 9.99408722e-01 3.42117839e-02 -3.42935186e-03 1.44849476e+02] [-3.42112768e-02 9.99414602e-01 2.06417119e-04 -1.01672421e+01] [ 3.43440623e-03 -8.89725629e-05 9.99994098e-01 -3.78792639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.412414037 meters 0.07170114607036543 Centerline is valid? [True, True] Translation: X:144.88, Y:-10.16, Z:-3.79 [[ 9.99232187e-01 3.91393103e-02 -1.77502292e-03 1.44880995e+02] [-3.91391808e-02 9.99233763e-01 1.07633246e-04 -1.01633937e+01] [ 1.77787552e-03 -3.80776607e-05 9.99998419e-01 -3.78743903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.442414037 meters 0.07027160687178233 Centerline is valid? [True, True] Translation: X:144.91, Y:-10.16, Z:-3.79 [[ 9.98857770e-01 4.77505006e-02 1.74491743e-03 1.44910777e+02] [-4.77503889e-02 9.98859294e-01 -1.05643482e-04 -1.01580608e+01] [-1.74797152e-03 2.22023268e-05 9.99998472e-01 -3.78872802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.472414037 meters 0.06959667844498969 Centerline is valid? [True, True] Translation: X:144.94, Y:-10.16, Z:-3.79 [[ 9.98712335e-01 5.07099315e-02 1.47458846e-03 1.44942375e+02] [-5.07098574e-02 9.98713424e-01 -8.76164205e-05 -1.01579189e+01] [-1.47713431e-03 1.27274296e-05 9.99998909e-01 -3.78796664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.502414037 meters 0.06929856101890348 Centerline is valid? [True, True] Translation: X:144.97, Y:-10.16, Z:-3.79 [[ 9.98539734e-01 5.40111308e-02 1.09421544e-03 1.44973493e+02] [-5.40110923e-02 9.98540334e-01 -6.47637832e-05 -1.01602493e+01] [-1.09611622e-03 5.56943965e-06 9.99999399e-01 -3.78874755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.532414037 meters 0.06831625525504245 Centerline is valid? [True, True] Translation: X:145.01, Y:-10.16, Z:-3.78 [[ 9.98428361e-01 5.60259609e-02 1.37818358e-03 1.45005099e+02] [-5.60259013e-02 9.98429312e-01 -8.18945375e-05 -1.01608425e+01] [-1.38060710e-03 4.55185197e-06 9.99999047e-01 -3.77655634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.562414037 meters 0.06802921973513487 Centerline is valid? [True, True] Translation: X:145.04, Y:-10.16, Z:-3.78 [[ 9.98311533e-01 5.80738284e-02 1.23048811e-03 1.45035898e+02] [-5.80737885e-02 9.98312291e-01 -6.81964028e-05 -1.01637063e+01] [-1.23237183e-03 -3.37785096e-06 9.99999241e-01 -3.77687323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.592414037 meters 0.06798028324307881 Centerline is valid? [True, True] Translation: X:145.07, Y:-10.17, Z:-3.78 [[ 9.98306041e-01 5.81783231e-02 -5.74810628e-04 1.45068201e+02] [-5.81783087e-02 9.98306207e-01 4.18465088e-05 -1.01664954e+01] [ 5.76271577e-04 -8.33411238e-06 9.99999834e-01 -3.77680231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.622414037 meters 0.06798028324307881 Centerline is valid? [True, True] Translation: X:145.10, Y:-10.17, Z:-3.78 [[ 9.98304014e-01 5.82131022e-02 -5.75167939e-04 1.45098977e+02] [-5.82130911e-02 9.98304179e-01 3.59687760e-05 -1.01683950e+01] [ 5.76286411e-04 -2.42546981e-06 9.99999834e-01 -3.77767518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.652414037 meters 0.06805076170113454 Centerline is valid? [True, True] Translation: X:145.13, Y:-10.17, Z:-3.78 [[ 9.98292339e-01 5.83830143e-02 -1.95694506e-03 1.45130519e+02] [-5.83828796e-02 9.98294257e-01 1.25955738e-04 -1.01725001e+01] [ 1.96096069e-03 -1.14885607e-05 9.99998077e-01 -3.77814695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.682414037 meters 0.06835764235782744 Centerline is valid? [True, True] Translation: X:145.16, Y:-10.18, Z:-3.78 [[ 9.98379110e-01 5.64912804e-02 -6.92015397e-03 1.45160434e+02] [-5.64897044e-02 9.98403092e-01 4.23149606e-04 -1.01839221e+01] [ 6.93300738e-03 -3.15462756e-05 9.99975966e-01 -3.78008589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.712414037 meters 0.06859212302652958 Centerline is valid? [True, True] Translation: X:145.19, Y:-10.19, Z:-3.78 [[ 9.98492177e-01 5.41836406e-02 -8.80368921e-03 1.45190687e+02] [-5.41810057e-02 9.98530986e-01 5.37688919e-04 -1.01913965e+01] [ 8.81989041e-03 -5.98854442e-05 9.99961102e-01 -3.78229304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74241403699997 meters 0.06872271185059882 Centerline is valid? [True, True] Translation: X:145.22, Y:-10.20, Z:-3.78 [[ 9.98606095e-01 5.20338258e-02 -8.85143661e-03 1.45220624e+02] [-5.20310778e-02 9.98645320e-01 5.40605111e-04 -1.01982773e+01] [ 8.86757550e-03 -7.93017722e-05 9.99960679e-01 -3.78418609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77241403699998 meters 0.06849371574642033 Centerline is valid? [True, True] Translation: X:145.25, Y:-10.21, Z:-3.78 [[ 9.98836344e-01 4.78532386e-02 -6.00204756e-03 1.45249929e+02] [-4.78519032e-02 9.98854374e-01 3.65987584e-04 -1.02065120e+01] [ 6.01268515e-03 -7.83523015e-05 9.99981921e-01 -3.78454860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80241403699998 meters 0.06849712364687077 Centerline is valid? [True, True] Translation: X:145.28, Y:-10.21, Z:-3.78 [[ 9.98906129e-01 4.65642414e-02 -4.27988054e-03 1.45280391e+02] [-4.65635491e-02 9.98915296e-01 2.61321673e-04 -1.02111295e+01] [ 4.28740638e-03 -6.17493937e-05 9.99990807e-01 -3.78441458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83241403699998 meters 0.0684188415483711 Centerline is valid? [True, True] Translation: X:145.31, Y:-10.22, Z:-3.78 [[ 9.98978819e-01 4.50108499e-02 -3.91707615e-03 1.45311388e+02] [-4.50102537e-02 9.98986496e-01 2.40274612e-04 -1.02170628e+01] [ 3.92392114e-03 -6.37206567e-05 9.99992299e-01 -3.78490869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86241403699998 meters 0.06887473045522052 Centerline is valid? [True, True] Translation: X:145.34, Y:-10.23, Z:-3.78 [[ 9.99143121e-01 4.12550611e-02 -3.32309735e-03 1.45341808e+02] [-4.12545906e-02 9.99148645e-01 2.10047614e-04 -1.02290854e+01] [ 3.32893374e-03 -7.27746081e-05 9.99994456e-01 -3.78466454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89241403699998 meters 0.06898317235247002 Centerline is valid? [True, True] Translation: X:145.37, Y:-10.24, Z:-3.79 [[ 9.99241314e-01 3.87243114e-02 -4.15010106e-03 1.45373471e+02] [-3.87235792e-02 9.99249928e-01 2.56649404e-04 -1.02352552e+01] [ 4.15692675e-03 -9.57479205e-05 9.99991355e-01 -3.78587068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92241403699998 meters 0.06901845275249856 Centerline is valid? [True, True] Translation: X:145.40, Y:-10.24, Z:-3.79 [[ 9.99346424e-01 3.57332355e-02 -5.46445194e-03 1.45404703e+02] [-3.57319289e-02 9.99361354e-01 3.36586454e-04 -1.02392313e+01] [ 5.47298941e-03 -1.41111061e-04 9.99985013e-01 -3.78535424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95241403699998 meters 0.07423919572995077 Centerline is valid? [True, True] Translation: X:145.43, Y:-10.26, Z:-3.80 [[ 9.99507072e-01 3.05422182e-02 -7.26538941e-03 1.45432894e+02] [-3.05397751e-02 9.99533452e-01 4.46993050e-04 -1.02583362e+01] [ 7.27565192e-03 -2.24889356e-04 9.99973507e-01 -3.80263744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98241403699998 meters 0.07524509794726061 Centerline is valid? [True, True] Translation: X:145.46, Y:-10.26, Z:-3.80 [[ 9.99577863e-01 2.78720283e-02 -8.20037027e-03 1.45462486e+02] [-2.78688319e-02 9.99611462e-01 5.03824030e-04 -1.02635923e+01] [ 8.21122671e-03 -2.75076607e-04 9.99966249e-01 -3.80394915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01241403699999 meters 0.07681129665667072 Centerline is valid? [True, True] Translation: X:145.49, Y:-10.27, Z:-3.81 [[ 9.99622295e-01 2.61442540e-02 -8.47031093e-03 1.45491611e+02] [-2.61407883e-02 9.99658136e-01 5.19630499e-04 -1.02707170e+01] [ 8.48100059e-03 -2.98013627e-04 9.99963991e-01 -3.80672110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.042414037 meters 0.07064236991819377 Centerline is valid? [True, True] Translation: X:145.52, Y:-10.26, Z:-3.79 [[ 9.99656283e-01 2.46534757e-02 -8.91753138e-03 1.45522835e+02] [-2.46495766e-02 9.99696003e-01 5.46903527e-04 -1.02589343e+01] [ 8.92830355e-03 -3.26902174e-04 9.99960088e-01 -3.78951330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.072414037 meters 0.0776260301274893 Centerline is valid? [True, True] Translation: X:145.55, Y:-10.28, Z:-3.81 [[ 9.99732785e-01 2.09360948e-02 -9.79995653e-03 1.45551685e+02] [-2.09312186e-02 9.99780738e-01 5.99887988e-04 -1.02823243e+01] [ 9.81036708e-03 -3.94602657e-04 9.99951799e-01 -3.80555279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.102414037 meters 0.07881074701585264 Centerline is valid? [True, True] Translation: X:145.58, Y:-10.29, Z:-3.81 [[ 9.99728788e-01 1.99138230e-02 -1.20743859e-02 1.45579852e+02] [-1.99063601e-02 9.99801576e-01 7.37958447e-04 -1.02870715e+01] [ 1.20866856e-02 -4.97401230e-04 9.99926830e-01 -3.80931956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.132414037 meters 0.08015752543905003 Centerline is valid? [True, True] Translation: X:145.61, Y:-10.29, Z:-3.81 [[ 9.99723716e-01 1.90181693e-02 -1.38130847e-02 1.45608144e+02] [-1.90083224e-02 9.99818969e-01 8.43812351e-04 -1.02906822e+01] [ 1.38266319e-02 -5.81015651e-04 9.99904239e-01 -3.81317579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.162414037 meters 0.07891899115647555 Centerline is valid? [True, True] Translation: X:145.64, Y:-10.29, Z:-3.81 [[ 9.99750370e-01 1.91219865e-02 -1.15562251e-02 1.45637661e+02] [-1.91151137e-02 9.99817041e-01 7.04898426e-04 -1.02886130e+01] [ 1.15675898e-02 -4.83823906e-04 9.99932976e-01 -3.81094503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.192414037 meters 0.07911679016890673 Centerline is valid? [True, True] Translation: X:145.67, Y:-10.29, Z:-3.81 [[ 9.99766905e-01 1.88820793e-02 -1.04691220e-02 1.45666391e+02] [-1.88764428e-02 9.99821621e-01 6.36954749e-04 -1.02908749e+01] [ 1.04792816e-02 -4.39186496e-04 9.99944994e-01 -3.81037667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.222414037 meters 0.07954601914385158 Centerline is valid? [True, True] Translation: X:145.70, Y:-10.29, Z:-3.81 [[ 9.99762365e-01 1.88452629e-02 -1.09576583e-02 1.45695055e+02] [-1.88390856e-02 9.99822306e-01 6.66699793e-04 -1.02943889e+01] [ 1.09682754e-02 -4.60109098e-04 9.99939741e-01 -3.81056302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.252414037 meters 0.07754964379154611 Centerline is valid? [True, True] Translation: X:145.72, Y:-10.29, Z:-3.81 [[ 9.99757188e-01 1.81310719e-02 -1.25231679e-02 1.45724915e+02] [-1.81229447e-02 9.99835475e-01 7.62159522e-04 -1.02934001e+01] [ 1.25349263e-02 -5.35017782e-04 9.99921292e-01 -3.80691129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.282414037 meters 0.07841593245251154 Centerline is valid? [True, True] Translation: X:145.75, Y:-10.30, Z:-3.81 [[ 9.99728392e-01 1.69851756e-02 -1.59576054e-02 1.45754307e+02] [-1.69718392e-02 9.99855497e-01 9.70802527e-04 -1.02971938e+01] [ 1.59717887e-02 -6.99708937e-04 9.99872198e-01 -3.80851189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.312414037 meters 0.07976199078670862 Centerline is valid? [True, True] Translation: X:145.78, Y:-10.30, Z:-3.81 [[ 9.99736041e-01 1.70810105e-02 -1.53651522e-02 1.45781571e+02] [-1.70687139e-02 9.99853885e-01 9.31087273e-04 -1.03009563e+01] [ 1.53788110e-02 -6.68578119e-04 9.99881516e-01 -3.81118235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.342414037 meters 0.07868570928454012 Centerline is valid? [True, True] Translation: X:145.81, Y:-10.30, Z:-3.81 [[ 9.99764131e-01 1.71268578e-02 -1.33548834e-02 1.45811115e+02] [-1.71175724e-02 9.99853156e-01 8.09285662e-04 -1.02988501e+01] [ 1.33667829e-02 -5.80491592e-04 9.99910492e-01 -3.80931074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.372414037 meters 0.07638971179216611 Centerline is valid? [True, True] Translation: X:145.84, Y:-10.29, Z:-3.81 [[ 9.99714862e-01 2.08193931e-02 -1.16939231e-02 1.45842124e+02] [-2.08125308e-02 9.99783145e-01 7.08226328e-04 -1.02903775e+01] [ 1.17061321e-02 -4.64644250e-04 9.99931373e-01 -3.80675675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.402414037 meters 0.07551953927238181 Centerline is valid? [True, True] Translation: X:145.87, Y:-10.29, Z:-3.81 [[ 9.99663429e-01 2.39310636e-02 -1.00166170e-02 1.45871532e+02] [-2.39261894e-02 9.99713544e-01 6.06175758e-04 -1.02875483e+01] [ 1.00282541e-02 -3.66312262e-04 9.99949649e-01 -3.80703769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.432414037 meters 0.07490384005429807 Centerline is valid? [True, True] Translation: X:145.90, Y:-10.29, Z:-3.81 [[ 9.99592563e-01 2.69705384e-02 -9.34329131e-03 1.45900400e+02] [-2.69664422e-02 9.99636180e-01 5.64136793e-04 -1.02851118e+01] [ 9.35510711e-03 -3.11951618e-04 9.99956191e-01 -3.80779868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.462414037 meters 0.07387637721582706 Centerline is valid? [True, True] Translation: X:145.93, Y:-10.28, Z:-3.81 [[ 9.99514777e-01 2.98040663e-02 -9.05141742e-03 1.45930159e+02] [-2.98003367e-02 9.99555722e-01 5.46674373e-04 -1.02815474e+01] [ 9.06368919e-03 -2.76673827e-04 9.99958886e-01 -3.80822191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49241403699997 meters 0.07319091976802708 Centerline is valid? [True, True] Translation: X:145.96, Y:-10.28, Z:-3.81 [[ 9.99359855e-01 3.42323547e-02 -1.03935944e-02 1.45960263e+02] [-3.42276789e-02 9.99413864e-01 6.27473154e-04 -1.02751104e+01] [ 1.04089822e-02 -2.71322869e-04 9.99945788e-01 -3.80996678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52241403699998 meters 0.0758451577461224 Centerline is valid? [True, True] Translation: X:145.99, Y:-10.28, Z:-3.82 [[ 9.99288978e-01 3.56847099e-02 -1.21712915e-02 1.45988260e+02] [-3.56784197e-02 9.99363053e-01 7.33619503e-04 -1.02784453e+01] [ 1.21897180e-02 -2.98845438e-04 9.99925658e-01 -3.82147495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55241403699998 meters 0.07379392557867737 Centerline is valid? [True, True] Translation: X:146.02, Y:-10.27, Z:-3.82 [[ 9.99259689e-01 3.60071510e-02 -1.35483770e-02 1.46018443e+02] [-3.59993831e-02 9.99351478e-01 8.16864603e-04 -1.02728660e+01] [ 1.35690035e-02 -3.28526655e-04 9.99907883e-01 -3.81583945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58241403699998 meters 0.07369428177272445 Centerline is valid? [True, True] Translation: X:146.05, Y:-10.27, Z:-3.82 [[ 9.99273499e-01 3.56400954e-02 -1.35002888e-02 1.46047966e+02] [-3.56323575e-02 9.99364635e-01 8.13344981e-04 -1.02723014e+01] [ 1.35206988e-02 -3.31706970e-04 9.99908536e-01 -3.81622380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61241403699998 meters 0.0743057386178345 Centerline is valid? [True, True] Translation: X:146.08, Y:-10.27, Z:-3.82 [[ 9.99310372e-01 3.44310689e-02 -1.39025747e-02 1.46077632e+02] [-3.44227537e-02 9.99407011e-01 8.37022864e-04 -1.02740434e+01] [ 1.39231503e-02 -3.57880723e-04 9.99903004e-01 -3.81552016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64241403699998 meters 0.0743167208854017 Centerline is valid? [True, True] Translation: X:146.11, Y:-10.28, Z:-3.81 [[ 9.99347955e-01 3.34111398e-02 -1.36879799e-02 1.46106139e+02] [-3.34030181e-02 9.99441626e-01 8.21602873e-04 -1.02757008e+01] [ 1.37077876e-02 -3.63847310e-04 9.99905978e-01 -3.81427294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67241403699998 meters 0.07589228532820798 Centerline is valid? [True, True] Translation: X:146.13, Y:-10.28, Z:-3.82 [[ 9.99402344e-01 3.17034625e-02 -1.37784144e-02 1.46134059e+02] [-3.16950744e-02 9.99497243e-01 8.26774014e-04 -1.02803315e+01] [ 1.37976988e-02 -3.89572019e-04 9.99904731e-01 -3.81860602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70241403699998 meters 0.07530609520180341 Centerline is valid? [True, True] Translation: X:146.16, Y:-10.28, Z:-3.82 [[ 9.99453574e-01 2.99017230e-02 -1.40869048e-02 1.46162902e+02] [-2.98928009e-02 9.99552754e-01 8.43544638e-04 -1.02796965e+01] [ 1.41058280e-02 -4.21986662e-04 9.99900419e-01 -3.81633049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73241403699998 meters 0.07757832910306962 Centerline is valid? [True, True] Translation: X:146.19, Y:-10.28, Z:-3.82 [[ 9.99547562e-01 2.57205315e-02 -1.55924656e-02 1.46191666e+02] [-2.57090790e-02 9.99669030e-01 9.34523561e-04 -1.02824636e+01] [ 1.56113415e-02 -5.33232816e-04 9.99877993e-01 -3.82119006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76241403699999 meters 0.07878146668487275 Centerline is valid? [True, True] Translation: X:146.22, Y:-10.29, Z:-3.82 [[ 9.99568972e-01 2.38998055e-02 -1.70490124e-02 1.46221088e+02] [-2.38858580e-02 9.99714171e-01 1.02127339e-03 -1.02856134e+01] [ 1.70685475e-02 -6.13602902e-04 9.99854133e-01 -3.82363514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.792414037 meters 0.07994297455887288 Centerline is valid? [True, True] Translation: X:146.25, Y:-10.29, Z:-3.83 [[ 9.99592552e-01 2.21097174e-02 -1.80524119e-02 1.46250738e+02] [-2.20938002e-02 9.99755318e-01 1.08071185e-03 -1.02890826e+01] [ 1.80718891e-02 -6.81425135e-04 9.99836458e-01 -3.82549458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.822414037 meters 0.08064485070978557 Centerline is valid? [True, True] Translation: X:146.28, Y:-10.29, Z:-3.83 [[ 9.99654091e-01 2.02896925e-02 -1.67340122e-02 1.46279594e+02] [-2.02758044e-02 9.99793925e-01 9.99191147e-04 -1.02921924e+01] [ 1.67508370e-02 -6.59549959e-04 9.99859477e-01 -3.82560963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.852414037 meters 0.07932036945348128 Centerline is valid? [True, True] Translation: X:146.31, Y:-10.29, Z:-3.82 [[ 9.99701920e-01 1.90692642e-02 -1.52457977e-02 1.46308800e+02] [-1.90576197e-02 9.99817974e-01 9.08714236e-04 -1.02911892e+01] [ 1.52603511e-02 -6.17894751e-04 9.99883363e-01 -3.82154219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.882414037 meters 0.07794595850547266 Centerline is valid? [True, True] Translation: X:146.34, Y:-10.29, Z:-3.82 [[ 9.99736021e-01 1.87481424e-02 -1.32813659e-02 1.46337621e+02] [-1.87392984e-02 9.99824092e-01 7.90041264e-04 -1.02876659e+01] [ 1.32938414e-02 -5.40949232e-04 9.99911487e-01 -3.81838108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.912414037 meters 0.07852790131112343 Centerline is valid? [True, True] Translation: X:146.37, Y:-10.29, Z:-3.82 [[ 9.99711991e-01 2.00481045e-02 -1.31912598e-02 1.46365641e+02] [-2.00395201e-02 9.99798882e-01 7.82629516e-04 -1.02880378e+01] [ 1.32042970e-02 -5.18057596e-04 9.99912685e-01 -3.82233893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.942414037 meters 0.07844740029494054 Centerline is valid? [True, True] Translation: X:146.39, Y:-10.29, Z:-3.83 [[ 9.99668525e-01 2.23894995e-02 -1.27102254e-02 1.46394020e+02] [-2.23817252e-02 9.99749214e-01 7.53589924e-04 -1.02870668e+01] [ 1.27239103e-02 -4.68863356e-04 9.99918938e-01 -3.82559214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.972414037 meters 0.0744484375333842 Centerline is valid? [True, True] Translation: X:146.43, Y:-10.27, Z:-3.82 [[ 9.99462897e-01 3.09386867e-02 -1.08034360e-02 1.46425380e+02] [-3.09335484e-02 9.99521237e-01 6.42430446e-04 -1.02748332e+01] [ 1.08181396e-02 -3.07896785e-04 9.99941435e-01 -3.82213140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.002414037 meters 0.07339385925119087 Centerline is valid? [True, True] Translation: X:146.45, Y:-10.27, Z:-3.82 [[ 9.99289319e-01 3.65164897e-02 -9.34898204e-03 1.46454321e+02] [-3.65129078e-02 9.99333028e-01 5.53579932e-04 -1.02709715e+01] [ 9.36296133e-03 -2.11827994e-04 9.99956144e-01 -3.82414727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.032414037 meters 0.0720162426808131 Centerline is valid? [True, True] Translation: X:146.48, Y:-10.26, Z:-3.82 [[ 9.99065548e-01 4.24691186e-02 -8.02528672e-03 1.46483541e+02] [-4.24666768e-02 9.99097771e-01 4.74498679e-04 -1.02649395e+01] [ 8.03819761e-03 -1.33248025e-04 9.99967684e-01 -3.82434531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.062414037 meters 0.07010989018684236 Centerline is valid? [True, True] Translation: X:146.51, Y:-10.25, Z:-3.82 [[ 9.98573614e-01 5.29005147e-02 -7.22996063e-03 1.46514571e+02] [-5.28988000e-02 9.98599786e-01 4.28319685e-04 -1.02512060e+01] [ 7.24249547e-03 -4.52524941e-05 9.99973772e-01 -3.82251358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.092414037 meters 0.06860918949312192 Centerline is valid? [True, True] Translation: X:146.55, Y:-10.25, Z:-3.81 [[ 9.98349638e-01 5.68899096e-02 -7.84467736e-03 1.46545032e+02] [-5.68880211e-02 9.98380457e-01 4.63843091e-04 -1.02464631e+01] [ 7.85836057e-03 -1.68094104e-05 9.99969122e-01 -3.80794742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.122414037 meters 0.06857765685430657 Centerline is valid? [True, True] Translation: X:146.57, Y:-10.25, Z:-3.81 [[ 9.98145220e-01 6.04945039e-02 -6.82166628e-03 1.46574505e+02] [-6.04931569e-02 9.98168530e-01 4.03806715e-04 -1.02453389e+01] [ 6.83360069e-03 9.60638712e-06 9.99976651e-01 -3.80817073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.152414037 meters 0.06871251340086289 Centerline is valid? [True, True] Translation: X:146.60, Y:-10.25, Z:-3.81 [[ 9.97976523e-01 6.30721679e-02 -8.04738736e-03 1.46604123e+02] [-6.30703827e-02 9.98008968e-01 4.75682266e-04 -1.02462597e+01] [ 8.06136707e-03 3.28320661e-05 9.99967506e-01 -3.80899937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.182414037 meters 0.06998776628776285 Centerline is valid? [True, True] Translation: X:146.63, Y:-10.25, Z:-3.83 [[ 9.98013815e-01 6.24265504e-02 -8.44696046e-03 1.46632841e+02] [-6.24245718e-02 9.98049560e-01 4.97952349e-04 -1.02485330e+01] [ 8.46157062e-03 3.03345659e-05 9.99964200e-01 -3.82503615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.212414037 meters 0.07016512947631118 Centerline is valid? [True, True] Translation: X:146.66, Y:-10.25, Z:-3.83 [[ 9.98043219e-01 6.18215715e-02 -9.37154132e-03 1.46662082e+02] [-6.18191056e-02 9.98087217e-01 5.52858702e-04 -1.02531323e+01] [ 9.38779419e-03 2.75634236e-05 9.99955933e-01 -3.82701005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24241403699997 meters 0.06911418900821588 Centerline is valid? [True, True] Translation: X:146.69, Y:-10.26, Z:-3.81 [[ 9.98169924e-01 5.97563774e-02 -9.27239334e-03 1.46691508e+02] [-5.97538780e-02 9.98212991e-01 5.46600338e-04 -1.02623472e+01] [ 9.28848635e-03 8.46144271e-06 9.99956861e-01 -3.81413464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27241403699998 meters 0.0690618915709802 Centerline is valid? [True, True] Translation: X:146.72, Y:-10.27, Z:-3.81 [[ 9.98208759e-01 5.90415713e-02 -9.66259017e-03 1.46720648e+02] [-5.90388242e-02 9.98255525e-01 5.69552044e-04 -1.02672447e+01] [ 9.67936127e-03 1.93612303e-06 9.99953154e-01 -3.81462553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30241403699998 meters 0.06890133597152542 Centerline is valid? [True, True] Translation: X:146.75, Y:-10.27, Z:-3.81 [[ 9.98220092e-01 5.88668812e-02 -9.55710719e-03 1.46750055e+02] [-5.88641892e-02 9.98265841e-01 5.62960868e-04 -1.02723426e+01] [ 9.57367340e-03 6.12516348e-07 9.99954171e-01 -3.81397571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33241403699998 meters 0.0691399474894274 Centerline is valid? [True, True] Translation: X:146.78, Y:-10.28, Z:-3.82 [[ 9.98182145e-01 5.93655701e-02 -1.03987956e-02 1.46778914e+02] [-5.93624059e-02 9.98236309e-01 6.12951760e-04 -1.02800422e+01] [ 1.04168435e-02 5.46002087e-06 9.99945743e-01 -3.81678601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36241403699998 meters 0.06906915824585064 Centerline is valid? [True, True] Translation: X:146.81, Y:-10.28, Z:-3.82 [[ 9.98182446e-01 5.94733214e-02 -9.73285090e-03 1.46808814e+02] [-5.94705566e-02 9.98229895e-01 5.73496041e-04 -1.02848913e+01] [ 9.74973045e-03 6.36437902e-06 9.99952470e-01 -3.81825674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39241403699998 meters 0.06914198122472495 Centerline is valid? [True, True] Translation: X:146.84, Y:-10.29, Z:-3.82 [[ 9.98192061e-01 5.93257205e-02 -9.64713900e-03 1.46838339e+02] [-5.93229862e-02 9.98238678e-01 5.69588707e-04 -1.02906089e+01] [ 9.66393855e-03 3.73816916e-06 9.99953303e-01 -3.82034130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42241403699998 meters 0.06926475922832355 Centerline is valid? [True, True] Translation: X:146.87, Y:-10.30, Z:-3.82 [[ 9.98250973e-01 5.84614746e-02 -8.78925962e-03 1.46868116e+02] [-5.84591754e-02 9.98289665e-01 5.18495361e-04 -1.02976328e+01] [ 8.80453905e-03 -3.77562931e-06 9.99961239e-01 -3.82038531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45241403699998 meters 0.06923920805767228 Centerline is valid? [True, True] Translation: X:146.90, Y:-10.31, Z:-3.82 [[ 9.98481721e-01 5.47857237e-02 -5.72515409e-03 1.46897771e+02] [-5.47846844e-02 9.98498134e-01 3.38327782e-04 -1.03113760e+01] [ 5.73509121e-03 -2.41633467e-05 9.99983554e-01 -3.82057368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48241403699998 meters 0.0691416168720623 Centerline is valid? [True, True] Translation: X:146.93, Y:-10.32, Z:-3.82 [[ 9.98600439e-01 5.27972478e-02 -3.10049653e-03 1.46929286e+02] [-5.27969291e-02 9.98605252e-01 1.84607239e-04 -1.03197056e+01] [ 3.10591887e-03 -2.06521746e-05 9.99995176e-01 -3.81977761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51241403699999 meters 0.0691416168720623 Centerline is valid? [True, True] Translation: X:146.96, Y:-10.32, Z:-3.82 [[ 9.98587561e-01 5.30402799e-02 -3.10013250e-03 1.46960893e+02] [-5.30399433e-02 9.98592373e-01 1.90754920e-04 -1.03216218e+01] [ 3.10588637e-03 -2.60546389e-05 9.99995176e-01 -3.82067382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.542414037 meters 0.06910049746820694 Centerline is valid? [True, True] Translation: X:146.99, Y:-10.33, Z:-3.82 [[ 9.98729739e-01 5.03773858e-02 -1.01340644e-03 1.46993021e+02] [-5.03773435e-02 9.98730253e-01 6.71983578e-05 -1.03297608e+01] [ 1.01550495e-03 -1.60602739e-05 9.99999484e-01 -3.82075411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.572414037 meters 0.06875148203489341 Centerline is valid? [True, True] Translation: X:147.03, Y:-10.34, Z:-3.82 [[ 9.99002300e-01 4.46030427e-02 2.22991616e-03 1.47025082e+02] [-4.46028626e-02 9.99004789e-01 -1.30463109e-04 -1.03421328e+01] [-2.23351597e-03 3.08723018e-05 9.99997505e-01 -3.81798038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.602414037 meters 0.0688722258906025 Centerline is valid? [True, True] Translation: X:147.06, Y:-10.35, Z:-3.82 [[ 9.99134450e-01 4.15014073e-02 2.82564171e-03 1.47056968e+02] [-4.15011144e-02 9.99138444e-01 -1.62222446e-04 -1.03489078e+01] [-2.82993972e-03 4.48147548e-05 9.99995995e-01 -3.81848767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.632414037 meters 0.06932169618347218 Centerline is valid? [True, True] Translation: X:147.09, Y:-10.36, Z:-3.82 [[ 9.99249190e-01 3.87128153e-02 1.54101304e-03 1.47087633e+02] [-3.87127284e-02 9.99250378e-01 -8.62195248e-05 -1.03564233e+01] [-1.54319566e-03 2.64979712e-05 9.99998809e-01 -3.82078099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.662414037 meters 0.06934969234295922 Centerline is valid? [True, True] Translation: X:147.12, Y:-10.36, Z:-3.82 [[ 9.99344269e-01 3.62040802e-02 5.44679646e-04 1.47119638e+02] [-3.62040688e-02 9.99344417e-01 -3.08099936e-05 -1.03613807e+01] [-5.45438011e-04 1.10701712e-05 9.99999851e-01 -3.82084662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.692414037 meters 0.06973811737609549 Centerline is valid? [True, True] Translation: X:147.15, Y:-10.37, Z:-3.82 [[ 9.99397851e-01 3.46535868e-02 -1.75064977e-03 1.47151118e+02] [-3.46534517e-02 9.99399383e-01 1.07444673e-04 -1.03722810e+01] [ 1.75332164e-03 -4.67139178e-05 9.99998462e-01 -3.82290449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.722414037 meters 0.07013167826097713 Centerline is valid? [True, True] Translation: X:147.18, Y:-10.38, Z:-3.83 [[ 9.99420183e-01 3.39482312e-02 -2.61049445e-03 1.47181587e+02] [-3.39479258e-02 9.99423590e-01 1.61246065e-04 -1.03791038e+01] [ 2.61446375e-03 -7.25317002e-05 9.99996580e-01 -3.82514235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.752414037 meters 0.07007294539291385 Centerline is valid? [True, True] Translation: X:147.21, Y:-10.38, Z:-3.83 [[ 9.99432346e-01 3.36418767e-02 -1.79153652e-03 1.47212008e+02] [-3.36417249e-02 9.99433950e-01 1.14814390e-04 -1.03838945e+01] [ 1.79438499e-03 -5.44788365e-05 9.99998389e-01 -3.82618121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.782414037 meters 0.07100190824745496 Centerline is valid? [True, True] Translation: X:147.24, Y:-10.39, Z:-3.83 [[ 9.99451822e-01 3.31066920e-02 5.21891759e-05 1.47242754e+02] [-3.31066922e-02 9.99451823e-01 2.97112798e-06 -1.03911443e+01] [-5.20622029e-05 -4.69731026e-06 9.99999999e-01 -3.83128871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.812414037 meters 0.07032574174107929 Centerline is valid? [True, True] Translation: X:147.27, Y:-10.39, Z:-3.83 [[ 9.99517161e-01 3.10451415e-02 1.28184374e-03 1.47274666e+02] [-3.10450751e-02 9.99517983e-01 -7.16821929e-05 -1.03934644e+01] [-1.28345125e-03 3.18526469e-05 9.99999176e-01 -3.82964593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.842414037 meters 0.06985670858508138 Centerline is valid? [True, True] Translation: X:147.31, Y:-10.40, Z:-3.83 [[ 9.99536543e-01 3.04207106e-02 1.13144403e-03 1.47306611e+02] [-3.04206593e-02 9.99537183e-01 -6.25110747e-05 -1.03952233e+01] [-1.13282201e-03 2.80628300e-05 9.99999358e-01 -3.82874103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.872414037 meters 0.07030479816607087 Centerline is valid? [True, True] Translation: X:147.34, Y:-10.40, Z:-3.83 [[ 9.99553171e-01 2.98812385e-02 7.55367509e-04 1.47336949e+02] [-2.98812167e-02 9.99553456e-01 -4.01458176e-05 -1.04037375e+01] [-7.56229811e-04 1.75565791e-05 9.99999714e-01 -3.82971220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.902414037 meters 0.07027375927261242 Centerline is valid? [True, True] Translation: X:147.37, Y:-10.41, Z:-3.83 [[ 9.99511515e-01 3.12155055e-02 1.52406514e-03 1.47369303e+02] [-3.12154039e-02 9.99512676e-01 -9.03714591e-05 -1.04082100e+01] [-1.52614342e-03 4.27530050e-05 9.99998835e-01 -3.83034894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.932414037 meters 0.06991028110925954 Centerline is valid? [True, True] Translation: X:147.40, Y:-10.41, Z:-3.83 [[ 9.99438344e-01 3.34736651e-02 1.58421991e-03 1.47401306e+02] [-3.34735621e-02 9.99439599e-01 -9.14639698e-05 -1.04108526e+01] [-1.58639375e-03 3.83831149e-05 9.99998741e-01 -3.83081674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.962414037 meters 0.06885239153275306 Centerline is valid? [True, True] Translation: X:147.43, Y:-10.41, Z:-3.83 [[ 9.99329829e-01 3.65389216e-02 2.19097628e-03 1.47433196e+02] [-3.65387152e-02 9.99332229e-01 -1.34198991e-04 -1.04094232e+01] [-2.19441670e-03 5.40535966e-05 9.99997591e-01 -3.82878504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99241403699997 meters 0.06813234645634601 Centerline is valid? [True, True] Translation: X:147.46, Y:-10.41, Z:-3.83 [[ 9.98930512e-01 4.61368340e-02 3.03718466e-03 1.47463119e+02] [-4.61364753e-02 9.98935128e-01 -1.88099691e-04 -1.04063975e+01] [-3.04262877e-03 4.77735257e-05 9.99995370e-01 -3.83144947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02241403699998 meters 0.0676282053509728 Centerline is valid? [True, True] Translation: X:147.50, Y:-10.40, Z:-3.83 [[ 9.98597127e-01 5.28502125e-02 3.26075334e-03 1.47495092e+02] [-5.28498551e-02 9.98602451e-01 -1.95755803e-04 -1.04039573e+01] [-3.26654201e-03 2.31508416e-05 9.99994665e-01 -3.83273917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05241403699998 meters 0.06753796243458876 Centerline is valid? [True, True] Translation: X:147.53, Y:-10.40, Z:-3.84 [[ 9.98191871e-01 6.00530595e-02 2.57255016e-03 1.47526668e+02] [-6.00528618e-02 9.98195186e-01 -1.54079829e-04 -1.04027288e+01] [-2.57716015e-03 -6.87766659e-07 9.99996679e-01 -3.83650713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08241403699998 meters 0.06765576675814886 Centerline is valid? [True, True] Translation: X:147.56, Y:-10.40, Z:-3.84 [[ 9.97815508e-01 6.60377203e-02 1.79771996e-03 1.47558947e+02] [-6.60376370e-02 9.97817127e-01 -1.05767249e-04 -1.04021050e+01] [-1.80078039e-03 -1.31809762e-05 9.99998379e-01 -3.83920651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11241403699998 meters 0.06771947604808097 Centerline is valid? [True, True] Translation: X:147.59, Y:-10.40, Z:-3.84 [[ 9.97162247e-01 7.52267208e-02 2.89705179e-03 1.47590064e+02] [-7.52265274e-02 9.97166455e-01 -1.75822664e-04 -1.04005279e+01] [-2.90206943e-03 -4.26114230e-05 9.99995788e-01 -3.84286378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14241403699998 meters 0.06736826284059157 Centerline is valid? [True, True] Translation: X:147.62, Y:-10.41, Z:-3.84 [[ 9.96965651e-01 7.77109144e-02 4.52815898e-03 1.47622395e+02] [-7.77104491e-02 9.96975932e-01 -2.78878248e-04 -1.04054808e+01] [-4.53613741e-03 -7.38532343e-05 9.99989709e-01 -3.83909331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17241403699998 meters 0.06739365942471769 Centerline is valid? [True, True] Translation: X:147.65, Y:-10.41, Z:-3.84 [[ 9.96879220e-01 7.87646429e-02 5.28697703e-03 1.47654628e+02] [-7.87640122e-02 9.96893235e-01 -3.27710594e-04 -1.04083476e+01] [-5.29636365e-03 -8.97356423e-05 9.99985970e-01 -3.84067653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20241403699998 meters 0.06750907137490722 Centerline is valid? [True, True] Translation: X:147.69, Y:-10.42, Z:-3.84 [[ 9.96880749e-01 7.88426571e-02 3.55063845e-03 1.47686321e+02] [-7.88423763e-02 9.96887071e-01 -2.19207036e-04 -1.04170881e+01] [-3.55686843e-03 -6.14174987e-05 9.99993672e-01 -3.84077424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23241403699998 meters 0.06754583941215055 Centerline is valid? [True, True] Translation: X:147.72, Y:-10.42, Z:-3.84 [[ 9.96883594e-01 7.88706553e-02 1.58716022e-03 1.47718311e+02] [-7.88706046e-02 9.96884857e-01 -9.46590089e-05 -1.04234546e+01] [-1.58968181e-03 -3.08162735e-05 9.99998736e-01 -3.84238195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26241403699999 meters 0.067507061756769 Centerline is valid? [True, True] Translation: X:147.75, Y:-10.43, Z:-3.84 [[ 9.96898567e-01 7.86970625e-02 1.35988639e-04 1.47750102e+02] [-7.86970630e-02 9.96898577e-01 -1.90455587e-06 -1.04312837e+01] [-1.35716763e-04 -8.80325744e-06 9.99999991e-01 -3.84226543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.292414037 meters 0.06733803338237884 Centerline is valid? [True, True] Translation: X:147.78, Y:-10.44, Z:-3.84 [[ 9.96839220e-01 7.94452969e-02 1.20872901e-04 1.47782311e+02] [-7.94452974e-02 9.96839227e-01 6.20642520e-09 -1.04378991e+01] [-1.20490356e-04 -9.60897040e-06 9.99999993e-01 -3.84204619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.322414037 meters 0.0670506933832472 Centerline is valid? [True, True] Translation: X:147.81, Y:-10.45, Z:-3.84 [[ 9.96905661e-01 7.85744802e-02 2.27029115e-03 1.47812703e+02] [-7.85743642e-02 9.96908245e-01 -1.40385133e-04 -1.04497651e+01] [-2.27430266e-03 -3.84359502e-05 9.99997413e-01 -3.84157617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.352414037 meters 0.06682767543822099 Centerline is valid? [True, True] Translation: X:147.85, Y:-10.46, Z:-3.84 [[ 9.96870657e-01 7.90236794e-02 2.03740408e-03 1.47845211e+02] [-7.90235905e-02 9.96872738e-01 -1.24222571e-04 -1.04584474e+01] [-2.04084911e-03 -3.71691492e-05 9.99997917e-01 -3.83897107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.382414037 meters 0.06695654073587891 Centerline is valid? [True, True] Translation: X:147.88, Y:-10.47, Z:-3.84 [[ 9.96874821e-01 7.89883333e-02 1.19741373e-03 1.47875488e+02] [-7.89883043e-02 9.96875540e-01 -7.15462085e-05 -1.04656319e+01] [-1.19932377e-03 -2.32590660e-05 9.99999281e-01 -3.84103194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.412414037 meters 0.06694578854503946 Centerline is valid? [True, True] Translation: X:147.91, Y:-10.48, Z:-3.84 [[ 9.96811810e-01 7.97881792e-02 -2.48617222e-04 1.47906371e+02] [-7.97881759e-02 9.96811841e-01 2.31398467e-05 -1.04807578e+01] [ 2.49670877e-04 -3.22935782e-06 9.99999969e-01 -3.84086359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.442414037 meters 0.06711280488238938 Centerline is valid? [True, True] Translation: X:147.94, Y:-10.49, Z:-3.84 [[ 9.96736779e-01 8.07195947e-02 -3.75328693e-04 1.47937824e+02] [-8.07195885e-02 9.96736849e-01 3.14974091e-05 -1.04892315e+01] [ 3.76646397e-04 -1.09824841e-06 9.99999929e-01 -3.84155327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.472414037 meters 0.06702429878124225 Centerline is valid? [True, True] Translation: X:147.97, Y:-10.50, Z:-3.84 [[ 9.96678728e-01 8.14328030e-02 4.59142147e-04 1.47969369e+02] [-8.14328009e-02 9.96678834e-01 -2.33781914e-05 -1.04969197e+01] [-4.59521011e-04 -1.40886849e-05 9.99999894e-01 -3.84197725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.502414037 meters 0.06722949324099237 Centerline is valid? [True, True] Translation: X:148.00, Y:-10.51, Z:-3.84 [[ 9.96461370e-01 8.40519466e-02 -9.59676294e-05 1.47999549e+02] [-8.40519458e-02 9.96461374e-01 1.26520300e-05 -1.05079136e+01] [ 9.66914636e-05 -4.54099320e-06 9.99999995e-01 -3.84408149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.532414037 meters 0.06741905154379024 Centerline is valid? [True, True] Translation: X:148.03, Y:-10.52, Z:-3.85 [[ 9.96424036e-01 8.44915027e-02 5.71231417e-04 1.48030303e+02] [-8.44914985e-02 9.96424200e-01 -3.15956728e-05 -1.05152407e+01] [-5.71858374e-04 -1.67815106e-05 9.99999836e-01 -3.84593070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.562414037 meters 0.06740340877341795 Centerline is valid? [True, True] Translation: X:148.06, Y:-10.52, Z:-3.85 [[ 9.96413143e-01 8.46100445e-02 1.41013161e-03 1.48061587e+02] [-8.46100061e-02 9.96414140e-01 -8.69921700e-05 -1.05239001e+01] [-1.41243549e-03 -3.26311029e-05 9.99999002e-01 -3.84638154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.592414037 meters 0.0673262696230556 Centerline is valid? [True, True] Translation: X:148.09, Y:-10.54, Z:-3.85 [[ 9.96595658e-01 8.24379306e-02 1.04021300e-03 1.48092257e+02] [-8.24379101e-02 9.96596201e-01 -6.25941589e-05 -1.05405882e+01] [-1.04183246e-03 -2.33719189e-05 9.99999457e-01 -3.84644534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.622414037 meters 0.06723566590460589 Centerline is valid? [True, True] Translation: X:148.12, Y:-10.55, Z:-3.85 [[ 9.96779632e-01 8.01830639e-02 1.02067569e-03 1.48123477e+02] [-8.01830430e-02 9.96780154e-01 -6.14477385e-05 -1.05516390e+01] [-1.02231634e-03 -2.05910284e-05 9.99999477e-01 -3.84650471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.652414037 meters 0.06730318973150859 Centerline is valid? [True, True] Translation: X:148.15, Y:-10.56, Z:-3.85 [[ 9.97036483e-01 7.69295047e-02 3.19177922e-04 1.48154132e+02] [-7.69295039e-02 9.97036535e-01 -1.50543284e-05 -1.05626871e+01] [-3.19390171e-04 -9.54448453e-06 9.99999949e-01 -3.84762549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.682414037 meters 0.06723151745474013 Centerline is valid? [True, True] Translation: X:148.19, Y:-10.58, Z:-3.85 [[ 9.97598922e-01 6.92503600e-02 8.82233184e-04 1.48185231e+02] [-6.92503405e-02 9.97599312e-01 -5.26512786e-05 -1.05830263e+01] [-8.83761337e-04 -8.57008959e-06 9.99999609e-01 -3.84760465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.712414037 meters 0.06725554110019452 Centerline is valid? [True, True] Translation: X:148.22, Y:-10.59, Z:-3.85 [[ 9.97837823e-01 6.57070902e-02 1.50243004e-03 1.48217123e+02] [-6.57070218e-02 9.97838954e-01 -9.49241616e-05 -1.05934212e+01] [-1.50542041e-03 -4.00128453e-06 9.99998867e-01 -3.84837596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74241403699997 meters 0.06729452606833931 Centerline is valid? [True, True] Translation: X:148.25, Y:-10.60, Z:-3.85 [[ 9.98045687e-01 6.24648909e-02 1.71566257e-03 1.48249001e+02] [-6.24647954e-02 9.98047162e-01 -1.09295725e-04 -1.06028937e+01] [-1.71913930e-03 1.91361563e-06 9.99998522e-01 -3.84870020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77241403699998 meters 0.06779797449076935 Centerline is valid? [True, True] Translation: X:148.28, Y:-10.62, Z:-3.85 [[ 9.98403809e-01 5.64581423e-02 -1.52051382e-03 1.48278460e+02] [-5.64580483e-02 9.98404967e-01 1.04730055e-04 -1.06182398e+01] [ 1.52400142e-03 -1.87176430e-05 9.99998839e-01 -3.85245976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80241403699998 meters 0.06817248355120126 Centerline is valid? [True, True] Translation: X:148.31, Y:-10.63, Z:-3.86 [[ 9.98520783e-01 5.43146996e-02 -2.48199718e-03 1.48308909e+02] [-5.43144309e-02 9.98523866e-01 1.75581180e-04 -1.06272955e+01] [ 2.48787006e-03 -4.05131931e-05 9.99996904e-01 -3.85593854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83241403699998 meters 0.06835885139280318 Centerline is valid? [True, True] Translation: X:148.34, Y:-10.63, Z:-3.86 [[ 9.98621809e-01 5.22924408e-02 -4.47016813e-03 1.48340913e+02] [-5.22915889e-02 9.98631812e-01 3.07311959e-04 -1.06347401e+01] [ 4.48012219e-03 -7.31362298e-05 9.99989962e-01 -3.85573503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86241403699998 meters 0.06815854718764684 Centerline is valid? [True, True] Translation: X:148.37, Y:-10.64, Z:-3.85 [[ 9.98680817e-01 5.11307517e-02 -4.71925946e-03 1.48372866e+02] [-5.11297605e-02 9.98691964e-01 3.30518890e-04 -1.06402943e+01] [ 4.72998618e-03 -8.87882690e-05 9.99988810e-01 -3.85310614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89241403699998 meters 0.06837160176583955 Centerline is valid? [True, True] Translation: X:148.40, Y:-10.65, Z:-3.85 [[ 9.98744266e-01 4.99222191e-02 -4.20270746e-03 1.48403899e+02] [-4.99214126e-02 9.98753105e-01 2.96644812e-04 -1.06509143e+01] [ 4.21227629e-03 -8.64672123e-05 9.99991125e-01 -3.85354197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92241403699998 meters 0.06835551854280274 Centerline is valid? [True, True] Translation: X:148.44, Y:-10.66, Z:-3.85 [[ 9.98699328e-01 5.07696598e-02 -4.70035990e-03 1.48437013e+02] [-5.07686562e-02 9.98710385e-01 3.32664042e-04 -1.06559201e+01] [ 4.71118749e-03 -9.36003994e-05 9.99988898e-01 -3.85431273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95241403699998 meters 0.06818194874022067 Centerline is valid? [True, True] Translation: X:148.47, Y:-10.66, Z:-3.86 [[ 9.98655484e-01 5.17240119e-02 -3.44253787e-03 1.48469496e+02] [-5.17234896e-02 9.98661415e-01 2.40647694e-04 -1.06586712e+01] [ 3.45037701e-03 -6.22640678e-05 9.99994045e-01 -3.85609641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98241403699998 meters 0.06792878672457942 Centerline is valid? [True, True] Translation: X:148.50, Y:-10.66, Z:-3.86 [[ 9.98542274e-01 5.39577782e-02 -1.37278952e-03 1.48500331e+02] [-5.39576972e-02 9.98543218e-01 9.60102694e-05 -1.06595077e+01] [ 1.37597017e-03 -2.17977513e-05 9.99999053e-01 -3.85758496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01241403699999 meters 0.06724841863310524 Centerline is valid? [True, True] Translation: X:148.53, Y:-10.66, Z:-3.86 [[ 9.98116335e-01 6.12795878e-02 2.93144698e-03 1.48531605e+02] [-6.12792577e-02 9.98120640e-01 -2.02368294e-04 -1.06562190e+01] [-2.93833878e-03 2.23502054e-05 9.99995683e-01 -3.85570686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.042414037 meters 0.06722882912815362 Centerline is valid? [True, True] Translation: X:148.56, Y:-10.66, Z:-3.86 [[ 9.97840184e-01 6.56522778e-02 2.17828225e-03 1.48564639e+02] [-6.56521209e-02 9.97842562e-01 -1.43531097e-04 -1.06577708e+01] [-2.18300588e-03 2.12246972e-07 9.99997617e-01 -3.85565109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.072414037 meters 0.06726483591333743 Centerline is valid? [True, True] Translation: X:148.60, Y:-10.66, Z:-3.86 [[ 9.97549251e-01 6.99611374e-02 9.65104670e-04 1.48596284e+02] [-6.99611116e-02 9.97549718e-01 -6.04331066e-05 -1.06597595e+01] [-9.66967860e-04 -7.23479528e-06 9.99999532e-01 -3.85658807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.102414037 meters 0.06739329454325596 Centerline is valid? [True, True] Translation: X:148.63, Y:-10.66, Z:-3.86 [[ 9.97046311e-01 7.68026398e-02 -9.12397730e-05 1.48627614e+02] [-7.68026389e-02 9.97046315e-01 1.27662868e-05 -1.06606554e+01] [ 9.19507639e-05 -5.72112377e-06 9.99999996e-01 -3.85933521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.132414037 meters 0.06731340550021514 Centerline is valid? [True, True] Translation: X:148.66, Y:-10.66, Z:-3.86 [[ 9.96861058e-01 7.91692252e-02 5.13653200e-04 1.48660543e+02] [-7.91692212e-02 9.96861191e-01 -2.81697728e-05 -1.06624622e+01] [-5.14271120e-04 -1.25841743e-05 9.99999868e-01 -3.85933525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.162414037 meters 0.06716503259802939 Centerline is valid? [True, True] Translation: X:148.69, Y:-10.66, Z:-3.86 [[ 9.96747343e-01 8.05636578e-02 2.05705656e-03 1.48692827e+02] [-8.05635442e-02 9.96749465e-01 -1.38149470e-04 -1.06644925e+01] [-2.06149985e-03 -2.80236501e-05 9.99997875e-01 -3.86076670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.192414037 meters 0.06729003452290318 Centerline is valid? [True, True] Translation: X:148.72, Y:-10.67, Z:-3.87 [[ 9.96850263e-01 7.92416090e-02 3.21258839e-03 1.48723313e+02] [-7.92413085e-02 9.96855439e-01 -2.20924205e-04 -1.06697939e+01] [-3.21999260e-03 -3.43413559e-05 9.99994815e-01 -3.86603668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.222414037 meters 0.06721919968342682 Centerline is valid? [True, True] Translation: X:148.76, Y:-10.68, Z:-3.86 [[ 9.97016712e-01 7.71686585e-02 1.63558317e-03 1.48755163e+02] [-7.71685832e-02 9.97018053e-01 -1.09195070e-04 -1.06776819e+01] [-1.63913238e-03 -1.73463257e-05 9.99998656e-01 -3.86370699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.252414037 meters 0.06730369160721647 Centerline is valid? [True, True] Translation: X:148.79, Y:-10.69, Z:-3.87 [[ 9.97202472e-01 7.47476048e-02 1.59653735e-04 1.48786424e+02] [-7.47476051e-02 9.97202485e-01 -4.48695363e-06 -1.06854100e+01] [-1.59542490e-04 -7.45933305e-06 9.99999987e-01 -3.86515828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.282414037 meters 0.06754463087911255 Centerline is valid? [True, True] Translation: X:148.82, Y:-10.70, Z:-3.87 [[ 9.97671957e-01 6.81922597e-02 6.93624331e-04 1.48816628e+02] [-6.81922461e-02 9.97672199e-01 -4.32284613e-05 -1.06990771e+01] [-6.94957558e-04 -4.17197751e-06 9.99999759e-01 -3.86623327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.312414037 meters 0.06762321831443895 Centerline is valid? [True, True] Translation: X:148.85, Y:-10.71, Z:-3.87 [[ 9.97841529e-01 6.56646228e-02 -6.63685802e-04 1.48848457e+02] [-6.56646011e-02 9.97841750e-01 5.43822631e-05 -1.07062884e+01] [ 6.65824392e-04 -1.06842171e-05 9.99999778e-01 -3.86673051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.342414037 meters 0.06785332613649527 Centerline is valid? [True, True] Translation: X:148.88, Y:-10.71, Z:-3.87 [[ 9.98034246e-01 6.26644958e-02 -8.97096962e-04 1.48878689e+02] [-6.26644602e-02 9.98034649e-01 6.78128509e-05 -1.07131798e+01] [ 8.99583310e-04 -1.14634506e-05 9.99999595e-01 -3.86895552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.372414037 meters 0.06843622740908752 Centerline is valid? [True, True] Translation: X:148.91, Y:-10.72, Z:-3.87 [[ 9.98341307e-01 5.74292207e-02 -4.06434558e-03 1.48908232e+02] [-5.74285058e-02 9.98349579e-01 2.92502115e-04 -1.07228927e+01] [ 4.07443586e-03 -5.86076506e-05 9.99991698e-01 -3.87337614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.402414037 meters 0.06864868033929956 Centerline is valid? [True, True] Translation: X:148.94, Y:-10.73, Z:-3.87 [[ 9.98451363e-01 5.55162136e-02 -3.58138907e-03 1.48940318e+02] [-5.55156211e-02 9.98457784e-01 2.64724215e-04 -1.07282791e+01] [ 3.59056228e-03 -6.54912148e-05 9.99993552e-01 -3.87469886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.432414037 meters 0.06864868033929956 Centerline is valid? [True, True] Translation: X:148.97, Y:-10.73, Z:-3.88 [[ 9.98436625e-01 5.57806424e-02 -3.58125190e-03 1.48972659e+02] [-5.57800448e-02 9.98443046e-01 2.66611525e-04 -1.07307056e+01] [ 3.59054782e-03 -6.64323196e-05 9.99993552e-01 -3.87561898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.462414037 meters 0.06895330242805243 Centerline is valid? [True, True] Translation: X:149.00, Y:-10.74, Z:-3.88 [[ 9.98536935e-01 5.39892950e-02 -3.02430454e-03 1.49004242e+02] [-5.39888580e-02 9.98541512e-01 2.26032989e-04 -1.07360332e+01] [ 3.03209699e-03 -6.24235401e-05 9.99995401e-01 -3.87663930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49241403699997 meters 0.06922990934256332 Centerline is valid? [True, True] Translation: X:149.04, Y:-10.74, Z:-3.88 [[ 9.98651184e-01 5.18496529e-02 -2.72506444e-03 1.49036100e+02] [-5.18492865e-02 9.98654900e-01 2.04976077e-04 -1.07416883e+01] [ 2.73202689e-03 -6.34069553e-05 9.99996266e-01 -3.87634255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52241403699998 meters 0.07031837348457959 Centerline is valid? [True, True] Translation: X:149.07, Y:-10.75, Z:-3.88 [[ 9.98927554e-01 4.61974726e-02 -3.08794341e-03 1.49065180e+02] [-4.61969981e-02 9.98932323e-01 2.24844706e-04 -1.07513430e+01] [ 3.09503374e-03 -8.19498567e-05 9.99995207e-01 -3.87615566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55241403699998 meters 0.06978166505616866 Centerline is valid? [True, True] Translation: X:149.10, Y:-10.75, Z:-3.87 [[ 9.99049067e-01 4.34678841e-02 -3.39183011e-03 1.49096925e+02] [-4.34672834e-02 9.99054820e-01 2.50642626e-04 -1.07525388e+01] [ 3.39951913e-03 -1.02970641e-04 9.99994216e-01 -3.87375528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58241403699998 meters 0.07119900272066532 Centerline is valid? [True, True] Translation: X:149.13, Y:-10.76, Z:-3.88 [[ 9.99165543e-01 4.07945155e-02 -2.00608755e-03 1.49127450e+02] [-4.07942905e-02 9.99167555e-01 1.52984960e-04 -1.07593110e+01] [ 2.01065854e-03 -7.10203821e-05 9.99997976e-01 -3.87805403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61241403699998 meters 0.07006911833600546 Centerline is valid? [True, True] Translation: X:149.16, Y:-10.76, Z:-3.87 [[ 9.99275537e-01 3.80297673e-02 -1.46229628e-03 1.49160067e+02] [-3.80296485e-02 9.99276605e-01 1.09026793e-04 -1.07574677e+01] [ 1.46538473e-03 -5.33371940e-05 9.99998925e-01 -3.87429509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64241403699998 meters 0.07050883624373103 Centerline is valid? [True, True] Translation: X:149.19, Y:-10.76, Z:-3.87 [[ 9.99449196e-01 3.31412562e-02 -1.72097980e-03 1.49191402e+02] [-3.31410864e-02 9.99450675e-01 1.27048035e-04 -1.07598968e+01] [ 1.72424496e-03 -6.99429156e-05 9.99998511e-01 -3.87384500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67241403699998 meters 0.07177626464330863 Centerline is valid? [True, True] Translation: X:149.22, Y:-10.76, Z:-3.88 [[ 9.99542682e-01 3.01130472e-02 -2.76229766e-03 1.49221013e+02] [-3.01126028e-02 9.99546492e-01 2.02352593e-04 -1.07649645e+01] [ 2.76713839e-03 -1.19080082e-04 9.99996164e-01 -3.87616739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70241403699998 meters 0.07148128802458598 Centerline is valid? [True, True] Translation: X:149.25, Y:-10.77, Z:-3.88 [[ 9.99626436e-01 2.71364809e-02 -3.25577623e-03 1.49252125e+02] [-2.71358460e-02 9.99631727e-01 2.39046460e-04 -1.07653940e+01] [ 3.26106409e-03 -1.50608919e-04 9.99994671e-01 -3.87523016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73241403699998 meters 0.071145492052343 Centerline is valid? [True, True] Translation: X:149.28, Y:-10.76, Z:-3.87 [[ 9.99735119e-01 2.25785501e-02 -4.46111467e-03 1.49283391e+02] [-2.25773151e-02 9.99745046e-01 3.27004878e-04 -1.07647025e+01] [ 4.46736059e-03 -2.26198269e-04 9.99989996e-01 -3.87243876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76241403699999 meters 0.07173640387870504 Centerline is valid? [True, True] Translation: X:149.31, Y:-10.77, Z:-3.87 [[ 9.99798648e-01 1.96853855e-02 -3.89217395e-03 1.49314087e+02] [-1.96844177e-02 9.99806202e-01 2.86818203e-04 -1.07664107e+01] [ 3.89706578e-03 -2.10145274e-04 9.99992384e-01 -3.87398689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.792414037 meters 0.07351551310622877 Centerline is valid? [True, True] Translation: X:149.34, Y:-10.77, Z:-3.88 [[ 9.99827048e-01 1.82629568e-02 -3.51257186e-03 1.49344515e+02] [-1.82621388e-02 9.99833198e-01 2.64827913e-04 -1.07715887e+01] [ 3.51682250e-03 -2.00635036e-04 9.99993796e-01 -3.87758289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.822414037 meters 0.07326733518412948 Centerline is valid? [True, True] Translation: X:149.38, Y:-10.77, Z:-3.88 [[ 9.99882757e-01 1.46500287e-02 -4.45524009e-03 1.49375251e+02] [-1.46487129e-02 9.99892648e-01 3.27838502e-04 -1.07666124e+01] [ 4.45956465e-03 -2.62536532e-04 9.99990022e-01 -3.87804179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.852414037 meters 0.07551953832194647 Centerline is valid? [True, True] Translation: X:149.41, Y:-10.77, Z:-3.88 [[ 9.99887184e-01 1.39554770e-02 -5.55548971e-03 1.49405828e+02] [-1.39533795e-02 9.99902560e-01 4.16138692e-04 -1.07709296e+01] [ 5.56075580e-03 -3.38573889e-04 9.99984482e-01 -3.88315702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.882414037 meters 0.07341793352004071 Centerline is valid? [True, True] Translation: X:149.44, Y:-10.76, Z:-3.88 [[ 9.99888609e-01 1.38373457e-02 -5.59436894e-03 1.49438801e+02] [-1.38352065e-02 9.99904200e-01 4.20903312e-04 -1.07638994e+01] [ 5.59965718e-03 -3.43457177e-04 9.99984263e-01 -3.88223711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.912414037 meters 0.07390563402781772 Centerline is valid? [True, True] Translation: X:149.47, Y:-10.76, Z:-3.88 [[ 9.99885793e-01 1.34084408e-02 -6.97245188e-03 1.49471450e+02] [-1.34051498e-02 9.99910012e-01 5.18529597e-04 -1.07589762e+01] [ 6.97877712e-03 -4.25003616e-04 9.99975558e-01 -3.88460768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.942414037 meters 0.07381203010223183 Centerline is valid? [True, True] Translation: X:149.50, Y:-10.76, Z:-3.88 [[ 9.99899399e-01 1.29435488e-02 -5.80139789e-03 1.49504021e+02] [-1.29412244e-02 9.99916163e-01 4.38020946e-04 -1.07572333e+01] [ 5.80658107e-03 -3.62899689e-04 9.99983076e-01 -3.88469181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.972414037 meters 0.07303057948739691 Centerline is valid? [True, True] Translation: X:149.54, Y:-10.75, Z:-3.88 [[ 9.99905797e-01 1.25818848e-02 -5.48582058e-03 1.49536885e+02] [-1.25797909e-02 9.99920785e-01 4.16043948e-04 -1.07534858e+01] [ 5.49062064e-03 -3.46994280e-04 9.99984866e-01 -3.88366946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.002414037 meters 0.07315245697497866 Centerline is valid? [True, True] Translation: X:149.57, Y:-10.75, Z:-3.88 [[ 9.99908945e-01 1.21052583e-02 -5.96361430e-03 1.49569006e+02] [-1.21027702e-02 9.99926656e-01 4.53117395e-04 -1.07518022e+01] [ 5.96866201e-03 -3.80899883e-04 9.99982115e-01 -3.88450865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.032414037 meters 0.07395492553996133 Centerline is valid? [True, True] Translation: X:149.60, Y:-10.75, Z:-3.89 [[ 9.99905892e-01 1.03717806e-02 -8.97955644e-03 1.49599185e+02] [-1.03661636e-02 9.99946044e-01 6.71852930e-04 -1.07450597e+01] [ 8.98604025e-03 -5.78706153e-04 9.99959457e-01 -3.88779580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.062414037 meters 0.07443624894342835 Centerline is valid? [True, True] Translation: X:149.63, Y:-10.74, Z:-3.89 [[ 9.99922649e-01 9.38799454e-03 -8.15858315e-03 1.49629766e+02] [-9.38332498e-03 9.99955789e-01 6.10440605e-04 -1.07429577e+01] [ 8.16395327e-03 -5.33838749e-04 9.99966532e-01 -3.88906689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.092414037 meters 0.07453212490666153 Centerline is valid? [True, True] Translation: X:149.66, Y:-10.74, Z:-3.89 [[ 9.99929196e-01 8.56818874e-03 -8.25768023e-03 1.49660874e+02] [-8.56337722e-03 9.99963143e-01 6.17855235e-04 -1.07406651e+01] [ 8.26266978e-03 -5.47097858e-04 9.99965714e-01 -3.88874292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.122414037 meters 0.0748685218118386 Centerline is valid? [True, True] Translation: X:149.69, Y:-10.74, Z:-3.89 [[ 9.99936557e-01 8.28676237e-03 -7.62970373e-03 1.49690154e+02] [-8.28265135e-03 9.99965536e-01 5.70258203e-04 -1.07396434e+01] [ 7.63416637e-03 -5.07027848e-04 9.99970731e-01 -3.88823405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.152414037 meters 0.07402400646940488 Centerline is valid? [True, True] Translation: X:149.72, Y:-10.73, Z:-3.89 [[ 9.99924909e-01 9.38176740e-03 -7.88407879e-03 1.49721138e+02] [-9.37741747e-03 9.99955858e-01 5.88522803e-04 -1.07285314e+01] [ 7.88925216e-03 -5.14546312e-04 9.99968747e-01 -3.88603846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.182414037 meters 0.07389474089954441 Centerline is valid? [True, True] Translation: X:149.75, Y:-10.72, Z:-3.89 [[ 9.99890588e-01 1.15183824e-02 -9.28111205e-03 1.49751916e+02] [-1.15124353e-02 9.99933489e-01 6.93951945e-04 -1.07227689e+01] [ 9.28848796e-03 -5.87027816e-04 9.99956689e-01 -3.88880939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.212414037 meters 0.07299792682722125 Centerline is valid? [True, True] Translation: X:149.78, Y:-10.71, Z:-3.89 [[ 9.99720714e-01 1.90728484e-02 -1.39542336e-02 1.49784058e+02] [-1.90601407e-02 9.99817795e-01 1.04310937e-03 -1.07052386e+01] [ 1.39715861e-02 -7.76848392e-04 9.99902091e-01 -3.89465977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24241403699997 meters 0.07277020450304636 Centerline is valid? [True, True] Translation: X:149.81, Y:-10.70, Z:-3.90 [[ 9.99608551e-01 2.38091518e-02 -1.46924533e-02 1.49814154e+02] [-2.37955890e-02 9.99716243e-01 1.09726800e-03 -1.06988163e+01] [ 1.47144092e-02 -7.47222901e-04 9.99891458e-01 -3.89833963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27241403699998 meters 0.07146416055759391 Centerline is valid? [True, True] Translation: X:149.85, Y:-10.69, Z:-3.90 [[ 9.99524215e-01 2.80683386e-02 -1.27871687e-02 1.49845864e+02] [-2.80584101e-02 9.99605829e-01 9.55216954e-04 -1.06898073e+01] [ 1.28089397e-02 -5.95974854e-04 9.99917785e-01 -3.89842427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30241403699998 meters 0.07161503047374182 Centerline is valid? [True, True] Translation: X:149.88, Y:-10.69, Z:-3.90 [[ 9.99409849e-01 3.23940377e-02 -1.14271360e-02 1.49876266e+02] [-3.23863928e-02 9.99475059e-01 8.53474858e-04 -1.06855407e+01] [ 1.14487849e-02 -4.82887466e-04 9.99934344e-01 -3.90087409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33241403699998 meters 0.06911411784140166 Centerline is valid? [True, True] Translation: X:149.91, Y:-10.67, Z:-3.89 [[ 9.99131235e-01 4.11922794e-02 -6.32221530e-03 1.49908322e+02] [-4.11901129e-02 9.99151215e-01 4.72561698e-04 -1.06678703e+01] [ 6.33631499e-03 -2.11738391e-04 9.99979903e-01 -3.89479877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36241403699998 meters 0.06901401066583382 Centerline is valid? [True, True] Translation: X:149.94, Y:-10.66, Z:-3.90 [[ 9.98982045e-01 4.49084899e-02 -4.25454309e-03 1.49938606e+02] [-4.49075429e-02 9.98991097e-01 3.17901406e-04 -1.06643552e+01] [ 4.26452714e-03 -1.26516720e-04 9.99990899e-01 -3.89682326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39241403699998 meters 0.06877422849432537 Centerline is valid? [True, True] Translation: X:149.97, Y:-10.66, Z:-3.90 [[ 9.98850702e-01 4.76035105e-02 -5.58406561e-03 1.49970732e+02] [-4.76018751e-02 9.98866298e-01 4.25480871e-04 -1.06605139e+01] [ 5.59798932e-03 -1.59179872e-04 9.99984318e-01 -3.89770415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42241403699998 meters 0.06829484240084716 Centerline is valid? [True, True] Translation: X:150.00, Y:-10.66, Z:-3.90 [[ 9.98726641e-01 5.01089933e-02 -5.84690837e-03 1.50003632e+02] [-5.01072355e-02 9.98743744e-01 4.46828528e-04 -1.06560905e+01] [ 5.86195328e-03 -1.53287141e-04 9.99982807e-01 -3.89814067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45241403699998 meters 0.06858044562666564 Centerline is valid? [True, True] Translation: X:150.04, Y:-10.65, Z:-3.90 [[ 9.98724354e-01 5.01856708e-02 -5.57349917e-03 1.50035724e+02] [-5.01840620e-02 9.98739894e-01 4.28209547e-04 -1.06515803e+01] [ 5.58796596e-03 -1.47962474e-04 9.99984376e-01 -3.90234237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48241403699998 meters 0.06866715647940644 Centerline is valid? [True, True] Translation: X:150.07, Y:-10.65, Z:-3.90 [[ 9.98755288e-01 4.97569967e-02 -3.48070467e-03 1.50067594e+02] [-4.97563561e-02 9.98761349e-01 2.70454335e-04 -1.06508598e+01] [ 3.48985029e-03 -9.69305158e-05 9.99993906e-01 -3.90479387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51241403699999 meters 0.06965680440571664 Centerline is valid? [True, True] Translation: X:150.10, Y:-10.65, Z:-3.91 [[ 9.98806790e-01 4.87282657e-02 -3.24837154e-03 1.50097968e+02] [-4.87277037e-02 9.98812068e-01 2.51991706e-04 -1.06538746e+01] [ 3.25679181e-03 -9.34053410e-05 9.99994692e-01 -3.91021799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.542414037 meters 0.06926669430433534 Centerline is valid? [True, True] Translation: X:150.13, Y:-10.65, Z:-3.91 [[ 9.98903443e-01 4.67606614e-02 -2.31327275e-03 1.50130371e+02] [-4.67603630e-02 9.98906119e-01 1.82940981e-04 -1.06493528e+01] [ 2.31929674e-03 -7.45709028e-05 9.99997308e-01 -3.90853854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.572414037 meters 0.06922502043045331 Centerline is valid? [True, True] Translation: X:150.16, Y:-10.65, Z:-3.91 [[ 9.98878402e-01 4.72102712e-02 -3.62321247e-03 1.50162182e+02] [-4.72095527e-02 9.98884967e-01 2.83639843e-04 -1.06496259e+01] [ 3.63256318e-03 -1.12271473e-04 9.99993396e-01 -3.90899555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.602414037 meters 0.06973871844055221 Centerline is valid? [True, True] Translation: X:150.19, Y:-10.65, Z:-3.91 [[ 9.98836715e-01 4.79755096e-02 -4.85456886e-03 1.50192740e+02] [-4.79742520e-02 9.98848502e-01 3.75231799e-04 -1.06519643e+01] [ 4.86698077e-03 -1.41900987e-04 9.99988146e-01 -3.91257260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.632414037 meters 0.06910262369871803 Centerline is valid? [True, True] Translation: X:150.22, Y:-10.65, Z:-3.91 [[ 9.98729186e-01 5.03073071e-02 -3.03111776e-03 1.50224516e+02] [-5.03068314e-02 9.98733783e-01 2.33055252e-04 -1.06475990e+01] [ 3.03900409e-03 -8.02731517e-05 9.99995379e-01 -3.91167662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.662414037 meters 0.06887245743227084 Centerline is valid? [True, True] Translation: X:150.26, Y:-10.65, Z:-3.91 [[ 9.98624790e-01 5.24070242e-02 -1.42543213e-03 1.50256027e+02] [-5.24069203e-02 9.98625807e-01 1.10160887e-04 -1.06470271e+01] [ 1.42924651e-03 -3.53068843e-05 9.99998978e-01 -3.91233072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.692414037 meters 0.06850406414935084 Centerline is valid? [True, True] Translation: X:150.29, Y:-10.65, Z:-3.91 [[ 9.98397620e-01 5.65674985e-02 -1.51986260e-03 1.50288152e+02] [-5.65673844e-02 9.98398777e-01 1.17948624e-04 -1.06452599e+01] [ 1.52410102e-03 -3.17849730e-05 9.99998838e-01 -3.91335862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.722414037 meters 0.06781657443163142 Centerline is valid? [True, True] Translation: X:150.32, Y:-10.64, Z:-3.92 [[ 9.97752377e-01 6.69797745e-02 -1.97598993e-03 1.50320704e+02] [-6.69796014e-02 9.97754333e-01 1.53739775e-04 -1.06362653e+01] [ 1.98184997e-03 -2.10432076e-05 9.99998036e-01 -3.91588011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.752414037 meters 0.06751633218798832 Centerline is valid? [True, True] Translation: X:150.35, Y:-10.63, Z:-3.92 [[ 9.97352923e-01 7.26649667e-02 -2.63635413e-03 1.50353324e+02] [-7.26646654e-02 9.97356407e-01 2.10002463e-04 -1.06332367e+01] [ 2.64464451e-03 -1.78767795e-05 9.99996503e-01 -3.91542025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.782414037 meters 0.06762801679229116 Centerline is valid? [True, True] Translation: X:150.39, Y:-10.63, Z:-3.92 [[ 9.96998180e-01 7.73960628e-02 -2.11616855e-03 1.50385015e+02] [-7.73958754e-02 9.97000426e-01 1.70434275e-04 -1.06322578e+01] [ 2.12301188e-03 -6.13994513e-06 9.99997746e-01 -3.91918661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.812414037 meters 0.06788181813685247 Centerline is valid? [True, True] Translation: X:150.42, Y:-10.63, Z:-3.92 [[ 9.96331279e-01 8.55446063e-02 -2.47029707e-03 1.50415966e+02] [-8.55443936e-02 9.96334341e-01 1.91835270e-04 -1.06299939e+01] [ 2.47765227e-03 2.01885846e-05 9.99996930e-01 -3.92154818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.842414037 meters 0.06793962150883893 Centerline is valid? [True, True] Translation: X:150.45, Y:-10.63, Z:-3.92 [[ 9.95961413e-01 8.97483271e-02 -2.47001859e-03 1.50448263e+02] [-8.97481112e-02 9.95964476e-01 1.98364374e-04 -1.06317031e+01] [ 2.47785364e-03 2.41162414e-05 9.99996930e-01 -3.92159172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.872414037 meters 0.06809754152865002 Centerline is valid? [True, True] Translation: X:150.48, Y:-10.63, Z:-3.92 [[ 9.95632189e-01 9.33211107e-02 -2.77743918e-03 1.50479679e+02] [-9.33208537e-02 9.95636062e-01 2.22279341e-04 -1.06332498e+01] [ 2.78606196e-03 3.78845283e-05 9.99996118e-01 -3.92406290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.902414037 meters 0.06838477746023375 Centerline is valid? [True, True] Translation: X:150.51, Y:-10.64, Z:-3.93 [[ 9.95367531e-01 9.61076073e-02 -2.60877642e-03 1.50510508e+02] [-9.61073878e-02 9.95370949e-01 2.09674794e-04 -1.06352441e+01] [ 2.61685160e-03 4.20192046e-05 9.99996575e-01 -3.92674463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.932414037 meters 0.06809159610726911 Centerline is valid? [True, True] Translation: X:150.54, Y:-10.64, Z:-3.92 [[ 9.95186322e-01 9.79879511e-02 -1.59565270e-03 1.50543383e+02] [-9.79878642e-02 9.95187601e-01 1.32743713e-04 -1.06441115e+01] [ 1.60098107e-03 2.42498734e-05 9.99998718e-01 -3.92496846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.962414037 meters 0.06799120283089356 Centerline is valid? [True, True] Translation: X:150.58, Y:-10.65, Z:-3.92 [[ 9.95228950e-01 9.75519105e-02 -1.72085954e-03 1.50575344e+02] [-9.75518107e-02 9.95230438e-01 1.42031351e-04 -1.06515316e+01] [ 1.72650722e-03 2.65192517e-05 9.99998509e-01 -3.92452703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99241403699997 meters 0.06805547412729822 Centerline is valid? [True, True] Translation: X:150.61, Y:-10.66, Z:-3.93 [[ 9.95361373e-01 9.61711331e-02 -2.61713206e-03 1.50606361e+02] [-9.61709111e-02 9.95364813e-01 2.10816172e-04 -1.06594034e+01] [ 2.62527560e-03 4.18537009e-05 9.99996553e-01 -3.92605115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02241403699998 meters 0.06807986100902502 Centerline is valid? [True, True] Translation: X:150.64, Y:-10.68, Z:-3.93 [[ 9.95813156e-01 9.12889531e-02 -4.74187099e-03 1.50636714e+02] [-9.12881737e-02 9.95824444e-01 3.80987700e-04 -1.06769399e+01] [ 4.75685102e-03 5.34841795e-05 9.99988685e-01 -3.92748104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05241403699998 meters 0.06814378234847618 Centerline is valid? [True, True] Translation: X:150.67, Y:-10.69, Z:-3.93 [[ 9.96070458e-01 8.84586822e-02 -4.32489960e-03 1.50668008e+02] [-8.84580003e-02 9.96079846e-01 3.49069248e-04 -1.06881762e+01] [ 4.33882353e-03 3.48744049e-05 9.99990587e-01 -3.92849708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08241403699998 meters 0.06807897773876838 Centerline is valid? [True, True] Translation: X:150.70, Y:-10.70, Z:-3.93 [[ 9.96237375e-01 8.64616545e-02 -5.95605179e-03 1.50699743e+02] [-8.64603313e-02 9.96255179e-01 4.79770268e-04 -1.06992521e+01] [ 5.97522917e-03 3.69971383e-05 9.99982147e-01 -3.92725352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11241403699998 meters 0.06805924104663608 Centerline is valid? [True, True] Translation: X:150.73, Y:-10.72, Z:-3.93 [[ 9.96566554e-01 8.25998139e-02 -5.68981429e-03 1.50729562e+02] [-8.25985373e-02 9.96582797e-01 4.59378795e-04 -1.07156635e+01] [ 5.70831564e-03 1.21687949e-05 9.99983707e-01 -3.92744759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14241403699998 meters 0.0679565726764927 Centerline is valid? [True, True] Translation: X:150.76, Y:-10.72, Z:-3.93 [[ 9.96733124e-01 8.06642608e-02 -4.04436995e-03 1.50761192e+02] [-8.06635862e-02 9.96741329e-01 3.29895436e-04 -1.07245866e+01] [ 4.05780145e-03 -2.58432389e-06 9.99991767e-01 -3.92648876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17241403699998 meters 0.06800170458327814 Centerline is valid? [True, True] Translation: X:150.79, Y:-10.73, Z:-3.93 [[ 9.96857689e-01 7.91059780e-02 -4.12208748e-03 1.50793872e+02] [-7.91052545e-02 9.96866212e-01 3.38516958e-04 -1.07336038e+01] [ 4.13594845e-03 -1.13744535e-05 9.99991447e-01 -3.92550980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20241403699998 meters 0.06808946273490062 Centerline is valid? [True, True] Translation: X:150.82, Y:-10.74, Z:-3.93 [[ 9.96969728e-01 7.76288996e-02 -5.01158250e-03 1.50824239e+02] [-7.76278225e-02 9.96982324e-01 4.09384294e-04 -1.07421279e+01] [ 5.02823922e-03 -1.91055112e-05 9.99987358e-01 -3.92829794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23241403699998 meters 0.0685279275955456 Centerline is valid? [True, True] Translation: X:150.85, Y:-10.76, Z:-3.93 [[ 9.97238562e-01 7.37719485e-02 -8.54107810e-03 1.50853788e+02] [-7.37687593e-02 9.97275136e-01 6.88267263e-04 -1.07561594e+01] [ 8.56857964e-03 -5.63019213e-05 9.99963287e-01 -3.92963420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26241403699999 meters 0.06866357290602844 Centerline is valid? [True, True] Translation: X:150.89, Y:-10.76, Z:-3.93 [[ 9.97365620e-01 7.21261064e-02 -7.72302669e-03 1.50885015e+02] [-7.21233901e-02 9.97395518e-01 6.30012712e-04 -1.07647834e+01] [ 7.74835258e-03 -7.13421520e-05 9.99969979e-01 -3.92994656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.292414037 meters 0.06866992383191799 Centerline is valid? [True, True] Translation: X:150.92, Y:-10.77, Z:-3.93 [[ 9.97404708e-01 7.14978661e-02 -8.47965646e-03 1.50916428e+02] [-7.14945567e-02 9.97440749e-01 6.93151329e-04 -1.07726879e+01] [ 8.50751373e-03 -8.51031193e-05 9.99963807e-01 -3.92955806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.322414037 meters 0.06866992383191799 Centerline is valid? [True, True] Translation: X:150.95, Y:-10.78, Z:-3.93 [[ 9.97384577e-01 7.17781654e-02 -8.47938080e-03 1.50948775e+02] [-7.17748373e-02 9.97420617e-01 6.96539797e-04 -1.07753813e+01] [ 8.50750558e-03 -8.61118730e-05 9.99963807e-01 -3.93047833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.352414037 meters 0.06859896393644495 Centerline is valid? [True, True] Translation: X:150.98, Y:-10.78, Z:-3.93 [[ 9.97465943e-01 7.07579105e-02 -7.41686383e-03 1.50980315e+02] [-7.07553219e-02 9.97493514e-01 6.11151697e-04 -1.07823450e+01] [ 7.44151738e-03 -8.48204160e-05 9.99972308e-01 -3.93011302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.382414037 meters 0.06877008051076457 Centerline is valid? [True, True] Translation: X:151.01, Y:-10.79, Z:-3.93 [[ 9.97641078e-01 6.83518617e-02 -6.34846599e-03 1.51011539e+02] [-6.83498964e-02 9.97661273e-01 5.26269962e-04 -1.07925333e+01] [ 6.36959019e-03 -9.11115398e-05 9.99979710e-01 -3.93115421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.412414037 meters 0.06891898458067373 Centerline is valid? [True, True] Translation: X:151.04, Y:-10.80, Z:-3.93 [[ 9.97694773e-01 6.75760615e-02 -6.21416680e-03 1.51043729e+02] [-6.75741489e-02 9.97714121e-01 5.17476890e-04 -1.07993391e+01] [ 6.23493102e-03 -9.63669559e-05 9.99980558e-01 -3.93193491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.442414037 meters 0.06909663949754848 Centerline is valid? [True, True] Translation: X:151.07, Y:-10.81, Z:-3.93 [[ 9.97787234e-01 6.61939378e-02 -6.24483737e-03 1.51074894e+02] [-6.61919765e-02 9.97806771e-01 5.20454509e-04 -1.08068071e+01] [ 6.26559194e-03 -1.05944736e-04 9.99980365e-01 -3.93270227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.472414037 meters 0.06969055956572999 Centerline is valid? [True, True] Translation: X:151.10, Y:-10.82, Z:-3.93 [[ 9.98044277e-01 6.20138954e-02 -7.86750857e-03 1.51104292e+02] [-6.20107158e-02 9.98075274e-01 6.47674410e-04 -1.08198560e+01] [ 7.89253059e-03 -1.58537900e-04 9.99968841e-01 -3.93487926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.502414037 meters 0.06954654259006386 Centerline is valid? [True, True] Translation: X:151.14, Y:-10.82, Z:-3.93 [[ 9.98186540e-01 5.93269652e-02 -1.01951801e-02 1.51135214e+02] [-5.93214781e-02 9.98238577e-01 8.40030996e-04 -1.08247358e+01] [ 1.02270586e-02 -2.33714478e-04 9.99947675e-01 -3.93396779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.532414037 meters 0.06992072943434144 Centerline is valid? [True, True] Translation: X:151.17, Y:-10.83, Z:-3.94 [[ 9.98322544e-01 5.68835483e-02 -1.07870739e-02 1.51165272e+02] [-5.68772224e-02 9.98380782e-01 8.92558589e-04 -1.08310143e+01] [ 1.08203792e-02 -2.77522559e-04 9.99941419e-01 -3.93643977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.562414037 meters 0.0704473393060516 Centerline is valid? [True, True] Translation: X:151.20, Y:-10.84, Z:-3.94 [[ 9.98664315e-01 5.10916838e-02 -7.69586299e-03 1.51195622e+02] [-5.10882760e-02 9.98693937e-01 6.38881874e-04 -1.08419978e+01] [ 7.71845326e-03 -2.44860157e-04 9.99970182e-01 -3.93626510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.592414037 meters 0.07033044139564736 Centerline is valid? [True, True] Translation: X:151.23, Y:-10.85, Z:-3.93 [[ 9.98824943e-01 4.80871727e-02 -6.02967122e-03 1.51227260e+02] [-4.80849922e-02 9.98843119e-01 5.06177008e-04 -1.08487793e+01] [ 6.04703623e-03 -2.15645528e-04 9.99981693e-01 -3.93352001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.622414037 meters 0.0708415394591824 Centerline is valid? [True, True] Translation: X:151.26, Y:-10.86, Z:-3.93 [[ 9.98957506e-01 4.53077302e-02 -5.57768118e-03 1.51257366e+02] [-4.53058504e-02 9.98973055e-01 4.62990484e-04 -1.08569395e+01] [ 5.59293026e-03 -2.09806230e-04 9.99984337e-01 -3.93370426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.652414037 meters 0.07133702320527763 Centerline is valid? [True, True] Translation: X:151.29, Y:-10.86, Z:-3.93 [[ 9.99032327e-01 4.31895449e-02 -8.31096137e-03 1.51286562e+02] [-4.31853103e-02 9.99066842e-01 6.88397078e-04 -1.08638642e+01] [ 8.33293749e-03 -3.28819489e-04 9.99965226e-01 -3.93401335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.682414037 meters 0.07252731111439634 Centerline is valid? [True, True] Translation: X:151.32, Y:-10.87, Z:-3.94 [[ 9.99029227e-01 4.26454202e-02 -1.10441038e-02 1.51315960e+02] [-4.26379090e-02 9.99090172e-01 9.14783313e-04 -1.08714058e+01] [ 1.10730669e-02 -4.42997774e-04 9.99938594e-01 -3.94031450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.712414037 meters 0.07106052731388186 Centerline is valid? [True, True] Translation: X:151.35, Y:-10.87, Z:-3.94 [[ 9.98904570e-01 4.51201965e-02 -1.24027749e-02 1.51348708e+02] [-4.51107913e-02 9.98981452e-01 1.03717831e-03 -1.08693448e+01] [ 1.24369398e-02 -4.76543165e-04 9.99922545e-01 -3.93880026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74241403699997 meters 0.07075084742548261 Centerline is valid? [True, True] Translation: X:151.38, Y:-10.87, Z:-3.94 [[ 9.98712066e-01 4.89036367e-02 -1.35146004e-02 1.51379848e+02] [-4.88928969e-02 9.98803395e-01 1.12414177e-03 -1.08699472e+01] [ 1.35534033e-02 -4.61925984e-04 9.99908042e-01 -3.94085434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77241403699998 meters 0.06985541451175005 Centerline is valid? [True, True] Translation: X:151.41, Y:-10.87, Z:-3.94 [[ 9.98326582e-01 5.66482066e-02 -1.16196759e-02 1.51410712e+02] [-5.66408012e-02 9.98394154e-01 9.65677586e-04 -1.08680698e+01] [ 1.16557204e-02 -3.05913849e-04 9.99932023e-01 -3.94249970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80241403699998 meters 0.06962113170155294 Centerline is valid? [True, True] Translation: X:151.44, Y:-10.87, Z:-3.94 [[ 9.98172304e-01 5.94318758e-02 -1.09500648e-02 1.51442005e+02] [-5.94254517e-02 9.98232330e-01 9.11393813e-04 -1.08698182e+01] [ 1.09848745e-02 -2.59015516e-04 9.99939631e-01 -3.94336381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83241403699998 meters 0.06926523280568385 Centerline is valid? [True, True] Translation: X:151.47, Y:-10.87, Z:-3.94 [[ 9.98091734e-01 6.09516501e-02 -9.88876812e-03 1.51473775e+02] [-6.09464014e-02 9.98140694e-01 8.31533991e-04 -1.08708691e+01] [ 9.92106524e-03 -2.27262371e-04 9.99950759e-01 -3.94296599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86241403699998 meters 0.0690899243032333 Centerline is valid? [True, True] Translation: X:151.51, Y:-10.87, Z:-3.94 [[ 9.98087172e-01 6.13418872e-02 -7.69223110e-03 1.51505281e+02] [-6.13387547e-02 9.98116799e-01 6.42714977e-04 -1.08725778e+01] [ 7.71717043e-03 -1.69653697e-04 9.99970208e-01 -3.94345071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89241403699998 meters 0.06922214822271826 Centerline is valid? [True, True] Translation: X:151.54, Y:-10.87, Z:-3.94 [[ 9.98151018e-01 6.05394449e-02 -5.43325369e-03 1.51536921e+02] [-6.05378291e-02 9.98165797e-01 4.61496082e-04 -1.08746708e+01] [ 5.45122672e-03 -1.31725401e-04 9.99985133e-01 -3.94360343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92241403699998 meters 0.0694454784527368 Centerline is valid? [True, True] Translation: X:151.57, Y:-10.88, Z:-3.95 [[ 9.98211856e-01 5.95842363e-02 -4.77600941e-03 1.51568883e+02] [-5.95829652e-02 9.98223273e-01 4.08110899e-04 -1.08774927e+01] [ 4.79184072e-03 -1.22812335e-04 9.99988512e-01 -3.94521992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95241403699998 meters 0.06928406666522259 Centerline is valid? [True, True] Translation: X:151.60, Y:-10.88, Z:-3.94 [[ 9.98254194e-01 5.86624013e-02 -6.87648783e-03 1.51601404e+02] [-5.86597997e-02 9.98277863e-01 5.79597661e-04 -1.08782182e+01] [ 6.89864616e-03 -1.75212397e-04 9.99976189e-01 -3.94444272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98241403699998 meters 0.07039212305735755 Centerline is valid? [True, True] Translation: X:151.63, Y:-10.88, Z:-3.95 [[ 9.98353184e-01 5.66649137e-02 -8.94467990e-03 1.51631333e+02] [-5.66604489e-02 9.98393223e-01 7.51978507e-04 -1.08824327e+01] [ 8.97291859e-03 -2.43930558e-04 9.99959713e-01 -3.94953858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01241403699999 meters 0.07012417855604672 Centerline is valid? [True, True] Translation: X:151.66, Y:-10.88, Z:-3.95 [[ 9.98371570e-01 5.62976859e-02 -9.20754932e-03 1.51663072e+02] [-5.62928662e-02 9.98413993e-01 7.81989236e-04 -1.08830261e+01] [ 9.23697027e-03 -2.62396480e-04 9.99957304e-01 -3.94857487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.042414037 meters 0.06999401918301046 Centerline is valid? [True, True] Translation: X:151.70, Y:-10.88, Z:-3.95 [[ 9.98364384e-01 5.62759547e-02 -1.00783421e-02 1.51695399e+02] [-5.62701549e-02 9.98415211e-01 8.58340173e-04 -1.08840989e+01] [ 1.01106740e-02 -2.89826386e-04 9.99948844e-01 -3.94982525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.072414037 meters 0.07016244444870678 Centerline is valid? [True, True] Translation: X:151.73, Y:-10.88, Z:-3.95 [[ 9.98310696e-01 5.70145662e-02 -1.11845212e-02 1.51727610e+02] [-5.70074474e-02 9.98373297e-01 9.54528103e-04 -1.08833350e+01] [ 1.12207493e-02 -3.15314611e-04 9.99936996e-01 -3.95134538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.102414037 meters 0.07008202867091873 Centerline is valid? [True, True] Translation: X:151.76, Y:-10.89, Z:-3.95 [[ 9.98324675e-01 5.71168437e-02 -9.24714417e-03 1.51759765e+02] [-5.71119498e-02 9.98367466e-01 7.92652241e-04 -1.08852921e+01] [ 9.27732168e-03 -2.63201858e-04 9.99956930e-01 -3.95171602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.132414037 meters 0.07020694406717362 Centerline is valid? [True, True] Translation: X:151.79, Y:-10.89, Z:-3.95 [[ 9.98286637e-01 5.75794192e-02 -1.04115942e-02 1.51790833e+02] [-5.75732304e-02 9.98340886e-01 8.93413830e-04 -1.08880488e+01] [ 1.04457624e-02 -2.92453976e-04 9.99945399e-01 -3.95242401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.162414037 meters 0.07005627090613294 Centerline is valid? [True, True] Translation: X:151.82, Y:-10.89, Z:-3.95 [[ 9.98171428e-01 5.95081746e-02 -1.06102153e-02 1.51822977e+02] [-5.95018252e-02 9.98227779e-01 9.13370282e-04 -1.08888825e+01] [ 1.06457646e-02 -2.80372945e-04 9.99943293e-01 -3.95386884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.192414037 meters 0.07004123090853961 Centerline is valid? [True, True] Translation: X:151.86, Y:-10.89, Z:-3.96 [[ 9.98075422e-01 6.08720430e-02 -1.18341231e-02 1.51855530e+02] [-6.08642142e-02 9.98145533e-01 1.02090254e-03 -1.08899506e+01] [ 1.18743215e-02 -2.98663134e-04 9.99929453e-01 -3.95522637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.222414037 meters 0.06998136616280907 Centerline is valid? [True, True] Translation: X:151.89, Y:-10.89, Z:-3.96 [[ 9.97913345e-01 6.30592159e-02 -1.38741488e-02 1.51887708e+02] [-6.30486361e-02 9.98009735e-01 1.19906913e-03 -1.08913302e+01] [ 1.39221479e-02 -3.21820926e-04 9.99903030e-01 -3.95685264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.252414037 meters 0.0698043374285501 Centerline is valid? [True, True] Translation: X:151.92, Y:-10.89, Z:-3.96 [[ 9.97608372e-01 6.77544922e-02 -1.36698183e-02 1.51917760e+02] [-6.77447449e-02 9.97701994e-01 1.17537648e-03 -1.08919086e+01] [ 1.37180420e-02 -2.46507059e-04 9.99905873e-01 -3.95891601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.282414037 meters 0.06957461699966688 Centerline is valid? [True, True] Translation: X:151.95, Y:-10.89, Z:-3.96 [[ 9.97461590e-01 7.01100925e-02 -1.24479494e-02 1.51949343e+02] [-7.01021728e-02 9.97539240e-01 1.07196560e-03 -1.08941959e+01] [ 1.24924736e-02 -1.96616208e-04 9.99921947e-01 -3.95962168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.312414037 meters 0.06931916101536693 Centerline is valid? [True, True] Translation: X:151.98, Y:-10.90, Z:-3.96 [[ 9.97341758e-01 7.19679683e-02 -1.14030138e-02 1.51981463e+02] [-7.19613484e-02 9.97406930e-01 9.90312212e-04 -1.08961690e+01] [ 1.14447158e-02 -1.67103473e-04 9.99934493e-01 -3.95866143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.342414037 meters 0.06928237722832054 Centerline is valid? [True, True] Translation: X:152.01, Y:-10.90, Z:-3.96 [[ 9.97262584e-01 7.31757073e-02 -1.06138791e-02 1.52012254e+02] [-7.31700156e-02 9.97319054e-01 9.24098809e-04 -1.08985618e+01] [ 1.06530455e-02 -1.44951464e-04 9.99943244e-01 -3.96055549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.372414037 meters 0.06920748084359363 Centerline is valid? [True, True] Translation: X:152.04, Y:-10.90, Z:-3.96 [[ 9.97198883e-01 7.41122688e-02 -1.00875827e-02 1.52044576e+02] [-7.41071434e-02 9.97249896e-01 8.81456054e-04 -1.08998842e+01] [ 1.01251675e-02 -1.31425051e-04 9.99948731e-01 -3.96311777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.402414037 meters 0.06916404799240135 Centerline is valid? [True, True] Translation: X:152.08, Y:-10.90, Z:-3.96 [[ 9.97204543e-01 7.42099984e-02 -8.71634148e-03 1.52077098e+02] [-7.42061989e-02 9.97242630e-01 7.58954706e-04 -1.09024241e+01] [ 8.74862934e-03 -1.10026511e-04 9.99961724e-01 -3.96420415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.432414037 meters 0.0691013979300466 Centerline is valid? [True, True] Translation: X:152.11, Y:-10.91, Z:-3.96 [[ 9.97266993e-01 7.34298388e-02 -8.16114463e-03 1.52110251e+02] [-7.34264169e-02 9.97300379e-01 7.18537217e-04 -1.09053623e+01] [ 8.19187470e-03 -1.17329842e-04 9.99966439e-01 -3.96343203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.462414037 meters 0.0691328275677068 Centerline is valid? [True, True] Translation: X:152.14, Y:-10.91, Z:-3.96 [[ 9.97339693e-01 7.25402940e-02 -7.17230072e-03 1.52142658e+02] [-7.25376443e-02 9.97365477e-01 6.29223934e-04 -1.09100948e+01] [ 7.19904922e-03 -1.07288207e-04 9.99974081e-01 -3.96256286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49241403699997 meters 0.06906160353323802 Centerline is valid? [True, True] Translation: X:152.17, Y:-10.91, Z:-3.96 [[ 9.97311872e-01 7.27713900e-02 -8.56472409e-03 1.52174483e+02] [-7.27675796e-02 9.97348639e-01 7.56098740e-04 -1.09131822e+01] [ 8.59703827e-03 -1.30832008e-04 9.99963036e-01 -3.96160575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52241403699998 meters 0.06919549690697292 Centerline is valid? [True, True] Translation: X:152.21, Y:-10.92, Z:-3.96 [[ 9.97239853e-01 7.37045124e-02 -8.96220960e-03 1.52207575e+02] [-7.37003490e-02 9.97280115e-01 7.94375098e-04 -1.09162123e+01] [ 8.99638245e-03 -1.31664530e-04 9.99959523e-01 -3.96288094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55241403699998 meters 0.06935450312216715 Centerline is valid? [True, True] Translation: X:152.24, Y:-10.92, Z:-3.97 [[ 9.97110235e-01 7.52163046e-02 -1.06624379e-02 1.52238285e+02] [-7.52105049e-02 9.97167232e-01 9.44444472e-04 -1.09185747e+01] [ 1.07032713e-02 -1.39787908e-04 9.99942709e-01 -3.96509833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58241403699998 meters 0.06894220963774747 Centerline is valid? [True, True] Translation: X:152.27, Y:-10.92, Z:-3.97 [[ 9.96855435e-01 7.85733573e-02 -1.02698563e-02 1.52270683e+02] [-7.85681200e-02 9.96908329e-01 9.13055610e-04 -1.09179753e+01] [ 1.03098471e-02 -1.03301144e-04 9.99946847e-01 -3.96549277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61241403699998 meters 0.06901180078710395 Centerline is valid? [True, True] Translation: X:152.30, Y:-10.92, Z:-3.97 [[ 9.96790956e-01 7.94092280e-02 -1.00977595e-02 1.52301830e+02] [-7.94042232e-02 9.96842097e-01 8.96212414e-04 -1.09202311e+01] [ 1.01370393e-02 -9.15316753e-05 9.99948615e-01 -3.96742250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64241403699998 meters 0.06883187871729239 Centerline is valid? [True, True] Translation: X:152.33, Y:-10.92, Z:-3.97 [[ 9.96825458e-01 7.92224144e-02 -7.92561744e-03 1.52333690e+02] [-7.92192785e-02 9.96856962e-01 7.09320926e-04 -1.09235425e+01] [ 7.95690104e-03 -7.92074622e-05 9.99968340e-01 -3.96669178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67241403699998 meters 0.06900108012332672 Centerline is valid? [True, True] Translation: X:152.36, Y:-10.93, Z:-3.97 [[ 9.96975734e-01 7.71809141e-02 -9.08258196e-03 1.52364332e+02] [-7.71767064e-02 9.97017098e-01 8.13377672e-04 -1.09296103e+01] [ 9.11826674e-03 -1.09954040e-04 9.99958422e-01 -3.96655892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70241403699998 meters 0.06921079408755214 Centerline is valid? [True, True] Translation: X:152.40, Y:-10.93, Z:-3.97 [[ 9.97101494e-01 7.54229413e-02 -9.99948499e-03 1.52396200e+02] [-7.54177296e-02 9.97151623e-01 8.97789271e-04 -1.09349853e+01] [ 1.00387166e-02 -1.41048568e-04 9.99949601e-01 -3.96739883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73241403699998 meters 0.06954269316073344 Centerline is valid? [True, True] Translation: X:152.43, Y:-10.94, Z:-3.97 [[ 9.97248080e-01 7.32597060e-02 -1.13702198e-02 1.52426263e+02] [-7.32529012e-02 9.97312881e-01 1.01434500e-03 -1.09413003e+01] [ 1.14139773e-02 -1.78652022e-04 9.99934842e-01 -3.96948153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76241403699999 meters 0.06991762575524091 Centerline is valid? [True, True] Translation: X:152.46, Y:-10.95, Z:-3.97 [[ 9.97384134e-01 7.09130564e-02 -1.40081637e-02 1.52456884e+02] [-7.09024867e-02 9.97482468e-01 1.25036398e-03 -1.09469886e+01] [ 1.40615649e-02 -2.53879553e-04 9.99901099e-01 -3.97175262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.792414037 meters 0.0704134920933281 Centerline is valid? [True, True] Translation: X:152.49, Y:-10.95, Z:-3.98 [[ 9.97613075e-01 6.71577039e-02 -1.60622619e-02 1.52487582e+02] [-6.71433189e-02 9.97742311e-01 1.43378501e-03 -1.09528528e+01] [ 1.61222880e-02 -3.51889094e-04 9.99869966e-01 -3.97579549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.822414037 meters 0.0705229265308333 Centerline is valid? [True, True] Translation: X:152.52, Y:-10.96, Z:-3.98 [[ 9.97660445e-01 6.66619250e-02 -1.51599536e-02 1.52518901e+02] [-6.66489203e-02 9.97775559e-01 1.36201119e-03 -1.09566042e+01] [ 1.52170255e-02 -3.48430154e-04 9.99884154e-01 -3.97720512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.852414037 meters 0.07057150531777423 Centerline is valid? [True, True] Translation: X:152.55, Y:-10.96, Z:-3.98 [[ 9.97700499e-01 6.64811582e-02 -1.31897460e-02 1.52550321e+02] [-6.64712406e-02 9.97787633e-01 1.18936680e-03 -1.09606356e+01] [ 1.32396360e-02 -3.09893065e-04 9.99912304e-01 -3.97847659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.882414037 meters 0.0706564711164974 Centerline is valid? [True, True] Translation: X:152.58, Y:-10.97, Z:-3.98 [[ 9.97735883e-01 6.61725527e-02 -1.20125137e-02 1.52581817e+02] [-6.61642637e-02 9.97808153e-01 1.08657164e-03 -1.09652110e+01] [ 1.20580853e-02 -2.89312391e-04 9.99927257e-01 -3.97780610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.912414037 meters 0.07034676876362113 Centerline is valid? [True, True] Translation: X:152.61, Y:-10.97, Z:-3.98 [[ 9.97800061e-01 6.55853732e-02 -9.67457764e-03 1.52613733e+02] [-6.55799341e-02 9.97846932e-01 8.78719339e-04 -1.09702843e+01] [ 9.71137875e-03 -2.42328046e-04 9.99952814e-01 -3.97509287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.942414037 meters 0.06966577708598494 Centerline is valid? [True, True] Translation: X:152.65, Y:-10.97, Z:-3.97 [[ 9.97776652e-01 6.58867110e-02 -1.00346531e-02 1.52646128e+02] [-6.58808484e-02 9.97827078e-01 9.14032813e-04 -1.09715535e+01] [ 1.00730712e-02 -2.50909139e-04 9.99949234e-01 -3.97173508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.972414037 meters 0.06982164083250575 Centerline is valid? [True, True] Translation: X:152.68, Y:-10.98, Z:-3.97 [[ 9.97705804e-01 6.69857277e-02 -9.80008088e-03 1.52676597e+02] [-6.69802035e-02 9.97753907e-01 8.91193777e-04 -1.09752212e+01] [ 9.83776625e-03 -2.32737792e-04 9.99951581e-01 -3.97459576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.002414037 meters 0.06929226756121869 Centerline is valid? [True, True] Translation: X:152.71, Y:-10.97, Z:-3.97 [[ 9.97608544e-01 6.85993918e-02 -8.44496151e-03 1.52709070e+02] [-6.85952992e-02 9.97644268e-01 7.73657960e-04 -1.09744960e+01] [ 8.47813991e-03 -1.92523129e-04 9.99964041e-01 -3.97476255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.032414037 meters 0.06897366428057611 Centerline is valid? [True, True] Translation: X:152.74, Y:-10.98, Z:-3.98 [[ 9.97577671e-01 6.91130397e-02 -7.88536077e-03 1.52741212e+02] [-6.91094686e-02 9.97608819e-01 7.24787029e-04 -1.09761365e+01] [ 7.91659768e-03 -1.78078264e-04 9.99968647e-01 -3.97562022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.062414037 meters 0.06892769725216846 Centerline is valid? [True, True] Translation: X:152.77, Y:-10.98, Z:-3.98 [[ 9.97569054e-01 6.93709343e-02 -6.60731662e-03 1.52773424e+02] [-6.93684145e-02 9.97590924e-01 6.10042591e-04 -1.09788392e+01] [ 6.63371831e-03 -1.50220531e-04 9.99977985e-01 -3.97646314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.092414037 meters 0.06915122434369717 Centerline is valid? [True, True] Translation: X:152.80, Y:-10.98, Z:-3.98 [[ 9.97553551e-01 6.93990602e-02 -8.40736413e-03 1.52803886e+02] [-6.93950454e-02 9.97588962e-01 7.68673294e-04 -1.09824065e+01] [ 8.44043886e-03 -1.83363358e-04 9.99964362e-01 -3.97714499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.122414037 meters 0.0690212886293471 Centerline is valid? [True, True] Translation: X:152.84, Y:-10.98, Z:-3.98 [[ 9.97577095e-01 6.88998835e-02 -9.63046106e-03 1.52835957e+02] [-6.88945122e-02 9.97623554e-01 8.88778011e-04 -1.09849966e+01] [ 9.66881149e-03 -2.23138670e-04 9.99953231e-01 -3.97611958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.152414037 meters 0.06959364615051614 Centerline is valid? [True, True] Translation: X:152.87, Y:-10.99, Z:-3.98 [[ 9.97620044e-01 6.78546675e-02 -1.22471059e-02 1.52866059e+02] [-6.78459860e-02 9.97695174e-01 1.12342731e-03 -1.09887455e+01] [ 1.22951082e-02 -2.89836631e-04 9.99924370e-01 -3.98019064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.182414037 meters 0.06964426163645973 Centerline is valid? [True, True] Translation: X:152.90, Y:-10.99, Z:-3.98 [[ 9.97628555e-01 6.72125233e-02 -1.48237158e-02 1.52897298e+02] [-6.71997370e-02 9.97738617e-01 1.35954206e-03 -1.09907791e+01] [ 1.48815719e-02 -3.60168174e-04 9.99889198e-01 -3.98152909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.212414037 meters 0.06985740697325245 Centerline is valid? [True, True] Translation: X:152.93, Y:-10.99, Z:-3.98 [[ 9.97615957e-01 6.72154034e-02 -1.56362313e-02 1.52927803e+02] [-6.72011031e-02 9.97738413e-01 1.43878040e-03 -1.09942750e+01] [ 1.56975768e-02 -3.84578295e-04 9.99876711e-01 -3.98395227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24241403699997 meters 0.06985740697325245 Centerline is valid? [True, True] Translation: X:152.96, Y:-11.00, Z:-3.98 [[ 9.97597185e-01 6.74936244e-02 -1.56354464e-02 1.52960125e+02] [-6.74792246e-02 9.97719630e-01 1.44731436e-03 -1.09973174e+01] [ 1.56974763e-02 -3.88768933e-04 9.99876711e-01 -3.98487206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27241403699998 meters 0.06962736072674597 Centerline is valid? [True, True] Translation: X:152.99, Y:-11.00, Z:-3.98 [[ 9.97651968e-01 6.73381731e-02 -1.24948654e-02 1.52991892e+02] [-6.73290057e-02 9.97730161e-01 1.15337175e-03 -1.09984159e+01] [ 1.25441700e-02 -3.09396729e-04 9.99921271e-01 -3.98497902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30241403699998 meters 0.06967590782227281 Centerline is valid? [True, True] Translation: X:153.02, Y:-11.00, Z:-3.99 [[ 9.97608767e-01 6.81528071e-02 -1.14866529e-02 1.53023246e+02] [-6.81450328e-02 9.97674855e-01 1.06730814e-03 -1.10004496e+01] [ 1.15326848e-02 -2.81997614e-04 9.99933457e-01 -3.98615268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33241403699998 meters 0.06968656319784376 Centerline is valid? [True, True] Translation: X:153.05, Y:-11.00, Z:-3.99 [[ 9.97382645e-01 7.11957683e-02 -1.26103961e-02 1.53054663e+02] [-7.11866145e-02 9.97462324e-01 1.17384668e-03 -1.10015217e+01] [ 1.26619679e-02 -2.73082904e-04 9.99919797e-01 -3.98809850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36241403699998 meters 0.06936089942937528 Centerline is valid? [True, True] Translation: X:153.09, Y:-11.00, Z:-3.99 [[ 9.97164713e-01 7.39559246e-02 -1.38944454e-02 1.53087578e+02] [-7.39450106e-02 9.97261475e-01 1.29829956e-03 -1.10028332e+01] [ 1.39524121e-02 -2.67193596e-04 9.99902625e-01 -3.98669783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39241403699998 meters 0.06929054837827014 Centerline is valid? [True, True] Translation: X:153.12, Y:-11.01, Z:-3.99 [[ 9.96987680e-01 7.61293291e-02 -1.48287275e-02 1.53119502e+02] [-7.61170961e-02 9.97097919e-01 1.38842165e-03 -1.10052990e+01] [ 1.48913929e-02 -2.55519599e-04 9.99889084e-01 -3.98766090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42241403699998 meters 0.06918399872912968 Centerline is valid? [True, True] Translation: X:153.15, Y:-11.01, Z:-3.99 [[ 9.96860209e-01 7.81960297e-02 -1.24541336e-02 1.53150551e+02] [-7.81876223e-02 9.96937986e-01 1.16128798e-03 -1.10071866e+01] [ 1.25068070e-02 -1.83882684e-04 9.99921770e-01 -3.98961690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45241403699998 meters 0.06877954227693302 Centerline is valid? [True, True] Translation: X:153.18, Y:-11.01, Z:-3.99 [[ 9.96555271e-01 8.20347711e-02 -1.21609184e-02 1.53183026e+02] [-8.20269331e-02 9.96629458e-01 1.14275477e-03 -1.10083187e+01] [ 1.22136752e-02 -1.41295451e-04 9.99925400e-01 -3.99001424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48241403699998 meters 0.06886174953291635 Centerline is valid? [True, True] Translation: X:153.22, Y:-11.01, Z:-3.99 [[ 9.96469670e-01 8.30653906e-02 -1.21793607e-02 1.53215801e+02] [-8.30575529e-02 9.96544090e-01 1.14881185e-03 -1.10120447e+01] [ 1.22326964e-02 -1.33168271e-04 9.99925169e-01 -3.99172379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51241403699999 meters 0.06874798148311176 Centerline is valid? [True, True] Translation: X:153.25, Y:-11.02, Z:-3.99 [[ 9.96397309e-01 8.38043653e-02 -1.30089045e-02 1.53247460e+02] [-8.37954638e-02 9.96482218e-01 1.22878770e-03 -1.10185064e+01] [ 1.30661197e-02 -1.34273572e-04 9.99914626e-01 -3.99146200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.542414037 meters 0.06867504964276254 Centerline is valid? [True, True] Translation: X:153.28, Y:-11.02, Z:-3.99 [[ 9.96409509e-01 8.38947130e-02 -1.13915858e-02 1.53279616e+02] [-8.38878516e-02 9.96474617e-01 1.07965747e-03 -1.10231577e+01] [ 1.14420037e-02 -1.20165304e-04 9.99934531e-01 -3.99214396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.572414037 meters 0.06834455841093177 Centerline is valid? [True, True] Translation: X:153.31, Y:-11.03, Z:-3.99 [[ 9.96427359e-01 8.39064828e-02 -9.60311133e-03 1.53311799e+02] [-8.39015725e-02 9.96473628e-01 9.13768510e-04 -1.10273077e+01] [ 9.64591829e-03 -1.04787802e-04 9.99953472e-01 -3.99038310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.602414037 meters 0.06857504571625174 Centerline is valid? [True, True] Translation: X:153.34, Y:-11.03, Z:-3.99 [[ 9.96440610e-01 8.39074705e-02 -8.10225821e-03 1.53342823e+02] [-8.39039555e-02 9.96473546e-01 7.73365662e-04 -1.10328276e+01] [ 8.13857713e-03 -9.08014390e-05 9.99966877e-01 -3.99334267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.632414037 meters 0.0682003149344531 Centerline is valid? [True, True] Translation: X:153.37, Y:-11.04, Z:-3.99 [[ 9.96320538e-01 8.52249133e-02 -9.06093627e-03 1.53374236e+02] [-8.52205542e-02 9.96361734e-01 8.66798590e-04 -1.10385669e+01] [ 9.10184302e-03 -9.14312259e-05 9.99958573e-01 -3.99053151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.662414037 meters 0.06836834415749819 Centerline is valid? [True, True] Translation: X:153.41, Y:-11.04, Z:-3.99 [[ 9.96175480e-01 8.66406632e-02 -1.13052272e-02 1.53406387e+02] [-8.66340351e-02 9.96239623e-01 1.07562181e-03 -1.10427073e+01] [ 1.13559078e-02 -9.20906256e-05 9.99935515e-01 -3.99373717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.692414037 meters 0.06860493874630078 Centerline is valid? [True, True] Translation: X:153.44, Y:-11.05, Z:-4.00 [[ 9.96021893e-01 8.80615030e-02 -1.36220840e-02 1.53437997e+02] [-8.80520053e-02 9.96115035e-01 1.29658840e-03 -1.10464544e+01] [ 1.36833422e-02 -9.19786196e-05 9.99906374e-01 -3.99686230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.722414037 meters 0.06871360899071373 Centerline is valid? [True, True] Translation: X:153.47, Y:-11.05, Z:-4.00 [[ 9.95782028e-01 9.04847872e-02 -1.51873438e-02 1.53470116e+02] [-9.04731364e-02 9.95897835e-01 1.45387340e-03 -1.10502570e+01] [ 1.52565963e-02 -7.36943783e-05 9.99883609e-01 -3.99935967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.752414037 meters 0.0685327843992363 Centerline is valid? [True, True] Translation: X:153.50, Y:-11.06, Z:-4.00 [[ 9.95388464e-01 9.48872760e-02 -1.40786946e-02 1.53501261e+02] [-9.48776601e-02 9.95488023e-01 1.35086633e-03 -1.10555974e+01] [ 1.41433518e-02 -8.88316009e-06 9.99899978e-01 -3.99865807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.782414037 meters 0.06836169436504418 Centerline is valid? [True, True] Translation: X:153.53, Y:-11.06, Z:-4.00 [[ 9.95153190e-01 9.76265767e-02 -1.17974339e-02 1.53532140e+02] [-9.76200633e-02 9.95223116e-01 1.12807978e-03 -1.10590959e+01] [ 1.18512095e-02 2.90540539e-05 9.99929772e-01 -3.99892283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.812414037 meters 0.06809163432455757 Centerline is valid? [True, True] Translation: X:153.56, Y:-11.06, Z:-4.00 [[ 9.94889911e-01 1.00311751e-01 -1.14724787e-02 1.53564563e+02] [-1.00305653e-01 9.94956054e-01 1.10721747e-03 -1.10628442e+01] [ 1.15256790e-02 4.91949699e-05 9.99933576e-01 -3.99729290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.842414037 meters 0.06832093091126779 Centerline is valid? [True, True] Translation: X:153.60, Y:-11.07, Z:-4.00 [[ 9.94595461e-01 1.03234516e-01 -1.10681030e-02 1.53595912e+02] [-1.03229029e-01 9.94657040e-01 1.06740439e-03 -1.10658637e+01] [ 1.11191595e-02 8.09139569e-05 9.99938177e-01 -4.00217078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.872414037 meters 0.06861708219090555 Centerline is valid? [True, True] Translation: X:153.63, Y:-11.07, Z:-4.01 [[ 9.93953223e-01 1.09250943e-01 -1.10100733e-02 1.53626314e+02] [-1.09245842e-01 9.94014190e-01 1.06544396e-03 -1.10702564e+01] [ 1.10605698e-02 1.43803267e-04 9.99938820e-01 -4.00576409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.902414037 meters 0.06868377576976156 Centerline is valid? [True, True] Translation: X:153.66, Y:-11.07, Z:-4.01 [[ 9.93641066e-01 1.12038717e-01 -1.11695018e-02 1.53658398e+02] [-1.12033610e-01 9.93703827e-01 1.08381547e-03 -1.10742102e+01] [ 1.12206060e-02 1.74436054e-04 9.99937032e-01 -4.00654167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.932414037 meters 0.0682365018428478 Centerline is valid? [True, True] Translation: X:153.69, Y:-11.08, Z:-4.00 [[ 9.93411287e-01 1.14169474e-01 -9.96727074e-03 1.53690088e+02] [-1.14165480e-01 9.93461273e-01 9.70700182e-04 -1.10803208e+01] [ 1.00129218e-02 1.73613728e-04 9.99949854e-01 -4.00278593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.962414037 meters 0.06832765794358729 Centerline is valid? [True, True] Translation: X:153.72, Y:-11.08, Z:-4.00 [[ 9.93217293e-01 1.15940878e-01 -8.78185439e-03 1.53721290e+02] [-1.15937826e-01 9.93256102e-01 8.57540904e-04 -1.10847356e+01] [ 8.82205451e-03 1.66424652e-04 9.99961071e-01 -4.00358657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99241403699997 meters 0.06815263612523521 Centerline is valid? [True, True] Translation: X:153.75, Y:-11.10, Z:-4.00 [[ 9.93073199e-01 1.17187892e-01 -8.52165988e-03 1.53753373e+02] [-1.17185029e-01 9.93109747e-01 8.36210910e-04 -1.10955345e+01] [ 8.56093728e-03 1.68192318e-04 9.99963340e-01 -4.00245245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02241403699998 meters 0.06816104170783743 Centerline is valid? [True, True] Translation: X:153.79, Y:-11.10, Z:-4.00 [[ 9.93108623e-01 1.16850545e-01 -9.01183646e-03 1.53785669e+02] [-1.16847311e-01 9.93149495e-01 8.86337343e-04 -1.11031330e+01] [ 9.05366984e-03 1.72779597e-04 9.99959000e-01 -4.00349496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05241403699998 meters 0.06802804489427608 Centerline is valid? [True, True] Translation: X:153.82, Y:-11.11, Z:-4.00 [[ 9.93198312e-01 1.16017492e-01 -9.85165344e-03 1.53817781e+02] [-1.16013564e-01 9.93247154e-01 9.71151584e-04 -1.11115370e+01] [ 9.89779731e-03 1.78379317e-04 9.99951000e-01 -4.00346105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08241403699998 meters 0.06785347754394636 Centerline is valid? [True, True] Translation: X:153.85, Y:-11.12, Z:-4.00 [[ 9.93383479e-01 1.14436157e-01 -9.67627553e-03 1.53849031e+02] [-1.14432277e-01 9.93430592e-01 9.55437885e-04 -1.11192235e+01] [ 9.72204477e-03 1.58162036e-04 9.99952727e-01 -4.00475993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11241403699998 meters 0.0676795505713325 Centerline is valid? [True, True] Translation: X:153.88, Y:-11.13, Z:-4.00 [[ 9.93960884e-01 1.09352723e-01 -9.15107863e-03 1.53879345e+02] [-1.09349086e-01 9.94003003e-01 8.98294727e-04 -1.11323103e+01] [ 9.19443062e-03 1.07792267e-04 9.99957725e-01 -4.00489581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14241403699998 meters 0.06785514676453207 Centerline is valid? [True, True] Translation: X:153.91, Y:-11.14, Z:-4.01 [[ 9.94285964e-01 1.06400329e-01 -8.62512004e-03 1.53909842e+02] [-1.06396950e-01 9.94323370e-01 8.50991296e-04 -1.11409924e+01] [ 8.66670418e-03 7.15577649e-05 9.99962441e-01 -4.00773292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17241403699998 meters 0.06784188258572213 Centerline is valid? [True, True] Translation: X:153.94, Y:-11.15, Z:-4.01 [[ 9.94622959e-01 1.03225827e-01 -8.34252864e-03 1.53940681e+02] [-1.03222511e-01 9.94657945e-01 8.28171658e-04 -1.11512842e+01] [ 8.38345109e-03 3.74182112e-05 9.99964858e-01 -4.00708436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20241403699998 meters 0.06780503142645533 Centerline is valid? [True, True] Translation: X:153.97, Y:-11.17, Z:-4.01 [[ 9.95439636e-01 9.51387179e-02 -6.96812985e-03 1.53971263e+02] [-9.51361862e-02 9.95464024e-01 6.94650098e-04 -1.11675953e+01] [ 7.00261070e-03 -2.85609416e-05 9.99975481e-01 -4.00505206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23241403699998 meters 0.06796623407788246 Centerline is valid? [True, True] Translation: X:154.00, Y:-11.18, Z:-4.01 [[ 9.95807897e-01 9.12580340e-02 -6.21324365e-03 1.54002497e+02] [-9.12559279e-02 9.95827278e-01 6.22222623e-04 -1.11763895e+01] [ 6.24410033e-03 -5.26188865e-05 9.99980504e-01 -4.00696814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26241403699999 meters 0.06824226330958834 Centerline is valid? [True, True] Translation: X:154.03, Y:-11.18, Z:-4.01 [[ 9.96143259e-01 8.75101118e-02 -6.37093048e-03 1.54033131e+02] [-8.75078202e-02 9.96163628e-01 6.38106214e-04 -1.11843233e+01] [ 6.40232997e-03 -7.81389638e-05 9.99979502e-01 -4.00961076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.292414037 meters 0.06822496087010858 Centerline is valid? [True, True] Translation: X:154.06, Y:-11.19, Z:-4.01 [[ 9.96381771e-01 8.47788060e-02 -5.99338505e-03 1.54064946e+02] [-8.47767143e-02 9.96399792e-01 6.02665704e-04 -1.11915388e+01] [ 6.02290089e-03 -9.23856297e-05 9.99981858e-01 -4.00777103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.322414037 meters 0.0679234137376312 Centerline is valid? [True, True] Translation: X:154.10, Y:-11.20, Z:-4.01 [[ 9.96658971e-01 8.15626517e-02 -4.29285604e-03 1.54097196e+02] [-8.15615303e-02 9.96668213e-01 4.35932548e-04 -1.12028048e+01] [ 4.31410897e-03 -8.43441769e-05 9.99990691e-01 -4.00516813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.352414037 meters 0.06780381210574869 Centerline is valid? [True, True] Translation: X:154.13, Y:-11.21, Z:-4.01 [[ 9.96644157e-01 8.17248371e-02 -4.63407512e-03 1.54128041e+02] [-8.17235514e-02 9.96654927e-01 4.66441514e-04 -1.12097463e+01] [ 4.65669366e-03 -8.61631332e-05 9.99989154e-01 -4.00604449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.382414037 meters 0.06793368889360189 Centerline is valid? [True, True] Translation: X:154.16, Y:-11.22, Z:-4.01 [[ 9.96565498e-01 8.25777629e-02 -6.17422969e-03 1.54158576e+02] [-8.25754805e-02 9.96584618e-01 6.24124545e-04 -1.12164137e+01] [ 6.20468114e-03 -1.12141005e-04 9.99980744e-01 -4.00947445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.412414037 meters 0.0677584157339076 Centerline is valid? [True, True] Translation: X:154.19, Y:-11.22, Z:-4.01 [[ 9.96442856e-01 8.37085065e-02 -9.72216636e-03 1.54189996e+02] [-8.37029565e-02 9.96490271e-01 9.77085579e-04 -1.12191408e+01] [ 9.76983456e-03 -1.59835877e-04 9.99952261e-01 -4.01218089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.442414037 meters 0.06818568155612025 Centerline is valid? [True, True] Translation: X:154.22, Y:-11.22, Z:-4.02 [[ 9.96325360e-01 8.49134787e-02 -1.12017458e-02 1.54220976e+02] [-8.49061284e-02 9.96388313e-01 1.13097014e-03 -1.12225443e+01] [ 1.12573232e-02 -1.75717358e-04 9.99936619e-01 -4.01860473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.472414037 meters 0.06826603023961232 Centerline is valid? [True, True] Translation: X:154.25, Y:-11.23, Z:-4.02 [[ 9.96250204e-01 8.57476312e-02 -1.15270963e-02 1.54254115e+02] [-8.57398572e-02 9.96316874e-01 1.16781793e-03 -1.12250522e+01] [ 1.15847782e-02 -1.75107258e-04 9.99932879e-01 -4.02038775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.502414037 meters 0.0680578698279718 Centerline is valid? [True, True] Translation: X:154.29, Y:-11.23, Z:-4.02 [[ 9.96484832e-01 8.33722319e-02 -8.18845574e-03 1.54285816e+02] [-8.33682570e-02 9.96518465e-01 8.26157987e-04 -1.12281460e+01] [ 8.22882598e-03 -1.40596620e-04 9.99966133e-01 -4.01719421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.532414037 meters 0.06829124897651925 Centerline is valid? [True, True] Translation: X:154.32, Y:-11.23, Z:-4.02 [[ 9.96681726e-01 8.11591298e-02 -6.22349226e-03 1.54316115e+02] [-8.11567500e-02 9.96701149e-01 6.34410383e-04 -1.12344110e+01] [ 6.25445008e-03 -1.27226831e-04 9.99980433e-01 -4.01592874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.562414037 meters 0.0681994136730224 Centerline is valid? [True, True] Translation: X:154.35, Y:-11.24, Z:-4.01 [[ 9.96942863e-01 7.80162298e-02 -4.28893753e-03 1.54348502e+02] [-7.80150499e-02 9.96952083e-01 4.41965623e-04 -1.12400339e+01] [ 4.31034569e-03 -1.06012799e-04 9.99990705e-01 -4.01202308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.592414037 meters 0.06830751587154396 Centerline is valid? [True, True] Translation: X:154.38, Y:-11.25, Z:-4.01 [[ 9.97201514e-01 7.47005989e-02 -2.99338680e-03 1.54380019e+02] [-7.47000029e-02 9.97206003e-01 3.10567102e-04 -1.12460948e+01] [ 3.00822283e-03 -8.60919823e-05 9.99995472e-01 -4.01136355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.622414037 meters 0.06851674990544114 Centerline is valid? [True, True] Translation: X:154.41, Y:-11.25, Z:-4.01 [[ 9.97432240e-01 7.15441352e-02 -3.21920141e-03 1.54411250e+02] [-7.15434414e-02 9.97437430e-01 3.30287821e-04 -1.12504626e+01] [ 3.23458214e-03 -9.91269738e-05 9.99994764e-01 -4.01239845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.652414037 meters 0.06888851345879993 Centerline is valid? [True, True] Translation: X:154.44, Y:-11.25, Z:-4.02 [[ 9.97860431e-01 6.53147233e-02 -2.92363309e-03 1.54442400e+02] [-6.53141299e-02 9.97864708e-01 2.98068442e-04 -1.12527654e+01] [ 2.93685854e-03 -1.06476152e-04 9.99995682e-01 -4.01577365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.682414037 meters 0.06955442573887037 Centerline is valid? [True, True] Translation: X:154.47, Y:-11.26, Z:-4.02 [[ 9.98044401e-01 6.24920872e-02 -1.45370544e-03 1.54472775e+02] [-6.24919367e-02 9.98045458e-01 1.48756408e-04 -1.12565419e+01] [ 1.46016021e-03 -5.76206318e-05 9.99998932e-01 -4.01845821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.712414037 meters 0.06921044340248253 Centerline is valid? [True, True] Translation: X:154.50, Y:-11.26, Z:-4.02 [[ 9.98202392e-01 5.99331311e-02 -5.96337016e-05 1.54504915e+02] [-5.99331304e-02 9.98202394e-01 1.31088547e-05 -1.12576918e+01] [ 6.03121584e-05 -9.51125567e-06 9.99999998e-01 -4.01659137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74241403699997 meters 0.070067123647553 Centerline is valid? [True, True] Translation: X:154.54, Y:-11.26, Z:-4.01 [[ 9.98456886e-01 5.54945259e-02 2.05062945e-03 1.54535018e+02] [-5.54942161e-02 9.98458987e-01 -2.07684432e-04 -1.12632915e+01] [-2.05899475e-03 9.35658773e-05 9.99997876e-01 -4.01417437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77241403699998 meters 0.07035438383596039 Centerline is valid? [True, True] Translation: X:154.57, Y:-11.27, Z:-4.01 [[ 9.98595555e-01 5.29722787e-02 9.24688346e-04 1.54565765e+02] [-5.29722145e-02 9.98595982e-01 -9.37829007e-05 -1.12658225e+01] [-9.28357961e-04 4.46683983e-05 9.99999568e-01 -4.01401592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80241403699998 meters 0.07091420383453605 Centerline is valid? [True, True] Translation: X:154.60, Y:-11.27, Z:-4.02 [[ 9.98601107e-01 5.28131752e-02 -2.56849204e-03 1.54596905e+02] [-5.28126577e-02 9.98604402e-01 2.68936674e-04 -1.12684770e+01] [ 2.57911085e-03 -1.32911570e-04 9.99996665e-01 -4.01621782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83241403699998 meters 0.07185889106187217 Centerline is valid? [True, True] Translation: X:154.63, Y:-11.27, Z:-4.02 [[ 9.98630829e-01 5.16022715e-02 -8.58331686e-03 1.54627961e+02] [-5.15966321e-02 9.98667621e-01 8.77311878e-04 -1.12658319e+01] [ 8.61715191e-03 -4.33240446e-04 9.99962778e-01 -4.02208724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86241403699998 meters 0.07155557266366741 Centerline is valid? [True, True] Translation: X:154.66, Y:-11.26, Z:-4.02 [[ 9.98601891e-01 5.21425534e-02 -8.68437645e-03 1.54660289e+02] [-5.21367221e-02 9.98639554e-01 8.96672049e-04 -1.12632193e+01] [ 8.71931660e-03 -4.42643482e-04 9.99961888e-01 -4.02460701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89241403699998 meters 0.07279853837306326 Centerline is valid? [True, True] Translation: X:154.69, Y:-11.27, Z:-4.03 [[ 9.98567648e-01 5.28952026e-02 -8.04668056e-03 1.54691052e+02] [-5.28902060e-02 9.98599986e-01 8.32632982e-04 -1.12655379e+01] [ 8.07945739e-03 -4.05849766e-04 9.99967278e-01 -4.02958297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92241403699998 meters 0.07204929993255021 Centerline is valid? [True, True] Translation: X:154.72, Y:-11.26, Z:-4.03 [[ 9.98516700e-01 5.40567226e-02 -6.50151161e-03 1.54722995e+02] [-5.40535114e-02 9.98537816e-01 6.68750402e-04 -1.12633461e+01] [ 6.52815566e-03 -3.16328912e-04 9.99978641e-01 -4.02863904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95241403699998 meters 0.07164566066313587 Centerline is valid? [True, True] Translation: X:154.75, Y:-11.26, Z:-4.03 [[ 9.98298943e-01 5.80805973e-02 -5.08569001e-03 1.54754122e+02] [-5.80786860e-02 9.98311872e-01 5.22820944e-04 -1.12589077e+01] [ 5.10747047e-03 -2.26561402e-04 9.99986931e-01 -4.02806276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98241403699998 meters 0.07101641334302719 Centerline is valid? [True, True] Translation: X:154.79, Y:-11.26, Z:-4.03 [[ 9.98144039e-01 6.08315533e-02 -2.82851183e-03 1.54785872e+02] [-6.08309722e-02 9.98148039e-01 2.91093362e-04 -1.12561928e+01] [ 2.84098120e-03 -1.18491980e-04 9.99995957e-01 -4.02801438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01241403699999 meters 0.0705413161147468 Centerline is valid? [True, True] Translation: X:154.82, Y:-11.25, Z:-4.03 [[ 9.97874505e-01 6.51592186e-02 -8.65661266e-04 1.54816274e+02] [-6.51591659e-02 9.97874880e-01 8.89208743e-05 -1.12526838e+01] [ 8.69615646e-04 -3.23261074e-05 9.99999621e-01 -4.02968342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.042414037 meters 0.06942438211404614 Centerline is valid? [True, True] Translation: X:154.85, Y:-11.24, Z:-4.03 [[ 9.97177411e-01 7.50798406e-02 4.77087912e-04 1.54847350e+02] [-7.50798255e-02 9.97177525e-01 -4.95229973e-05 -1.12389625e+01] [-4.79459522e-04 1.35635371e-05 9.99999885e-01 -4.03348092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.072414037 meters 0.06885140042655563 Centerline is valid? [True, True] Translation: X:154.88, Y:-11.23, Z:-4.03 [[ 9.96905247e-01 7.86095240e-02 6.86299416e-04 1.54879128e+02] [-7.86094948e-02 9.96905483e-01 -6.95311893e-05 -1.12336103e+01] [-6.89641465e-04 1.53663571e-05 9.99999762e-01 -4.03392115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.102414037 meters 0.06934982867593957 Centerline is valid? [True, True] Translation: X:154.91, Y:-11.23, Z:-4.04 [[ 9.96706586e-01 8.10911211e-02 -4.60332803e-04 1.54909726e+02] [-8.10911049e-02 9.96706692e-01 5.37676829e-05 -1.12342747e+01] [ 4.63176867e-04 -1.62617080e-05 9.99999893e-01 -4.03901673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.132414037 meters 0.06934982867593957 Centerline is valid? [True, True] Translation: X:154.94, Y:-11.24, Z:-4.04 [[ 9.96685169e-01 8.13539334e-02 -4.60203594e-04 1.54941983e+02] [-8.13539167e-02 9.96685275e-01 5.50125870e-05 -1.12376939e+01] [ 4.63153636e-04 -1.73908647e-05 9.99999893e-01 -4.03993679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.162414037 meters 0.06884862677368046 Centerline is valid? [True, True] Translation: X:154.97, Y:-11.24, Z:-4.04 [[ 9.96585280e-01 8.25428292e-02 -2.11191051e-03 1.54974542e+02] [-8.25425365e-02 9.96587517e-01 2.25489507e-04 -1.12361983e+01] [ 2.12331619e-03 -5.03970725e-05 9.99997744e-01 -4.03782341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.192414037 meters 0.06901278307182493 Centerline is valid? [True, True] Translation: X:155.01, Y:-11.24, Z:-4.04 [[ 9.96692605e-01 8.12505058e-02 -1.48511697e-03 1.55006784e+02] [-8.12503559e-02 9.96693711e-01 1.61050786e-04 -1.12366932e+01] [ 1.49329220e-03 -3.98518445e-05 9.99998884e-01 -4.03759349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.222414037 meters 0.06899954386828155 Centerline is valid? [True, True] Translation: X:155.04, Y:-11.24, Z:-4.04 [[ 9.96748478e-01 8.05757462e-02 -1.42643013e-04 1.55038801e+02] [-8.05757439e-02 9.96748488e-01 2.18187708e-05 -1.12384966e+01] [ 1.43937271e-04 -1.02542598e-05 9.99999990e-01 -4.03819676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.252414037 meters 0.06928517037835961 Centerline is valid? [True, True] Translation: X:155.07, Y:-11.24, Z:-4.04 [[ 9.96920071e-01 7.84065679e-02 1.66779108e-03 1.55071053e+02] [-7.84063991e-02 9.96921466e-01 -1.66444868e-04 -1.12410159e+01] [-1.67570710e-03 3.51667370e-05 9.99998595e-01 -4.04021075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.282414037 meters 0.0695229992347401 Centerline is valid? [True, True] Translation: X:155.10, Y:-11.24, Z:-4.04 [[ 9.97211842e-01 7.45995220e-02 1.85854420e-03 1.55102988e+02] [-7.45992960e-02 9.97213572e-01 -1.90699703e-04 -1.12406759e+01] [-1.86759160e-03 5.15219135e-05 9.99998255e-01 -4.04188306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.312414037 meters 0.06974300889588407 Centerline is valid? [True, True] Translation: X:155.14, Y:-11.24, Z:-4.04 [[ 9.97319592e-01 7.31301912e-02 2.36802119e-03 1.55135087e+02] [-7.31298254e-02 9.97322401e-01 -2.40800103e-04 -1.12431251e+01] [-2.37929033e-03 6.69816843e-05 9.99997167e-01 -4.04251217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.342414037 meters 0.0700584428725434 Centerline is valid? [True, True] Translation: X:155.17, Y:-11.25, Z:-4.04 [[ 9.97342767e-01 7.27409493e-02 4.01977185e-03 1.55165656e+02] [-7.27398666e-02 9.97350861e-01 -4.15065788e-04 -1.12468155e+01] [-4.03931520e-03 1.21565193e-04 9.99991835e-01 -4.04357974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.372414037 meters 0.07020315271884202 Centerline is valid? [True, True] Translation: X:155.20, Y:-11.25, Z:-4.04 [[ 9.97349546e-01 7.26682757e-02 3.63385412e-03 1.55197920e+02] [-7.26673911e-02 9.97356160e-01 -3.75049949e-04 -1.12498492e+01] [-3.65150102e-03 1.09993198e-04 9.99993327e-01 -4.04296756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.402414037 meters 0.07010248446393245 Centerline is valid? [True, True] Translation: X:155.23, Y:-11.25, Z:-4.04 [[ 9.97297160e-01 7.34449302e-02 2.05328969e-03 1.55229731e+02] [-7.34446536e-02 9.97299272e-01 -2.09888932e-04 -1.12502938e+01] [-2.06315959e-03 5.85184853e-05 9.99997870e-01 -4.04196886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.432414037 meters 0.06992329067466545 Centerline is valid? [True, True] Translation: X:155.26, Y:-11.25, Z:-4.04 [[ 9.97215084e-01 7.45792895e-02 8.03935938e-05 1.55262038e+02] [-7.45792896e-02 9.97215087e-01 -1.60192063e-06 -1.12509100e+01] [-8.02891748e-05 -4.39823770e-06 9.99999997e-01 -4.04210513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.462414037 meters 0.06994203204544532 Centerline is valid? [True, True] Translation: X:155.29, Y:-11.25, Z:-4.04 [[ 9.97120058e-01 7.58233572e-02 -1.55184581e-03 1.55294282e+02] [-7.58231826e-02 9.97121264e-01 1.71080787e-04 -1.12510864e+01] [ 1.56035038e-03 -5.29221957e-05 9.99998781e-01 -4.04398220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49241403699997 meters 0.07008984189208271 Centerline is valid? [True, True] Translation: X:155.33, Y:-11.25, Z:-4.05 [[ 9.97046484e-01 7.66798819e-02 -4.30165957e-03 1.55326802e+02] [-7.66785971e-02 9.97055755e-01 4.63034846e-04 -1.12519601e+01] [ 4.32449989e-03 -1.31822044e-04 9.99990641e-01 -4.04661801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52241403699998 meters 0.0705422475195356 Centerline is valid? [True, True] Translation: X:155.36, Y:-11.25, Z:-4.05 [[ 9.97000666e-01 7.69288889e-02 -8.46279997e-03 1.55356998e+02] [-7.69240345e-02 9.97036552e-01 8.98115088e-04 -1.12526311e+01] [ 8.50681190e-03 -2.44428625e-04 9.99963787e-01 -4.04993014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55241403699998 meters 0.07083816014356084 Centerline is valid? [True, True] Translation: X:155.39, Y:-11.26, Z:-4.05 [[ 9.96993343e-01 7.68915717e-02 -9.58962320e-03 1.55387968e+02] [-7.68852616e-02 9.97039420e-01 1.02549416e-03 -1.12562751e+01] [ 9.64008421e-03 -2.85110161e-04 9.99953493e-01 -4.05123797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58241403699998 meters 0.07034959989162168 Centerline is valid? [True, True] Translation: X:155.42, Y:-11.26, Z:-4.05 [[ 9.97029682e-01 7.64867331e-02 -9.03285011e-03 1.55420747e+02] [-7.64810758e-02 9.97070561e-01 9.70579963e-04 -1.12582545e+01] [ 9.08062541e-03 -2.76854938e-04 9.99958732e-01 -4.04816854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61241403699998 meters 0.07088230072739977 Centerline is valid? [True, True] Translation: X:155.45, Y:-11.26, Z:-4.05 [[ 9.97074806e-01 7.58938409e-02 -9.05292200e-03 1.55451805e+02] [-7.58881296e-02 9.97115863e-01 9.73229817e-04 -1.12631800e+01] [ 9.10067428e-03 -2.83373614e-04 9.99958548e-01 -4.05018604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64241403699998 meters 0.07028809795684803 Centerline is valid? [True, True] Translation: X:155.48, Y:-11.26, Z:-4.05 [[ 9.97189348e-01 7.42377644e-02 -1.01073812e-02 1.55484381e+02] [-7.42306049e-02 9.97240516e-01 1.08218041e-03 -1.12612744e+01] [ 1.01598287e-02 -3.28861761e-04 9.99948334e-01 -4.04932886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67241403699998 meters 0.07047602531527053 Centerline is valid? [True, True] Translation: X:155.52, Y:-11.26, Z:-4.05 [[ 9.97254666e-01 7.33063143e-02 -1.04554442e-02 1.55515265e+02] [-7.32985308e-02 9.97309409e-01 1.12621954e-03 -1.12632044e+01] [ 1.05098718e-02 -3.56758998e-04 9.99944706e-01 -4.05157202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70241403699998 meters 0.07096579618141244 Centerline is valid? [True, True] Translation: X:155.55, Y:-11.27, Z:-4.05 [[ 9.97316324e-01 7.24706848e-02 -1.03994671e-02 1.55546185e+02] [-7.24629147e-02 9.97370476e-01 1.12251895e-03 -1.12665741e+01] [ 1.04534712e-02 -3.65930776e-04 9.99945294e-01 -4.05440423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73241403699998 meters 0.07142692665249466 Centerline is valid? [True, True] Translation: X:155.58, Y:-11.27, Z:-4.06 [[ 9.97419834e-01 7.11282257e-02 -9.71858606e-03 1.55576610e+02] [-7.11213519e-02 9.97467116e-01 1.05150625e-03 -1.12712459e+01] [ 9.76876178e-03 -3.57594208e-04 9.99952221e-01 -4.05599244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76241403699999 meters 0.07130184600683577 Centerline is valid? [True, True] Translation: X:155.61, Y:-11.28, Z:-4.05 [[ 9.97718003e-01 6.70604227e-02 -7.85407548e-03 1.55608213e+02] [-6.70557833e-02 9.97748863e-01 8.52844051e-04 -1.12750286e+01] [ 7.89358697e-03 -3.24236680e-04 9.99968793e-01 -4.05244512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.792414037 meters 0.07122539456327388 Centerline is valid? [True, True] Translation: X:155.64, Y:-11.28, Z:-4.05 [[ 9.97787926e-01 6.60631785e-02 -7.41014910e-03 1.55640095e+02] [-6.60590013e-02 9.97815392e-01 8.07331038e-04 -1.12787620e+01] [ 7.44729569e-03 -3.16038113e-04 9.99972219e-01 -4.05195331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.822414037 meters 0.07118404867971331 Centerline is valid? [True, True] Translation: X:155.67, Y:-11.28, Z:-4.05 [[ 9.97824308e-01 6.54381020e-02 -8.03152084e-03 1.55672374e+02] [-6.54331629e-02 9.97856569e-01 8.76483045e-04 -1.12814966e+01] [ 8.07166122e-03 -3.49048276e-04 9.99967363e-01 -4.05231529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.852414037 meters 0.07121715349472238 Centerline is valid? [True, True] Translation: X:155.70, Y:-11.28, Z:-4.06 [[ 9.97773828e-01 6.63624686e-02 -6.58875581e-03 1.55703254e+02] [-6.63591943e-02 9.97795544e-01 7.14566358e-04 -1.12815232e+01] [ 6.62165157e-03 -2.75751083e-04 9.99978039e-01 -4.05510126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.882414037 meters 0.07088494071028932 Centerline is valid? [True, True] Translation: X:155.74, Y:-11.28, Z:-4.06 [[ 9.97700070e-01 6.76230928e-02 -4.65700240e-03 1.55735030e+02] [-6.76214659e-02 9.97710921e-01 5.06084740e-04 -1.12814609e+01] [ 4.68056517e-03 -1.90007451e-04 9.99989028e-01 -4.05609071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.912414037 meters 0.07083899677761395 Centerline is valid? [True, True] Translation: X:155.77, Y:-11.28, Z:-4.06 [[ 9.97527707e-01 7.01185299e-02 -4.67612304e-03 1.55765071e+02] [-7.01169214e-02 9.97538651e-01 5.07248239e-04 -1.12826714e+01] [ 4.70018097e-03 -1.78118821e-04 9.99988938e-01 -4.05737269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.942414037 meters 0.0704254743578418 Centerline is valid? [True, True] Translation: X:155.79, Y:-11.28, Z:-4.06 [[ 9.97128715e-01 7.55485440e-02 -5.17145395e-03 1.55794920e+02] [-7.55466553e-02 9.97142111e-01 5.59874060e-04 -1.12795834e+01] [ 5.19897217e-03 -1.67580453e-04 9.99986471e-01 -4.05920924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.972414037 meters 0.07007014835142761 Centerline is valid? [True, True] Translation: X:155.83, Y:-11.28, Z:-4.06 [[ 9.96901203e-01 7.84285327e-02 -6.07916957e-03 1.55827656e+02] [-7.84259226e-02 9.96919721e-01 6.66927409e-04 -1.12788870e+01] [ 6.11275017e-03 -1.88096254e-04 9.99981299e-01 -4.05912468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.002414037 meters 0.07035079343814732 Centerline is valid? [True, True] Translation: X:155.86, Y:-11.28, Z:-4.06 [[ 9.96680396e-01 8.10673167e-02 -7.50191750e-03 1.55858583e+02] [-8.10634199e-02 9.96708606e-01 8.22562728e-04 -1.12804801e+01] [ 7.54390869e-03 -2.11701057e-04 9.99971522e-01 -4.06231208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.032414037 meters 0.0702799683623321 Centerline is valid? [True, True] Translation: X:155.89, Y:-11.28, Z:-4.06 [[ 9.96418001e-01 8.40262355e-02 -9.52679348e-03 1.55891079e+02] [-8.40200657e-02 9.96463513e-01 1.04672747e-03 -1.12816293e+01] [ 9.58105467e-03 -2.42536279e-04 9.99954071e-01 -4.06384690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.062414037 meters 0.06987006859663353 Centerline is valid? [True, True] Translation: X:155.92, Y:-11.28, Z:-4.07 [[ 9.95985759e-01 8.88918130e-02 -1.05172793e-02 1.55923590e+02] [-8.88845572e-02 9.96041263e-01 1.15624680e-03 -1.12794446e+01] [ 1.05784250e-02 -2.16781636e-04 9.99944023e-01 -4.06511235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.092414037 meters 0.06917299128870394 Centerline is valid? [True, True] Translation: X:155.96, Y:-11.28, Z:-4.06 [[ 9.95744633e-01 9.15981160e-02 -1.01198693e-02 1.55956302e+02] [-9.15915080e-02 9.95796039e-01 1.11549342e-03 -1.12784061e+01] [ 1.01795028e-02 -1.83852505e-04 9.99948171e-01 -4.06364291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.122414037 meters 0.06896723836875451 Centerline is valid? [True, True] Translation: X:155.99, Y:-11.28, Z:-4.06 [[ 9.95629180e-01 9.29137649e-02 -9.46401425e-03 1.55988846e+02] [-9.29080183e-02 9.95674146e-01 1.04601080e-03 -1.12790560e+01] [ 9.52026311e-03 -1.62156067e-04 9.99954668e-01 -4.06407895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.152414037 meters 0.06887101216210044 Centerline is valid? [True, True] Translation: X:156.02, Y:-11.28, Z:-4.07 [[ 9.95376349e-01 9.57895860e-02 -7.09075611e-03 1.56019746e+02] [-9.57864609e-02 9.95401600e-01 7.79800066e-04 -1.12782154e+01] [ 7.13284671e-03 -9.69961093e-05 9.99974556e-01 -4.06627459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.182414037 meters 0.06854519155705807 Centerline is valid? [True, True] Translation: X:156.05, Y:-11.28, Z:-4.07 [[ 9.95241846e-01 9.72577927e-02 -5.88129183e-03 1.56051697e+02] [-9.72556241e-02 9.95259220e-01 6.54296969e-04 -1.12791852e+01] [ 5.91704540e-03 -7.91950157e-05 9.99982491e-01 -4.06556123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.212414037 meters 0.06873818828772267 Centerline is valid? [True, True] Translation: X:156.08, Y:-11.28, Z:-4.07 [[ 9.95180451e-01 9.77797527e-02 -7.41550506e-03 1.56084043e+02] [-9.77763198e-02 9.95208074e-01 8.24937057e-04 -1.12819704e+01] [ 7.46063265e-03 -9.59004380e-05 9.99972164e-01 -4.06698075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24241403699997 meters 0.06914616050541914 Centerline is valid? [True, True] Translation: X:156.11, Y:-11.29, Z:-4.07 [[ 9.95278112e-01 9.63356725e-02 -1.18708544e-02 1.56114662e+02] [-9.63268945e-02 9.95348890e-01 1.31034415e-03 -1.12861822e+01] [ 1.19418747e-02 -1.60674311e-04 9.99928680e-01 -4.06926502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27241403699998 meters 0.06935246162644111 Centerline is valid? [True, True] Translation: X:156.15, Y:-11.29, Z:-4.07 [[ 9.95422338e-01 9.47430425e-02 -1.25747867e-02 1.56146444e+02] [-9.47329457e-02 9.95501741e-01 1.39751716e-03 -1.12906878e+01] [ 1.26506271e-02 -1.99873206e-04 9.99919958e-01 -4.07077643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30241403699998 meters 0.06943539899578129 Centerline is valid? [True, True] Translation: X:156.18, Y:-11.29, Z:-4.07 [[ 9.95657262e-01 9.24504881e-02 -1.09327035e-02 1.56178365e+02] [-9.24426780e-02 9.95717262e-01 1.21865746e-03 -1.12946003e+01] [ 1.09985471e-02 -2.02716760e-04 9.99939494e-01 -4.07079187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33241403699998 meters 0.06960831991713627 Centerline is valid? [True, True] Translation: X:156.21, Y:-11.30, Z:-4.07 [[ 9.95837997e-01 9.05559811e-02 -1.03100713e-02 1.56209069e+02] [-9.05489110e-02 9.95891344e-01 1.15145003e-03 -1.12988465e+01] [ 1.03719814e-02 -2.13091964e-04 9.99946187e-01 -4.07188044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36241403699998 meters 0.06972889048893692 Centerline is valid? [True, True] Translation: X:156.24, Y:-11.30, Z:-4.07 [[ 9.96227985e-01 8.61872358e-02 -1.00778566e-02 1.56240389e+02] [-8.61802736e-02 9.96278925e-01 1.12388190e-03 -1.13041361e+01] [ 1.01372204e-02 -2.51130169e-04 9.99948586e-01 -4.07061310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39241403699998 meters 0.0701894209725318 Centerline is valid? [True, True] Translation: X:156.27, Y:-11.31, Z:-4.07 [[ 9.96396631e-01 8.41959146e-02 -1.02372248e-02 1.56271005e+02] [-8.41885704e-02 9.96449180e-01 1.14700518e-03 -1.13097472e+01] [ 1.02974475e-02 -2.81014773e-04 9.99946940e-01 -4.07208673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42241403699998 meters 0.07120260404042024 Centerline is valid? [True, True] Translation: X:156.30, Y:-11.32, Z:-4.08 [[ 9.96562293e-01 8.21318751e-02 -1.08605149e-02 1.56301623e+02] [-8.21234649e-02 9.96621418e-01 1.21884877e-03 -1.13166215e+01] [ 1.09239281e-02 -3.22755611e-04 9.99940280e-01 -4.07764628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45241403699998 meters 0.07078313838515964 Centerline is valid? [True, True] Translation: X:156.33, Y:-11.32, Z:-4.08 [[ 9.96568989e-01 8.21784361e-02 -9.84659743e-03 1.56334110e+02] [-8.21714917e-02 9.96617588e-01 1.10844522e-03 -1.13176832e+01] [ 9.90438248e-03 -2.95532536e-04 9.99950907e-01 -4.07735345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48241403699998 meters 0.0702671405347108 Centerline is valid? [True, True] Translation: X:156.37, Y:-11.32, Z:-4.08 [[ 9.96536688e-01 8.27302102e-02 -8.38694726e-03 1.56366473e+02] [-8.27251644e-02 9.96571949e-01 9.47355750e-04 -1.13182152e+01] [ 8.43657132e-03 -2.50263171e-04 9.99964380e-01 -4.07687732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51241403699999 meters 0.07066174666607236 Centerline is valid? [True, True] Translation: X:156.40, Y:-11.32, Z:-4.08 [[ 9.96446529e-01 8.39573868e-02 -6.74324862e-03 1.56396458e+02] [-8.39541664e-02 9.96469328e-01 7.59728977e-04 -1.13216799e+01] [ 6.78322528e-03 -1.90905485e-04 9.99976975e-01 -4.08019449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.542414037 meters 0.06981951828305916 Centerline is valid? [True, True] Translation: X:156.43, Y:-11.32, Z:-4.08 [[ 9.96364701e-01 8.51227463e-02 -3.39122799e-03 1.56428240e+02] [-8.51219398e-02 9.96370468e-01 3.81710852e-04 -1.13211252e+01] [ 3.41141170e-03 -9.16553138e-05 9.99994177e-01 -4.07789348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.572414037 meters 0.06967370045497726 Centerline is valid? [True, True] Translation: X:156.46, Y:-11.32, Z:-4.08 [[ 9.96282525e-01 8.61166303e-02 -2.24848572e-03 1.56460270e+02] [-8.61162631e-02 9.96285060e-01 2.59809137e-04 -1.13240099e+01] [ 2.26250662e-03 -6.52121153e-05 9.99997438e-01 -4.07753107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.602414037 meters 0.06968048904274299 Centerline is valid? [True, True] Translation: X:156.49, Y:-11.33, Z:-4.08 [[ 9.96288905e-01 8.60707658e-02 -4.90795141e-04 1.56491560e+02] [-8.60707459e-02 9.96289026e-01 6.16225506e-05 -1.13273421e+01] [ 4.94277713e-04 -1.91507596e-05 9.99999878e-01 -4.07872982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.632414037 meters 0.06958135342092278 Centerline is valid? [True, True] Translation: X:156.52, Y:-11.33, Z:-4.08 [[ 9.96325787e-01 8.56379135e-02 -1.03587339e-03 1.56523404e+02] [-8.56378310e-02 9.96326325e-01 1.23840264e-04 -1.13295603e+01] [ 1.04267335e-03 -3.46752983e-05 9.99999456e-01 -4.07850572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.662414037 meters 0.06948499774241082 Centerline is valid? [True, True] Translation: X:156.56, Y:-11.33, Z:-4.08 [[ 9.96324218e-01 8.56347523e-02 -2.17747909e-03 1.56555924e+02] [-8.56344027e-02 9.96326595e-01 2.53463271e-04 -1.13295922e+01] [ 2.19118560e-03 -6.60644735e-05 9.99997597e-01 -4.08049177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.692414037 meters 0.06970951880618674 Centerline is valid? [True, True] Translation: X:156.59, Y:-11.33, Z:-4.08 [[ 9.96215780e-01 8.68070715e-02 -4.31887297e-03 1.56587191e+02] [-8.68057348e-02 9.96225134e-01 4.96357415e-04 -1.13327924e+01] [ 4.34565714e-03 -1.19576147e-04 9.99990550e-01 -4.08360833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.722414037 meters 0.06982165569885383 Centerline is valid? [True, True] Translation: X:156.62, Y:-11.33, Z:-4.09 [[ 9.95887059e-01 9.01331205e-02 -9.21879720e-03 1.56618864e+02] [-9.01272201e-02 9.95929703e-01 1.05433736e-03 -1.13338749e+01] [ 9.27630467e-03 -2.19136366e-04 9.99956950e-01 -4.08773963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.752414037 meters 0.06945672728753996 Centerline is valid? [True, True] Translation: X:156.65, Y:-11.33, Z:-4.09 [[ 9.95609726e-01 9.29791671e-02 -1.07772209e-02 1.56652179e+02] [-9.29712301e-02 9.95668028e-01 1.23622740e-03 -1.13347622e+01] [ 1.08454777e-02 -2.28828533e-04 9.99941160e-01 -4.08817464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.782414037 meters 0.06948159328799146 Centerline is valid? [True, True] Translation: X:156.68, Y:-11.34, Z:-4.09 [[ 9.95377416e-01 9.54913622e-02 -1.02566839e-02 1.56683070e+02] [-9.54842944e-02 9.95430240e-01 1.17770238e-03 -1.13367645e+01] [ 1.03222737e-02 -1.92906132e-04 9.99946705e-01 -4.09067026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.812414037 meters 0.0688925710761588 Centerline is valid? [True, True] Translation: X:156.71, Y:-11.34, Z:-4.09 [[ 9.95124929e-01 9.84775171e-02 -5.34362189e-03 1.56713297e+02] [-9.84756599e-02 9.95139273e-01 6.10195187e-04 -1.13375482e+01] [ 5.37773851e-03 -8.10037499e-05 9.99985537e-01 -4.09011762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.842414037 meters 0.06862642169542064 Centerline is valid? [True, True] Translation: X:156.74, Y:-11.34, Z:-4.09 [[ 9.95110353e-01 9.87379573e-02 -2.49021390e-03 1.56744849e+02] [-9.87375508e-02 9.95113468e-01 2.85975351e-04 -1.13409127e+01] [ 2.50628201e-03 -3.86994111e-05 9.99996859e-01 -4.08928995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.872414037 meters 0.06824833008131118 Centerline is valid? [True, True] Translation: X:156.78, Y:-11.34, Z:-4.09 [[ 9.95080874e-01 9.90646497e-02 5.00286667e-04 1.56775962e+02] [-9.90646340e-02 9.95080999e-01 -5.61650812e-05 -1.13440741e+01] [-5.03389730e-04 6.32808249e-06 9.99999873e-01 -4.08739227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.902414037 meters 0.06803764953825779 Centerline is valid? [True, True] Translation: X:156.81, Y:-11.35, Z:-4.09 [[ 9.95064698e-01 9.91979176e-02 2.45368190e-03 1.56808242e+02] [-9.91975333e-02 9.95067722e-01 -2.78132910e-04 -1.13487715e+01] [-2.46916986e-03 3.33610486e-05 9.99996951e-01 -4.08681665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.932414037 meters 0.06805727519573536 Centerline is valid? [True, True] Translation: X:156.84, Y:-11.35, Z:-4.09 [[ 9.95007503e-01 9.97944914e-02 1.06231706e-03 1.56839426e+02] [-9.97944252e-02 9.95008070e-01 -1.15300143e-04 -1.13546945e+01] [-1.06852037e-03 8.71118707e-06 9.99999429e-01 -4.08842286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.962414037 meters 0.06824756837116833 Centerline is valid? [True, True] Translation: X:156.87, Y:-11.36, Z:-4.09 [[ 9.94933538e-01 1.00531430e-01 8.28175150e-04 1.56870634e+02] [-1.00531392e-01 9.94933883e-01 -8.77363189e-05 -1.13587581e+01] [-8.32799775e-04 4.03420539e-06 9.99999653e-01 -4.09097445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99241403699997 meters 0.06812093102430707 Centerline is valid? [True, True] Translation: X:156.90, Y:-11.36, Z:-4.09 [[ 9.94894374e-01 1.00908197e-01 -1.64928366e-03 1.56902374e+02] [-1.00908009e-01 9.94895741e-01 1.96796629e-04 -1.13622464e+01] [ 1.66072368e-03 -2.93659287e-05 9.99998621e-01 -4.09233269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02241403699998 meters 0.06821126347506674 Centerline is valid? [True, True] Translation: X:156.93, Y:-11.37, Z:-4.10 [[ 9.94825124e-01 1.01594968e-01 -1.19763436e-03 1.56934535e+02] [-1.01594867e-01 9.94825845e-01 1.45048080e-04 -1.13661266e+01] [ 1.20617377e-03 -2.26239709e-05 9.99999272e-01 -4.09535069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05241403699998 meters 0.06821126347506674 Centerline is valid? [True, True] Translation: X:156.97, Y:-11.37, Z:-4.10 [[ 9.94796934e-01 1.01870630e-01 -1.19748188e-03 1.56966766e+02] [-1.01870528e-01 9.94797655e-01 1.46360061e-04 -1.13699241e+01] [ 1.20616196e-03 -2.36104288e-05 9.99999272e-01 -4.09627079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08241403699998 meters 0.06821352718559459 Centerline is valid? [True, True] Translation: X:157.00, Y:-11.37, Z:-4.10 [[ 9.94793227e-01 1.01898772e-01 -1.75387742e-03 1.56998409e+02] [-1.01898559e-01 9.94794772e-01 2.10421916e-04 -1.13733288e+01] [ 1.76618982e-03 -3.06087144e-05 9.99998440e-01 -4.09778580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11241403699998 meters 0.06844870499527868 Centerline is valid? [True, True] Translation: X:157.03, Y:-11.38, Z:-4.10 [[ 9.94807508e-01 1.01768269e-01 -1.11450636e-03 1.57029169e+02] [-1.01768180e-01 9.94808132e-01 1.36022512e-04 -1.13789378e+01] [ 1.12256277e-03 -2.18949325e-05 9.99999370e-01 -4.10056808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14241403699998 meters 0.06854113909255231 Centerline is valid? [True, True] Translation: X:157.06, Y:-11.39, Z:-4.10 [[ 9.94688990e-01 1.02907442e-01 1.96761984e-03 1.57059293e+02] [-1.02907193e-01 9.94690936e-01 -2.27568537e-04 -1.13855008e+01] [-1.98059212e-03 2.38776829e-05 9.99998038e-01 -4.10156199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17241403699998 meters 0.06824914553626064 Centerline is valid? [True, True] Translation: X:157.09, Y:-11.39, Z:-4.10 [[ 9.94573837e-01 1.04019053e-01 1.70843871e-03 1.57091709e+02] [-1.04018878e-01 9.94575305e-01 -1.90843692e-04 -1.13892695e+01] [-1.71902233e-03 1.20982650e-05 9.99998522e-01 -4.09979755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20241403699998 meters 0.0681902363017084 Centerline is valid? [True, True] Translation: X:157.12, Y:-11.39, Z:-4.10 [[ 9.94261270e-01 1.06939741e-01 2.90147018e-03 1.57122421e+02] [-1.06939228e-01 9.94265503e-01 -3.32031280e-04 -1.13925020e+01] [-2.92033905e-03 1.98448614e-05 9.99995736e-01 -4.10105790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23241403699998 meters 0.06791793684642906 Centerline is valid? [True, True] Translation: X:157.15, Y:-11.39, Z:-4.10 [[ 9.93582146e-01 1.13075129e-01 2.92138112e-03 1.57153766e+02] [-1.13074632e-01 9.93586441e-01 -3.35079033e-04 -1.13943383e+01] [-2.94053378e-03 2.59444973e-06 9.99995677e-01 -4.10248463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26241403699999 meters 0.0677812739201284 Centerline is valid? [True, True] Translation: X:157.19, Y:-11.40, Z:-4.10 [[ 9.93192582e-01 1.16458528e-01 2.43047782e-03 1.57186913e+02] [-1.16458200e-01 9.93195555e-01 -2.76767254e-04 -1.13981088e+01] [-2.44617167e-03 -8.16588743e-06 9.99997008e-01 -4.10212862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.292414037 meters 0.06787814911787125 Centerline is valid? [True, True] Translation: X:157.22, Y:-11.40, Z:-4.10 [[ 9.92668796e-01 1.20864506e-01 -6.57245496e-04 1.57218615e+02] [-1.20864480e-01 9.92669014e-01 7.91057034e-05 -1.14028971e+01] [ 6.61988310e-04 9.11871702e-07 9.99999781e-01 -4.10436039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.322414037 meters 0.06805128017786241 Centerline is valid? [True, True] Translation: X:157.25, Y:-11.41, Z:-4.11 [[ 9.92459485e-01 1.22550676e-01 -2.34567846e-03 1.57249356e+02] [-1.22550351e-01 9.92462257e-01 2.82165359e-04 -1.14073458e+01] [ 2.36257690e-03 7.42603291e-06 9.99997209e-01 -4.10752232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.352414037 meters 0.06839263984994166 Centerline is valid? [True, True] Translation: X:157.28, Y:-11.41, Z:-4.11 [[ 9.92373699e-01 1.23206353e-01 -3.82579718e-03 1.57279850e+02] [-1.23205520e-01 9.92381073e-01 4.53666150e-04 -1.14118519e+01] [ 3.85254326e-03 2.11529748e-05 9.99992579e-01 -4.11360658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.382414037 meters 0.06849511031738603 Centerline is valid? [True, True] Translation: X:157.31, Y:-11.42, Z:-4.12 [[ 9.92303561e-01 1.23715995e-01 -5.29107238e-03 1.57311222e+02] [-1.23714394e-01 9.92317667e-01 6.30075206e-04 -1.14178587e+01] [ 5.32837498e-03 2.93559432e-05 9.99985804e-01 -4.11500703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.412414037 meters 0.06824961918917953 Centerline is valid? [True, True] Translation: X:157.34, Y:-11.42, Z:-4.11 [[ 9.92304822e-01 1.23731757e-01 -4.64669370e-03 1.57342705e+02] [-1.23730512e-01 9.92315702e-01 5.55754912e-04 -1.14248067e+01] [ 4.67975165e-03 2.34595088e-05 9.99989050e-01 -4.11147304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.442414037 meters 0.06813078608791887 Centerline is valid? [True, True] Translation: X:157.37, Y:-11.43, Z:-4.11 [[ 9.92294940e-01 1.23825275e-01 -4.24897445e-03 1.57374252e+02] [-1.23824226e-01 9.92304037e-01 5.09897007e-04 -1.14309053e+01] [ 4.27941263e-03 2.01577545e-05 9.99990843e-01 -4.11176861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.472414037 meters 0.06819045915341457 Centerline is valid? [True, True] Translation: X:157.41, Y:-11.44, Z:-4.11 [[ 9.92453550e-01 1.22549241e-01 -4.19926789e-03 1.57405407e+02] [-1.22548201e-01 9.92462434e-01 5.04995458e-04 -1.14392571e+01] [ 4.22950244e-03 1.34281890e-05 9.99991056e-01 -4.11343191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.502414037 meters 0.06811247446830077 Centerline is valid? [True, True] Translation: X:157.44, Y:-11.45, Z:-4.11 [[ 9.92540127e-01 1.21899175e-01 -2.16514684e-03 1.57436970e+02] [-1.21898888e-01 9.92542488e-01 2.64282464e-04 -1.14456402e+01] [ 2.18121605e-03 1.61804188e-06 9.99997621e-01 -4.11387096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.532414037 meters 0.06812198803999764 Centerline is valid? [True, True] Translation: X:157.47, Y:-11.45, Z:-4.12 [[ 9.92589817e-01 1.21471467e-01 -3.18391370e-03 1.57467004e+02] [-1.21470859e-01 9.92594924e-01 3.84485651e-04 -1.14519125e+01] [ 3.20704061e-03 5.11618883e-06 9.99994857e-01 -4.11507189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.562414037 meters 0.06796967056063798 Centerline is valid? [True, True] Translation: X:157.50, Y:-11.46, Z:-4.11 [[ 9.92728213e-01 1.20374673e-01 -7.96174959e-04 1.57498464e+02] [-1.20374630e-01 9.92728532e-01 1.01953930e-04 -1.14598556e+01] [ 8.02658269e-04 -5.37327699e-06 9.99999678e-01 -4.11437734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.592414037 meters 0.0679322710787418 Centerline is valid? [True, True] Translation: X:157.53, Y:-11.47, Z:-4.11 [[ 9.92805764e-01 1.19735552e-01 3.36998240e-04 1.57529802e+02] [-1.19735547e-01 9.92805821e-01 -3.32772521e-05 -1.14659476e+01] [-3.38558284e-04 -7.31282094e-06 9.99999943e-01 -4.11425161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.622414037 meters 0.06798391854481838 Centerline is valid? [True, True] Translation: X:157.56, Y:-11.48, Z:-4.11 [[ 9.93452797e-01 1.14227827e-01 1.88249300e-03 1.57559882e+02] [-1.14227617e-01 9.93454581e-01 -2.19015814e-04 -1.14769400e+01] [-1.89518900e-03 2.54918334e-06 9.99998204e-01 -4.11317150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.652414037 meters 0.06818919746199624 Centerline is valid? [True, True] Translation: X:157.59, Y:-11.49, Z:-4.11 [[ 9.94002484e-01 1.09337966e-01 2.06687701e-03 1.57590897e+02] [-1.09337701e-01 9.94004632e-01 -2.40999247e-04 -1.14857094e+01] [-2.08083569e-03 1.35662693e-05 9.99997835e-01 -4.11285698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.682414037 meters 0.06854957915583972 Centerline is valid? [True, True] Translation: X:157.62, Y:-11.50, Z:-4.11 [[ 9.94670906e-01 1.03094851e-01 1.11368909e-03 1.57621068e+02] [-1.03094773e-01 9.94671529e-01 -1.27411455e-04 -1.14959106e+01] [-1.12089029e-03 1.19169430e-05 9.99999372e-01 -4.11372846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.712414037 meters 0.06960997041412127 Centerline is valid? [True, True] Translation: X:157.65, Y:-11.51, Z:-4.12 [[ 9.95276816e-01 9.70772883e-02 -2.42232277e-04 1.57650193e+02] [-9.70772840e-02 9.95276846e-01 2.96295338e-05 -1.15084343e+01] [ 2.43964532e-04 -5.97433656e-06 9.99999970e-01 -4.11710030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74241403699997 meters 0.0704707692622806 Centerline is valid? [True, True] Translation: X:157.68, Y:-11.52, Z:-4.12 [[ 9.96396687e-01 8.47897781e-02 -2.08211150e-03 1.57679905e+02] [-8.47894374e-02 9.96398860e-01 2.51508309e-04 -1.15218771e+01] [ 2.09593886e-03 -7.40609833e-05 9.99997801e-01 -4.11503237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77241403699998 meters 0.07083610977019071 Centerline is valid? [True, True] Translation: X:157.71, Y:-11.53, Z:-4.12 [[ 9.96828750e-01 7.95087213e-02 -3.28735033e-03 1.57710495e+02] [-7.95078477e-02 9.96834161e-01 3.95803211e-04 -1.15272997e+01] [ 3.30841292e-03 -1.33177871e-04 9.99994518e-01 -4.11580239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80241403699998 meters 0.07171189856993263 Centerline is valid? [True, True] Translation: X:157.74, Y:-11.53, Z:-4.12 [[ 9.97145572e-01 7.53617952e-02 -4.61603473e-03 1.57739351e+02] [-7.53600300e-02 9.97156235e-01 5.55398892e-04 -1.15339289e+01] [ 4.64476367e-03 -2.05949030e-04 9.99989192e-01 -4.11854815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83241403699998 meters 0.07261439938008153 Centerline is valid? [True, True] Translation: X:157.77, Y:-11.54, Z:-4.12 [[ 9.97391109e-01 7.19522715e-02 -5.81774767e-03 1.57770061e+02] [-7.19494062e-02 9.97408037e-01 7.00589479e-04 -1.15391911e+01] [ 5.85307729e-03 -2.80178228e-04 9.99982831e-01 -4.12097240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86241403699998 meters 0.07223015539969001 Centerline is valid? [True, True] Translation: X:157.80, Y:-11.54, Z:-4.12 [[ 9.97726446e-01 6.70268077e-02 -7.02460895e-03 1.57800570e+02] [-6.70225115e-02 9.97751105e-01 8.45488996e-04 -1.15406819e+01] [ 7.06548177e-03 -3.72759797e-04 9.99974970e-01 -4.11877859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89241403699998 meters 0.07295303698919012 Centerline is valid? [True, True] Translation: X:157.83, Y:-11.55, Z:-4.12 [[ 9.97831363e-01 6.53272436e-02 -8.05747430e-03 1.57830127e+02] [-6.53215116e-02 9.97863795e-01 9.72799702e-04 -1.15458288e+01] [ 8.10381221e-03 -4.44363652e-04 9.99967065e-01 -4.11960456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92241403699998 meters 0.07339800249196765 Centerline is valid? [True, True] Translation: X:157.86, Y:-11.55, Z:-4.12 [[ 9.97987488e-01 6.25297991e-02 -1.05355421e-02 1.57860689e+02] [-6.25198753e-02 9.98042912e-01 1.26898498e-03 -1.15474840e+01] [ 1.05942724e-02 -6.07750361e-04 9.99943694e-01 -4.12017598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95241403699998 meters 0.07372224998493998 Centerline is valid? [True, True] Translation: X:157.89, Y:-11.55, Z:-4.12 [[ 9.98027432e-01 6.17097779e-02 -1.15389958e-02 1.57892477e+02] [-6.16977158e-02 9.98093901e-01 1.39874228e-03 -1.15491926e+01] [ 1.16033174e-02 -6.84053479e-04 9.99932445e-01 -4.12194977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98241403699998 meters 0.07408234169095175 Centerline is valid? [True, True] Translation: X:157.92, Y:-11.55, Z:-4.12 [[ 9.98048544e-01 6.14284964e-02 -1.12091298e-02 1.57923562e+02] [-6.14170664e-02 9.98111262e-01 1.36142753e-03 -1.15507884e+01] [ 1.12715892e-02 -6.70338891e-04 9.99936249e-01 -4.12401524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01241403699999 meters 0.07392552030249339 Centerline is valid? [True, True] Translation: X:157.96, Y:-11.55, Z:-4.12 [[ 9.98154655e-01 6.02452859e-02 -7.60199899e-03 1.57956747e+02] [-6.02400037e-02 9.98183496e-01 9.22120443e-04 -1.15480130e+01] [ 7.64374334e-03 -4.62474365e-04 9.99970679e-01 -4.12400024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.042414037 meters 0.07394729227913027 Centerline is valid? [True, True] Translation: X:157.99, Y:-11.55, Z:-4.12 [[ 9.98189410e-01 5.98947374e-02 -5.52475452e-03 1.57988862e+02] [-5.98919067e-02 9.98204639e-01 6.76544230e-04 -1.15493605e+01] [ 5.55535703e-03 -3.44431203e-04 9.99984510e-01 -4.12324940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.072414037 meters 0.07430982842977488 Centerline is valid? [True, True] Translation: X:158.02, Y:-11.55, Z:-4.12 [[ 9.98232452e-01 5.93790035e-02 -2.47114115e-03 1.58020355e+02] [-5.93784248e-02 9.98235497e-01 3.06932038e-04 -1.15518329e+01] [ 2.48500614e-03 -1.59657052e-04 9.99996900e-01 -4.12267161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.102414037 meters 0.07509836665906375 Centerline is valid? [True, True] Translation: X:158.05, Y:-11.55, Z:-4.12 [[ 9.98338784e-01 5.74436639e-02 -4.46066013e-03 1.58050213e+02] [-5.74418141e-02 9.98348709e-01 5.41802316e-04 -1.15515670e+01] [ 4.48441739e-03 -2.84673856e-04 9.99989904e-01 -4.12190557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.132414037 meters 0.07509836665906375 Centerline is valid? [True, True] Translation: X:158.08, Y:-11.56, Z:-4.12 [[ 9.98323292e-01 5.77123565e-02 -4.45959480e-03 1.58082474e+02] [-5.77104705e-02 9.98333210e-01 5.50563346e-04 -1.15555684e+01] [ 4.48393590e-03 -2.92274898e-04 9.99989904e-01 -4.12282551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.162414037 meters 0.0768588690957711 Centerline is valid? [True, True] Translation: X:158.11, Y:-11.55, Z:-4.13 [[ 9.98434703e-01 5.52871700e-02 -8.45414327e-03 1.58111796e+02] [-5.52804384e-02 9.98470338e-01 1.02804430e-03 -1.15548501e+01] [ 8.49804895e-03 -5.59086360e-04 9.99963735e-01 -4.12705362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.192414037 meters 0.07657399284071058 Centerline is valid? [True, True] Translation: X:158.14, Y:-11.55, Z:-4.13 [[ 9.98452982e-01 5.48525602e-02 -9.10159944e-03 1.58144243e+02] [-5.48446521e-02 9.98494275e-01 1.11638545e-03 -1.15523699e+01] [ 9.14913154e-03 -6.15484323e-04 9.99957956e-01 -4.12854248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.222414037 meters 0.07795840113961144 Centerline is valid? [True, True] Translation: X:158.18, Y:-11.55, Z:-4.13 [[ 9.98495597e-01 5.40714864e-02 -9.10044564e-03 1.58175099e+02] [-5.40635342e-02 9.98536872e-01 1.11776278e-03 -1.15536821e+01] [ 9.14756962e-03 -6.24078957e-04 9.99957965e-01 -4.13176636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.252414037 meters 0.07901348416272676 Centerline is valid? [True, True] Translation: X:158.21, Y:-11.55, Z:-4.13 [[ 9.98569828e-01 5.27544829e-02 -8.67538426e-03 1.58206505e+02] [-5.27472468e-02 9.98607331e-01 1.06095417e-03 -1.15492834e+01] [ 8.71927242e-03 -6.01834187e-04 9.99961805e-01 -4.13338044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.282414037 meters 0.07885145897438985 Centerline is valid? [True, True] Translation: X:158.24, Y:-11.55, Z:-4.13 [[ 9.98581348e-01 5.26848149e-02 -7.72023486e-03 1.58238942e+02] [-5.26790255e-02 9.98611043e-01 9.51485477e-04 -1.15469785e+01] [ 7.75964062e-03 -5.43441201e-04 9.99969746e-01 -4.13488798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.312414037 meters 0.07876423263847536 Centerline is valid? [True, True] Translation: X:158.27, Y:-11.54, Z:-4.14 [[ 9.98553216e-01 5.30074591e-02 -9.03788860e-03 1.58271778e+02] [-5.29995290e-02 9.98593915e-01 1.11485503e-03 -1.15441721e+01] [ 9.08427619e-03 -6.34238234e-04 9.99958536e-01 -4.13615615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.342414037 meters 0.08067144954792434 Centerline is valid? [True, True] Translation: X:158.30, Y:-11.54, Z:-4.14 [[ 9.98489166e-01 5.42380929e-02 -8.80987970e-03 1.58303598e+02] [-5.42305925e-02 9.98527846e-01 1.08821022e-03 -1.15374537e+01] [ 8.85593264e-03 -6.08801120e-04 9.99960600e-01 -4.14243260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.372414037 meters 0.0748148956449265 Centerline is valid? [True, True] Translation: X:158.34, Y:-11.52, Z:-4.14 [[ 9.98425419e-01 5.56796381e-02 -6.81620104e-03 1.58337096e+02] [-5.56752088e-02 9.98448581e-01 8.38004488e-04 -1.15210389e+01] [ 6.85228604e-03 -4.57191567e-04 9.99976418e-01 -4.13676878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.402414037 meters 0.07552651026962054 Centerline is valid? [True, True] Translation: X:158.37, Y:-11.52, Z:-4.14 [[ 9.98376480e-01 5.67623404e-02 -4.73713832e-03 1.58367737e+02] [-5.67602120e-02 9.98387670e-01 5.82633393e-04 -1.15190873e+01] [ 4.76257212e-03 -3.12806501e-04 9.99988610e-01 -4.13907831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.432414037 meters 0.07463044860657624 Centerline is valid? [True, True] Translation: X:158.40, Y:-11.51, Z:-4.14 [[ 9.98214322e-01 5.97015585e-02 -1.97265337e-03 1.58400729e+02] [-5.97011945e-02 9.98216263e-01 2.42962425e-04 -1.15051934e+01] [ 1.98363991e-03 -1.24758810e-04 9.99998025e-01 -4.13812522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.462414037 meters 0.07424983997096808 Centerline is valid? [True, True] Translation: X:158.43, Y:-11.50, Z:-4.14 [[ 9.98091155e-01 6.17188879e-02 -2.19677173e-03 1.58433098e+02] [-6.17184403e-02 9.98093563e-01 2.71032944e-04 -1.15003699e+01] [ 2.20931157e-03 -1.34934259e-04 9.99997550e-01 -4.13936656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49241403699997 meters 0.07296231106712858 Centerline is valid? [True, True] Translation: X:158.47, Y:-11.49, Z:-4.14 [[ 9.97818190e-01 6.58235221e-02 -5.11113216e-03 1.58466525e+02] [-6.58211582e-02 9.97831238e-01 6.29526304e-04 -1.14864604e+01] [ 5.14148497e-03 -2.91732159e-04 9.99986740e-01 -4.14046008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52241403699998 meters 0.07458024013870006 Centerline is valid? [True, True] Translation: X:158.50, Y:-11.49, Z:-4.15 [[ 9.97718348e-01 6.72707166e-02 -5.72261942e-03 1.58497178e+02] [-6.72677398e-02 9.97734707e-01 7.11302942e-04 -1.14879418e+01] [ 5.75750587e-03 -3.24732322e-04 9.99983373e-01 -4.14539879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55241403699998 meters 0.07263557215938501 Centerline is valid? [True, True] Translation: X:158.53, Y:-11.48, Z:-4.14 [[ 9.97640941e-01 6.83986132e-02 -5.84659344e-03 1.58530729e+02] [-6.83955144e-02 9.97658019e-01 7.28558222e-04 -1.14800724e+01] [ 5.88273320e-03 -3.26958744e-04 9.99982643e-01 -4.14373076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58241403699998 meters 0.07163929257265354 Centerline is valid? [True, True] Translation: X:158.56, Y:-11.47, Z:-4.14 [[ 9.97605273e-01 6.90368345e-02 -4.19932994e-03 1.58563001e+02] [-6.90352573e-02 9.97614085e-01 5.19541888e-04 -1.14748101e+01] [ 4.22517822e-03 -2.28395904e-04 9.99991048e-01 -4.14368568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61241403699998 meters 0.07193581839975939 Centerline is valid? [True, True] Translation: X:158.59, Y:-11.47, Z:-4.15 [[ 9.97612958e-01 6.89659134e-02 -3.47703767e-03 1.58594793e+02] [-6.89648052e-02 9.97618997e-01 4.37747046e-04 -1.14739731e+01] [ 3.49894846e-03 -1.96908899e-04 9.99993859e-01 -4.14570695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64241403699998 meters 0.07265646076961751 Centerline is valid? [True, True] Translation: X:158.63, Y:-11.47, Z:-4.15 [[ 9.97833613e-01 6.57803598e-02 1.01270079e-03 1.58627854e+02] [-6.57802732e-02 9.97834125e-01 -1.18693758e-04 -1.14700093e+01] [-1.01831512e-03 5.18208872e-05 9.99999480e-01 -4.14727218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67241403699998 meters 0.08601429738100057 Centerline is valid? [True, True] Translation: X:158.66, Y:-11.49, Z:-4.16 [[ 9.98267898e-01 5.88310826e-02 -3.27378291e-04 1.58655337e+02] [-5.88310721e-02 9.98267952e-01 4.15941194e-05 -1.14944143e+01] [ 3.29258283e-04 -2.22620583e-05 9.99999946e-01 -4.16096854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70241403699998 meters 0.08601429738100057 Centerline is valid? [True, True] Translation: X:158.69, Y:-11.50, Z:-4.16 [[ 9.98246797e-01 5.91880590e-02 -3.26237502e-04 1.58687584e+02] [-5.91880455e-02 9.98246850e-01 5.07772221e-05 -1.14986832e+01] [ 3.28670963e-04 -3.13788392e-05 9.99999945e-01 -4.16188918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73241403699998 meters 0.09276226564139418 Centerline is valid? [True, True] Translation: X:158.72, Y:-11.51, Z:-4.17 [[ 9.98479464e-01 5.51187860e-02 -8.24755860e-04 1.58715672e+02] [-5.51187187e-02 9.98479803e-01 1.04127563e-04 -1.15103405e+01] [ 8.29241453e-04 -5.85097467e-05 9.99999654e-01 -4.16715393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76241403699999 meters 0.09824503785951207 Centerline is valid? [True, True] Translation: X:158.75, Y:-11.51, Z:-4.17 [[ 9.98931198e-01 4.61876676e-02 -1.77796077e-03 1.58745383e+02] [-4.61873473e-02 9.98932771e-01 2.20781312e-04 -1.15123912e+01] [ 1.78626065e-03 -1.38426049e-04 9.99998395e-01 -4.16711102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.792414037 meters 0.09281254933846497 Centerline is valid? [True, True] Translation: X:158.78, Y:-11.50, Z:-4.16 [[ 9.99078741e-01 4.27725790e-02 -3.48933874e-03 1.58777700e+02] [-4.27713213e-02 9.99084794e-01 4.34306242e-04 -1.15007862e+01] [ 3.50472167e-03 -2.84662505e-04 9.99993818e-01 -4.16298547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.822414037 meters 0.09551935885238413 Centerline is valid? [True, True] Translation: X:158.81, Y:-11.50, Z:-4.16 [[ 9.99154655e-01 4.06184597e-02 -6.33377249e-03 1.58808154e+02] [-4.06142742e-02 9.99174589e-01 7.88106417e-04 -1.14950153e+01] [ 6.36055619e-03 -5.30198622e-04 9.99979631e-01 -4.16476124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.852414037 meters 0.09801302277068233 Centerline is valid? [True, True] Translation: X:158.84, Y:-11.49, Z:-4.17 [[ 9.99136930e-01 4.07050711e-02 -8.27602716e-03 1.58839081e+02] [-4.06978816e-02 9.99170962e-01 1.03533830e-03 -1.14948139e+01] [ 8.31130953e-03 -6.97627961e-04 9.99965217e-01 -4.16875389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.882414037 meters 0.08163683832933859 Centerline is valid? [True, True] Translation: X:158.87, Y:-11.46, Z:-4.16 [[ 9.99067927e-01 4.20318936e-02 -9.82842061e-03 1.58874199e+02] [-4.20218679e-02 9.99115941e-01 1.22445963e-03 -1.14614357e+01] [ 9.87119806e-03 -8.10309747e-04 9.99950950e-01 -4.15864760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.912414037 meters 0.08059260904625631 Centerline is valid? [True, True] Translation: X:158.91, Y:-11.45, Z:-4.16 [[ 9.98996927e-01 4.37113697e-02 -9.71881981e-03 1.58905542e+02] [-4.37016453e-02 9.99043893e-01 1.21080517e-03 -1.14546313e+01] [ 9.76245354e-03 -7.84862227e-04 9.99952038e-01 -4.15940616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.942414037 meters 0.08059260904625631 Centerline is valid? [True, True] Translation: X:158.93, Y:-11.46, Z:-4.16 [[ 9.98998460e-01 4.36762866e-02 -9.71898516e-03 1.58934593e+02] [-4.36665734e-02 9.99045428e-01 1.20947779e-03 -1.14582160e+01] [ 9.76253319e-03 -7.83871669e-04 9.99952038e-01 -4.16023450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.972414037 meters 0.08004661688659616 Centerline is valid? [True, True] Translation: X:158.97, Y:-11.44, Z:-4.16 [[ 9.98851556e-01 4.72872371e-02 -7.71270769e-03 1.58965967e+02] [-4.72812267e-02 9.98881156e-01 9.59874238e-04 -1.14446975e+01] [ 7.74946817e-03 -5.94105596e-04 9.99969796e-01 -4.16101460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.002414037 meters 0.0782891674024313 Centerline is valid? [True, True] Translation: X:159.00, Y:-11.44, Z:-4.16 [[ 9.98784749e-01 4.88203271e-02 -6.75283386e-03 1.58997839e+02] [-4.88157511e-02 9.98807447e-01 8.40913790e-04 -1.14370148e+01] [ 6.78583443e-03 -5.10247212e-04 9.99976846e-01 -4.16001488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.032414037 meters 0.0762193563599899 Centerline is valid? [True, True] Translation: X:159.03, Y:-11.43, Z:-4.16 [[ 9.98704112e-01 5.05272188e-02 -6.09065523e-03 1.59029098e+02] [-5.05235317e-02 9.98722583e-01 7.57824839e-04 -1.14286429e+01] [ 6.12116571e-03 -4.49121370e-04 9.99981165e-01 -4.15882557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.062414037 meters 0.07603105460199058 Centerline is valid? [True, True] Translation: X:159.06, Y:-11.42, Z:-4.16 [[ 9.98662310e-01 5.14992374e-02 -4.62815292e-03 1.59060163e+02] [-5.14971170e-02 9.98672977e-01 5.76247176e-04 -1.14247106e+01] [ 4.65168755e-03 -3.37139804e-04 9.99989124e-01 -4.15873636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.092414037 meters 0.07668765473301957 Centerline is valid? [True, True] Translation: X:159.09, Y:-11.42, Z:-4.16 [[ 9.98640681e-01 5.20088640e-02 -3.44512055e-03 1.59089781e+02] [-5.20076941e-02 9.98646592e-01 4.28375379e-04 -1.14230945e+01] [ 3.46273721e-03 -2.48620304e-04 9.99993974e-01 -4.15977109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.122414037 meters 0.07587119746013751 Centerline is valid? [True, True] Translation: X:159.12, Y:-11.41, Z:-4.16 [[ 9.98655519e-01 5.16608575e-02 -4.27911304e-03 1.59121842e+02] [-5.16590467e-02 9.98664638e-01 5.32710630e-04 -1.14116388e+01] [ 4.30091916e-03 -3.10939511e-04 9.99990703e-01 -4.15855455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.152414037 meters 0.07700999208109795 Centerline is valid? [True, True] Translation: X:159.15, Y:-11.41, Z:-4.16 [[ 9.98677421e-01 5.09437951e-02 -6.93822614e-03 1.59150818e+02] [-5.09390260e-02 9.98701393e-01 8.62480629e-04 -1.14118157e+01] [ 6.97315415e-03 -5.07913449e-04 9.99975558e-01 -4.16078833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.182414037 meters 0.07771413199975089 Centerline is valid? [True, True] Translation: X:159.18, Y:-11.41, Z:-4.17 [[ 9.98679182e-01 4.98758048e-02 -1.23408435e-02 1.59181906e+02] [-4.98606133e-02 9.98755005e-01 1.53581637e-03 -1.14070470e+01] [ 1.24020793e-02 -9.18465807e-04 9.99922669e-01 -4.16555534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.212414037 meters 0.07873282260435839 Centerline is valid? [True, True] Translation: X:159.21, Y:-11.41, Z:-4.17 [[ 9.98759225e-01 4.81276572e-02 -1.27960269e-02 1.59211396e+02] [-4.81112090e-02 9.98840719e-01 1.59032521e-03 -1.14077415e+01] [ 1.28577313e-02 -9.72719653e-04 9.99916863e-01 -4.16877699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24241403699997 meters 0.0794733323585829 Centerline is valid? [True, True] Translation: X:159.24, Y:-11.41, Z:-4.17 [[ 9.98827026e-01 4.64542422e-02 -1.36592700e-02 1.59241532e+02] [-4.64353324e-02 9.98919854e-01 1.69847115e-03 -1.14083169e+01] [ 1.37234172e-02 -1.06220614e-03 9.99905265e-01 -4.17023922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27241403699998 meters 0.08029574644580158 Centerline is valid? [True, True] Translation: X:159.27, Y:-11.41, Z:-4.17 [[ 9.98946927e-01 4.45801771e-02 -1.08464273e-02 1.59270866e+02] [-4.45681697e-02 9.99005438e-01 1.34635669e-03 -1.14095010e+01] [ 1.08956607e-02 -8.61533464e-04 9.99940269e-01 -4.17080936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30241403699998 meters 0.08238826117107856 Centerline is valid? [True, True] Translation: X:159.30, Y:-11.41, Z:-4.17 [[ 9.99197035e-01 3.92497805e-02 -8.04607295e-03 1.59301365e+02] [-3.92429945e-02 9.99229197e-01 9.99603616e-04 -1.14082777e+01] [ 8.07910523e-03 -6.83048974e-04 9.99967130e-01 -4.17109984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33241403699998 meters 0.0818066604392129 Centerline is valid? [True, True] Translation: X:159.33, Y:-11.41, Z:-4.17 [[ 9.99291437e-01 3.68951760e-02 -7.44114250e-03 1.59331992e+02] [-3.68893087e-02 9.99318930e-01 9.24258486e-04 -1.14064036e+01] [ 7.47017524e-03 -6.49104988e-04 9.99971887e-01 -4.17128638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36241403699998 meters 0.07964923377643471 Centerline is valid? [True, True] Translation: X:159.36, Y:-11.40, Z:-4.17 [[ 9.99352583e-01 3.48201957e-02 -9.05369509e-03 1.59363252e+02] [-3.48114260e-02 9.99393266e-01 1.12447400e-03 -1.14003492e+01] [ 9.08735631e-03 -8.08573956e-04 9.99958382e-01 -4.17115833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39241403699998 meters 0.0843465199092723 Centerline is valid? [True, True] Translation: X:159.39, Y:-11.41, Z:-4.18 [[ 9.99377931e-01 3.35113008e-02 -1.09883847e-02 1.59391329e+02] [-3.34983020e-02 9.99437842e-01 1.36493794e-03 -1.14078820e+01] [ 1.10279484e-02 -9.95996623e-04 9.99938694e-01 -4.17764385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42241403699998 meters 0.08499635869367404 Centerline is valid? [True, True] Translation: X:159.42, Y:-11.40, Z:-4.18 [[ 9.99412845e-01 3.23148348e-02 -1.13892847e-02 1.59421677e+02] [-3.23008186e-02 9.99477194e-01 1.41250852e-03 -1.14008362e+01] [ 1.14289753e-02 -1.04379595e-03 9.99934142e-01 -4.18075255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45241403699998 meters 0.08271273549652051 Centerline is valid? [True, True] Translation: X:159.45, Y:-11.39, Z:-4.18 [[ 9.99419663e-01 3.29848905e-02 -8.50496694e-03 1.59453342e+02] [-3.29770985e-02 9.99455551e-01 1.05483457e-03 -1.13859971e+01] [ 8.53513002e-03 -7.73753274e-04 9.99963276e-01 -4.17814688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48241403699998 meters 0.0824343217819005 Centerline is valid? [True, True] Translation: X:159.48, Y:-11.38, Z:-4.18 [[ 9.99381824e-01 3.43537784e-02 -7.46909358e-03 1.59483876e+02] [-3.43478097e-02 9.99409511e-01 9.25969826e-04 -1.13813286e+01] [ 7.49649372e-03 -6.68850408e-04 9.99971677e-01 -4.17955283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51241403699999 meters 0.08276146373834155 Centerline is valid? [True, True] Translation: X:159.51, Y:-11.38, Z:-4.18 [[ 9.99337634e-01 3.55980795e-02 -7.55450782e-03 1.59513068e+02] [-3.55920155e-02 9.99365965e-01 9.35672397e-04 -1.13777034e+01] [ 7.58302614e-03 -6.66172479e-04 9.99971027e-01 -4.18106496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.542414037 meters 0.07866583886687671 Centerline is valid? [True, True] Translation: X:159.54, Y:-11.36, Z:-4.18 [[ 9.99257629e-01 3.75897501e-02 -8.43815138e-03 1.59544801e+02] [-3.75822523e-02 9.99292991e-01 1.04542805e-03 -1.13647680e+01] [ 8.47148290e-03 -7.27527224e-04 9.99963852e-01 -4.17994742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.572414037 meters 0.07976214783030294 Centerline is valid? [True, True] Translation: X:159.57, Y:-11.36, Z:-4.18 [[ 9.99098549e-01 4.18785390e-02 -6.94815972e-03 1.59574656e+02] [-4.18735645e-02 9.99122548e-01 8.59951073e-04 -1.13576006e+01] [ 6.97807654e-03 -5.68231655e-04 9.99975491e-01 -4.18346046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.602414037 meters 0.07830188544037488 Centerline is valid? [True, True] Translation: X:159.61, Y:-11.35, Z:-4.18 [[ 9.99051923e-01 4.32505518e-02 -4.96441241e-03 1.59605862e+02] [-4.32480311e-02 9.99064177e-01 6.14038542e-04 -1.13510797e+01] [ 4.98632410e-03 -3.98755323e-04 9.99987489e-01 -4.18309456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.632414037 meters 0.078137865499591 Centerline is valid? [True, True] Translation: X:159.64, Y:-11.35, Z:-4.18 [[ 9.99012497e-01 4.42363435e-02 -4.14449061e-03 1.59635444e+02] [-4.42345984e-02 9.99021040e-01 5.11837675e-04 -1.13494724e+01] [ 4.16307515e-03 -3.28002357e-04 9.99991281e-01 -4.18331675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.662414037 meters 0.0800223240153872 Centerline is valid? [True, True] Translation: X:159.66, Y:-11.35, Z:-4.19 [[ 9.98990264e-01 4.48034682e-02 -3.33198847e-03 1.59663528e+02] [-4.48023468e-02 9.98995786e-01 4.10452767e-04 -1.13529116e+01] [ 3.34703215e-03 -2.60757415e-04 9.99994365e-01 -4.18616974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.692414037 meters 0.07851042669974907 Centerline is valid? [True, True] Translation: X:159.69, Y:-11.35, Z:-4.19 [[ 9.99000822e-01 4.45613486e-02 -3.41224500e-03 1.59693407e+02] [-4.45601718e-02 9.99006614e-01 4.20140412e-04 -1.13490302e+01] [ 3.42757735e-03 -2.67670393e-04 9.99994090e-01 -4.18622710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.722414037 meters 0.08151670369924428 Centerline is valid? [True, True] Translation: X:159.72, Y:-11.35, Z:-4.19 [[ 9.99024008e-01 4.39827405e-02 -4.06813481e-03 1.59720174e+02] [-4.39810675e-02 9.99032240e-01 4.99854540e-04 -1.13544868e+01] [ 4.08618280e-03 -3.20445775e-04 9.99991600e-01 -4.18966773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.752414037 meters 0.08100507807080992 Centerline is valid? [True, True] Translation: X:159.75, Y:-11.35, Z:-4.19 [[ 9.99204694e-01 3.94280925e-02 -5.95024645e-03 1.59751896e+02] [-3.94244061e-02 9.99222285e-01 7.35608800e-04 -1.13460584e+01] [ 5.97462251e-03 -5.00438833e-04 9.99982027e-01 -4.18988741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.782414037 meters 0.08040076484863176 Centerline is valid? [True, True] Translation: X:159.78, Y:-11.34, Z:-4.19 [[ 9.99324628e-01 3.62482323e-02 -6.02930905e-03 1.59782352e+02] [-3.62443913e-02 9.99342678e-01 7.45133550e-04 -1.13439437e+01] [ 6.05235563e-03 -5.26101671e-04 9.99981546e-01 -4.18890370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.812414037 meters 0.08258106377257544 Centerline is valid? [True, True] Translation: X:159.81, Y:-11.35, Z:-4.19 [[ 9.99439199e-01 3.25392042e-02 -7.90495013e-03 1.59811422e+02] [-3.25324897e-02 9.99470201e-01 9.76549755e-04 -1.13487417e+01] [ 7.93253825e-03 -7.18834396e-04 9.99968279e-01 -4.19091526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.842414037 meters 0.09188687584587309 Centerline is valid? [True, True] Translation: X:159.84, Y:-11.36, Z:-4.20 [[ 9.99628472e-01 2.55435930e-02 -9.51013830e-03 1.59839441e+02] [-2.55335608e-02 9.99673275e-01 1.17484574e-03 -1.13629798e+01] [ 9.53704089e-03 -9.31581555e-04 9.99954087e-01 -4.19784871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.872414037 meters 0.0896256882528908 Centerline is valid? [True, True] Translation: X:159.87, Y:-11.36, Z:-4.20 [[ 9.99702667e-01 2.25099002e-02 -9.37449504e-03 1.59870220e+02] [-2.25000159e-02 9.99746171e-01 1.15853488e-03 -1.13587637e+01] [ 9.39819403e-03 -9.47264119e-04 9.99955387e-01 -4.19601115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.902414037 meters 0.09090926499188709 Centerline is valid? [True, True] Translation: X:159.90, Y:-11.36, Z:-4.20 [[ 9.99759418e-01 2.02656070e-02 -8.39109846e-03 1.59900855e+02] [-2.02576096e-02 9.99794256e-01 1.03698541e-03 -1.13603778e+01] [ 8.41038718e-03 -8.66752335e-04 9.99964256e-01 -4.19611938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.932414037 meters 0.09303493179556659 Centerline is valid? [True, True] Translation: X:159.93, Y:-11.36, Z:-4.20 [[ 9.99811600e-01 1.83328533e-02 -6.37740395e-03 1.59929417e+02] [-1.83282072e-02 9.99831715e-01 7.86211377e-04 -1.13583512e+01] [ 6.39074423e-03 -6.69176873e-04 9.99979355e-01 -4.19588639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.962414037 meters 0.09219280646260457 Centerline is valid? [True, True] Translation: X:159.96, Y:-11.35, Z:-4.20 [[ 9.99812763e-01 1.78176204e-02 -7.54794778e-03 1.59959760e+02] [-1.78110929e-02 9.99840936e-01 9.31136732e-04 -1.13549972e+01] [ 7.56333782e-03 -7.96525189e-04 9.99971080e-01 -4.19565772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99241403699997 meters 0.08588455768908282 Centerline is valid? [True, True] Translation: X:159.99, Y:-11.34, Z:-4.19 [[ 9.99809345e-01 1.75198839e-02 -8.62136603e-03 1.59990868e+02] [-1.75113706e-02 9.99846100e-01 1.06197561e-03 -1.13412668e+01] [ 8.63864489e-03 -9.10801207e-04 9.99962271e-01 -4.19234713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02241403699998 meters 0.09020915161837692 Centerline is valid? [True, True] Translation: X:160.02, Y:-11.35, Z:-4.20 [[ 9.99808174e-01 1.77796110e-02 -8.21584135e-03 1.60018327e+02] [-1.77719018e-02 9.99841557e-01 1.01039890e-03 -1.13468167e+01] [ 8.23250410e-03 -8.64193954e-04 9.99965739e-01 -4.19621113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05241403699998 meters 0.09129981025769465 Centerline is valid? [True, True] Translation: X:160.05, Y:-11.34, Z:-4.20 [[ 9.99784549e-01 1.91674493e-02 -7.96643553e-03 1.60047898e+02] [-1.91602313e-02 9.99815944e-01 9.81402949e-04 -1.13415208e+01] [ 7.98378025e-03 -8.28552758e-04 9.99967786e-01 -4.19635248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08241403699998 meters 0.08640911502207035 Centerline is valid? [True, True] Translation: X:160.08, Y:-11.33, Z:-4.19 [[ 9.99726644e-01 2.18217667e-02 -8.39335536e-03 1.60079507e+02] [-2.18138410e-02 9.99761514e-01 1.03468604e-03 -1.13314176e+01] [ 8.41393234e-03 -8.51311879e-04 9.99964240e-01 -4.19426385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11241403699998 meters 0.08426752145702734 Centerline is valid? [True, True] Translation: X:160.11, Y:-11.33, Z:-4.19 [[ 9.99657556e-01 2.46597982e-02 -8.75587177e-03 1.60111032e+02] [-2.46512810e-02 9.99695528e-01 1.07935106e-03 -1.13257285e+01] [ 8.77982243e-03 -8.63137983e-04 9.99961084e-01 -4.19475564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14241403699998 meters 0.08339282908145344 Centerline is valid? [True, True] Translation: X:160.14, Y:-11.32, Z:-4.20 [[ 9.99507539e-01 2.96037397e-02 -1.04066413e-02 1.60142193e+02] [-2.95919853e-02 9.99561240e-01 1.28172020e-03 -1.13157043e+01] [ 1.04400190e-02 -9.73135825e-04 9.99945028e-01 -4.19565274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17241403699998 meters 0.08575856999715674 Centerline is valid? [True, True] Translation: X:160.17, Y:-11.32, Z:-4.20 [[ 9.99438030e-01 3.17659225e-02 -1.07027905e-02 1.60170591e+02] [-3.17536246e-02 9.99494859e-01 1.31706124e-03 -1.13182632e+01] [ 1.07392218e-02 -9.76468699e-04 9.99941856e-01 -4.19904899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20241403699998 meters 0.08204519691995096 Centerline is valid? [True, True] Translation: X:160.20, Y:-11.31, Z:-4.20 [[ 9.99361579e-01 3.46117907e-02 -8.85763745e-03 1.60202066e+02] [-3.46034673e-02 9.99400525e-01 1.09125934e-03 -1.13097526e+01] [ 8.89009796e-03 -7.84057685e-04 9.99960175e-01 -4.19658757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23241403699998 meters 0.0821146551033884 Centerline is valid? [True, True] Translation: X:160.23, Y:-11.31, Z:-4.20 [[ 9.99232381e-01 3.80255745e-02 -9.41835167e-03 1.60232564e+02] [-3.80163221e-02 9.99276446e-01 1.15953147e-03 -1.13052524e+01] [ 9.45562883e-03 -8.00590305e-04 9.99954974e-01 -4.19784382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26241403699999 meters 0.08215195860920259 Centerline is valid? [True, True] Translation: X:160.26, Y:-11.31, Z:-4.20 [[ 9.99174888e-01 3.94876033e-02 -9.50114035e-03 1.60261484e+02] [-3.94782662e-02 9.99219746e-01 1.16835468e-03 -1.13058777e+01] [ 9.53986257e-03 -7.92302105e-04 9.99954181e-01 -4.19997680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.292414037 meters 0.08033512770471912 Centerline is valid? [True, True] Translation: X:160.29, Y:-11.30, Z:-4.20 [[ 9.99140056e-01 4.04299851e-02 -9.19594979e-03 1.60291455e+02] [-4.04212832e-02 9.99182087e-01 1.13026108e-03 -1.13022770e+01] [ 9.23412474e-03 -7.57577032e-04 9.99957078e-01 -4.19860936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.322414037 meters 0.08011852398531391 Centerline is valid? [True, True] Translation: X:160.32, Y:-11.30, Z:-4.20 [[ 9.99134847e-01 4.05975871e-02 -9.02180822e-03 1.60320177e+02] [-4.05892289e-02 9.99175304e-01 1.10769186e-03 -1.13023624e+01] [ 9.05933758e-03 -7.40545295e-04 9.99958689e-01 -4.19800611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.352414037 meters 0.08060205911032561 Centerline is valid? [True, True] Translation: X:160.35, Y:-11.30, Z:-4.20 [[ 9.99135025e-01 4.09576777e-02 -7.18819460e-03 1.60349514e+02] [-4.09523875e-02 9.99160710e-01 8.81665762e-04 -1.13020072e+01] [ 7.21827261e-03 -5.86529413e-04 9.99973776e-01 -4.19863273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.382414037 meters 0.08319196041532197 Centerline is valid? [True, True] Translation: X:160.38, Y:-11.31, Z:-4.20 [[ 9.99153698e-01 4.05522192e-02 -6.88508093e-03 1.60376745e+02] [-4.05473642e-02 9.99177262e-01 8.43325906e-04 -1.13093342e+01] [ 6.91361505e-03 -5.63440314e-04 9.99975942e-01 -4.20156343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.412414037 meters 0.08413920641404747 Centerline is valid? [True, True] Translation: X:160.40, Y:-11.31, Z:-4.20 [[ 9.99189257e-01 3.96965345e-02 -6.70926735e-03 1.60404536e+02] [-3.96919089e-02 9.99211628e-01 8.21247598e-04 -1.13133117e+01] [ 6.73657864e-03 -5.54278149e-04 9.99977155e-01 -4.20256971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.442414037 meters 0.07980349197054956 Centerline is valid? [True, True] Translation: X:160.44, Y:-11.31, Z:-4.20 [[ 9.99213901e-01 3.89380698e-02 -7.44350690e-03 1.60435755e+02] [-3.89323453e-02 9.99241432e-01 9.12477364e-04 -1.13059148e+01] [ 7.47339060e-03 -6.21966886e-04 9.99971880e-01 -4.19913496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.472414037 meters 0.0799678203234184 Centerline is valid? [True, True] Translation: X:160.46, Y:-11.31, Z:-4.20 [[ 9.99245602e-01 3.80961237e-02 -7.54401852e-03 1.60463986e+02] [-3.80902477e-02 9.99273879e-01 9.21094554e-04 -1.13084052e+01] [ 7.57363078e-03 -6.33046148e-04 9.99971119e-01 -4.20050121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.502414037 meters 0.08104366624975644 Centerline is valid? [True, True] Translation: X:160.49, Y:-11.31, Z:-4.20 [[ 9.99276090e-01 3.69095206e-02 -9.21861894e-03 1.60494370e+02] [-3.69006541e-02 9.99318300e-01 1.13010538e-03 -1.13101864e+01] [ 9.25404625e-03 -7.89114217e-04 9.99956869e-01 -4.20367622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.532414037 meters 0.0815855450152099 Centerline is valid? [True, True] Translation: X:160.52, Y:-11.31, Z:-4.21 [[ 9.99264578e-01 3.67245341e-02 -1.10277884e-02 1.60523271e+02] [-3.67118649e-02 9.99324982e-01 1.34915265e-03 -1.13128241e+01] [ 1.10698914e-02 -9.43309778e-04 9.99938282e-01 -4.20647559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.562414037 meters 0.08020776068729861 Centerline is valid? [True, True] Translation: X:160.55, Y:-11.31, Z:-4.21 [[ 9.99291761e-01 3.59696770e-02 -1.10525070e-02 1.60553131e+02] [-3.59569148e-02 9.99352427e-01 1.35131054e-03 -1.13084480e+01] [ 1.10939559e-02 -9.52939439e-04 9.99938006e-01 -4.20695463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.592414037 meters 0.08339949147498975 Centerline is valid? [True, True] Translation: X:160.58, Y:-11.32, Z:-4.21 [[ 9.99300762e-01 3.65398848e-02 -7.92616069e-03 1.60581118e+02] [-3.65333380e-02 9.99331965e-01 9.69240645e-04 -1.13165979e+01] [ 7.95628167e-03 -6.78993807e-04 9.99968118e-01 -4.21018658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.622414037 meters 0.08031060515018157 Centerline is valid? [True, True] Translation: X:160.61, Y:-11.31, Z:-4.21 [[ 9.99274323e-01 3.78564181e-02 -4.20929769e-03 1.60612490e+02] [-3.78545817e-02 9.99283126e-01 5.15106672e-04 -1.13116506e+01] [ 4.22578025e-03 -3.55391668e-04 9.99991008e-01 -4.20657135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.652414037 meters 0.07890212821856202 Centerline is valid? [True, True] Translation: X:160.64, Y:-11.31, Z:-4.20 [[ 9.99198638e-01 4.00057509e-02 -1.27381004e-03 1.60643239e+02] [-4.00055845e-02 9.99199444e-01 1.55825693e-04 -1.13091633e+01] [ 1.27902421e-03 -1.04741305e-04 9.99999177e-01 -4.20389028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.682414037 meters 0.07974380872631347 Centerline is valid? [True, True] Translation: X:160.67, Y:-11.31, Z:-4.20 [[ 9.98874813e-01 4.73688655e-02 2.30204312e-03 1.60672888e+02] [-4.73683395e-02 9.98877450e-01 -2.82504225e-04 -1.13062008e+01] [-2.31284086e-03 1.73142395e-04 9.99997310e-01 -4.20352075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.712414037 meters 0.07623549978811431 Centerline is valid? [True, True] Translation: X:160.70, Y:-11.30, Z:-4.20 [[ 9.98653088e-01 5.18686880e-02 1.28409639e-03 1.60704557e+02] [-5.18685285e-02 9.98653910e-01 -1.57223540e-04 -1.12974865e+01] [-1.29052286e-03 9.04075839e-05 9.99999163e-01 -4.20325095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74241403699997 meters 0.07571848367136502 Centerline is valid? [True, True] Translation: X:160.73, Y:-11.30, Z:-4.21 [[ 9.98431911e-01 5.59594832e-02 -1.50151455e-03 1.60734407e+02] [-5.59592715e-02 9.98433036e-01 1.82691952e-04 -1.12968195e+01] [ 1.50938507e-03 -9.83818148e-05 9.99998856e-01 -4.20656461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77241403699998 meters 0.07433809645793556 Centerline is valid? [True, True] Translation: X:160.77, Y:-11.29, Z:-4.21 [[ 9.98042774e-01 6.22386950e-02 -6.07989989e-03 1.60765097e+02] [-6.22353158e-02 9.98061227e-01 7.43607490e-04 -1.12931778e+01] [ 6.11439350e-03 -3.63767593e-04 9.99981241e-01 -4.21168152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80241403699998 meters 0.07397182988708934 Centerline is valid? [True, True] Translation: X:160.79, Y:-11.29, Z:-4.21 [[ 9.97881861e-01 6.47852181e-02 -5.88794384e-03 1.60794839e+02] [-6.47820994e-02 9.97899175e-01 7.19061628e-04 -1.12944177e+01] [ 5.92215886e-03 -3.36105193e-04 9.99982407e-01 -4.21374113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83241403699998 meters 0.07317198189512371 Centerline is valid? [True, True] Translation: X:160.83, Y:-11.29, Z:-4.21 [[ 9.97641124e-01 6.85780973e-02 -3.03834551e-03 1.60826042e+02] [-6.85772833e-02 9.97645738e-01 3.71428922e-04 -1.12931887e+01] [ 3.05666434e-03 -1.62191287e-04 9.99995315e-01 -4.21331434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86241403699998 meters 0.07317198189512371 Centerline is valid? [True, True] Translation: X:160.85, Y:-11.30, Z:-4.21 [[ 9.97660349e-01 6.82978045e-02 -3.03939798e-03 1.60853291e+02] [-6.82970153e-02 9.97664967e-01 3.62812425e-04 -1.12964287e+01] [ 3.05708017e-03 -1.54381760e-04 9.99995315e-01 -4.21409092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89241403699998 meters 0.07299001468420348 Centerline is valid? [True, True] Translation: X:160.88, Y:-11.30, Z:-4.21 [[ 9.97549242e-01 6.99480729e-02 -1.66640096e-03 1.60883352e+02] [-6.99478332e-02 9.97550630e-01 2.01814920e-04 -1.12979495e+01] [ 1.67643590e-03 -8.47591839e-05 9.99998591e-01 -4.21448378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92241403699998 meters 0.07294568261064376 Centerline is valid? [True, True] Translation: X:160.91, Y:-11.30, Z:-4.22 [[ 9.97524323e-01 7.02906165e-02 -2.11043509e-03 1.60912542e+02] [-7.02902436e-02 9.97526550e-01 2.50413706e-04 -1.13000133e+01] [ 2.12281677e-03 -1.01450767e-04 9.99997742e-01 -4.21607914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95241403699998 meters 0.073708570547844 Centerline is valid? [True, True] Translation: X:160.94, Y:-11.31, Z:-4.22 [[ 9.97512920e-01 7.04265396e-02 -2.84203666e-03 1.60940053e+02] [-7.04258469e-02 9.97516958e-01 3.43223734e-04 -1.13057461e+01] [ 2.85915182e-03 -1.42217271e-04 9.99995903e-01 -4.21904831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98241403699998 meters 0.07405801988209876 Centerline is valid? [True, True] Translation: X:160.97, Y:-11.31, Z:-4.22 [[ 9.97632113e-01 6.87673435e-02 -1.10465874e-03 1.60968058e+02] [-6.87672446e-02 9.97632723e-01 1.27250659e-04 -1.13127307e+01] [ 1.11079440e-03 -5.09850060e-05 9.99999382e-01 -4.22092327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01241403699999 meters 0.07386633048220233 Centerline is valid? [True, True] Translation: X:161.00, Y:-11.32, Z:-4.22 [[ 9.97699293e-01 6.77906006e-02 7.45798776e-04 1.60996327e+02] [-6.77905467e-02 9.97699570e-01 -9.72791937e-05 -1.13164649e+01] [-7.50677734e-04 4.64972759e-05 9.99999717e-01 -4.22032741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.042414037 meters 0.07341400572604469 Centerline is valid? [True, True] Translation: X:161.03, Y:-11.32, Z:-4.22 [[ 9.97771923e-01 6.67018022e-02 1.43532049e-03 1.61025217e+02] [-6.67016111e-02 9.97772951e-01 -1.80599583e-04 -1.13187795e+01] [-1.44417028e-03 8.44590035e-05 9.99998954e-01 -4.21953887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.072414037 meters 0.07333554989384804 Centerline is valid? [True, True] Translation: X:161.05, Y:-11.32, Z:-4.22 [[ 9.97755390e-01 6.69336265e-02 2.01799224e-03 1.61053750e+02] [-6.69332657e-02 9.97757424e-01 -2.45834117e-04 -1.13225944e+01] [-2.02992131e-03 1.10211505e-04 9.99997934e-01 -4.22010939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.102414037 meters 0.07525589461285959 Centerline is valid? [True, True] Translation: X:161.08, Y:-11.33, Z:-4.23 [[ 9.97654567e-01 6.84299026e-02 -1.64706677e-03 1.61080228e+02] [-6.84296715e-02 9.97655923e-01 1.96352890e-04 -1.13318493e+01] [ 1.65664232e-03 -8.31841201e-05 9.99998624e-01 -4.22572696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.132414037 meters 0.0728333535536927 Centerline is valid? [True, True] Translation: X:161.11, Y:-11.33, Z:-4.22 [[ 9.97536857e-01 7.01018225e-02 -2.44012122e-03 1.61109610e+02] [-7.01013300e-02 9.97539834e-01 2.86873380e-04 -1.13282294e+01] [ 2.45422847e-03 -1.15111027e-04 9.99996982e-01 -4.22272345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.162414037 meters 0.07359391905461259 Centerline is valid? [True, True] Translation: X:161.14, Y:-11.34, Z:-4.23 [[ 9.97446214e-01 7.13206871e-02 -3.79590118e-03 1.61136732e+02] [-7.13194728e-02 9.97453421e-01 4.54472340e-04 -1.13350892e+01] [ 3.81864789e-03 -1.82590044e-04 9.99992692e-01 -4.22615629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.192414037 meters 0.07269261368389843 Centerline is valid? [True, True] Translation: X:161.17, Y:-11.34, Z:-4.23 [[ 9.96939801e-01 7.81137897e-02 -3.04446464e-03 1.61165766e+02] [-7.81130381e-02 9.96944442e-01 3.65201938e-04 -1.13360973e+01] [ 3.06368941e-03 -1.26271965e-04 9.99995299e-01 -4.22602309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.222414037 meters 0.07193450494779155 Centerline is valid? [True, True] Translation: X:161.20, Y:-11.34, Z:-4.23 [[ 9.96551781e-01 8.29415218e-02 -2.29147584e-03 1.61195010e+02] [-8.29411090e-02 9.96554412e-01 2.74753240e-04 -1.13370470e+01] [ 2.30636881e-03 -8.37482834e-05 9.99997337e-01 -4.22576100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.252414037 meters 0.07056180231583646 Centerline is valid? [True, True] Translation: X:161.23, Y:-11.33, Z:-4.22 [[ 9.96138532e-01 8.77841612e-02 -1.40182615e-03 1.61225420e+02] [-8.77840122e-02 9.96139518e-01 1.67612365e-04 -1.13339019e+01] [ 1.41112813e-03 -4.39072118e-05 9.99999003e-01 -4.22258529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.282414037 meters 0.0697105506279412 Centerline is valid? [True, True] Translation: X:161.26, Y:-11.33, Z:-4.22 [[ 9.95225888e-01 9.75475526e-02 -3.14735530e-03 1.61256280e+02] [-9.75468448e-02 9.95230863e-01 3.78007333e-04 -1.13322752e+01] [ 3.16921882e-03 -6.91881051e-05 9.99994976e-01 -4.22330786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.312414037 meters 0.06973758535032526 Centerline is valid? [True, True] Translation: X:161.28, Y:-11.34, Z:-4.22 [[ 9.94905893e-01 1.00696972e-01 -4.73120822e-03 1.61284665e+02] [-1.00695443e-01 9.94917139e-01 5.60835637e-04 -1.13351938e+01] [ 4.76363460e-03 -8.15675732e-05 9.99988651e-01 -4.22497717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.342414037 meters 0.06971668913156624 Centerline is valid? [True, True] Translation: X:161.31, Y:-11.34, Z:-4.23 [[ 9.94683319e-01 1.02861806e-01 -4.95421701e-03 1.61311613e+02] [-1.02860142e-01 9.94695653e-01 5.90270586e-04 -1.13413406e+01] [ 4.98865443e-03 -7.75408424e-05 9.99987554e-01 -4.22876526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.372414037 meters 0.06964766221982542 Centerline is valid? [True, True] Translation: X:161.34, Y:-11.35, Z:-4.23 [[ 9.94542804e-01 1.04201482e-01 -5.16355971e-03 1.61340038e+02] [-1.04199715e-01 9.94556206e-01 6.10726370e-04 -1.13472813e+01] [ 5.19908895e-03 -6.93520643e-05 9.99986482e-01 -4.22955779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.402414037 meters 0.06967514769056073 Centerline is valid? [True, True] Translation: X:161.37, Y:-11.36, Z:-4.23 [[ 9.94482134e-01 1.04774909e-01 -5.24429311e-03 1.61366871e+02] [-1.04773073e-01 9.94495959e-01 6.24448131e-04 -1.13550487e+01] [ 5.28085481e-03 -7.15418066e-05 9.99986054e-01 -4.23267972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.432414037 meters 0.06944260308348713 Centerline is valid? [True, True] Translation: X:161.39, Y:-11.36, Z:-4.23 [[ 9.94236839e-01 1.07164614e-01 -2.97543546e-03 1.61394356e+02] [-1.07164036e-01 9.94241291e-01 3.53554847e-04 -1.13649123e+01] [ 2.99618936e-03 -3.26575818e-05 9.99995511e-01 -4.23355070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.462414037 meters 0.0692292768398005 Centerline is valid? [True, True] Translation: X:161.42, Y:-11.37, Z:-4.23 [[ 9.94179904e-01 1.07684658e-01 -3.21461009e-03 1.61421522e+02] [-1.07684008e-01 9.94185100e-01 3.75205244e-04 -1.13708241e+01] [ 3.23632131e-03 -2.68594156e-05 9.99994763e-01 -4.23199278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49241403699997 meters 0.06904036652848763 Centerline is valid? [True, True] Translation: X:161.45, Y:-11.38, Z:-4.23 [[ 9.94086153e-01 1.08563733e-01 -2.57603792e-03 1.61449810e+02] [-1.08563322e-01 9.94089491e-01 2.99494027e-04 -1.13780122e+01] [ 2.59332641e-03 -1.80596322e-05 9.99996637e-01 -4.23208088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52241403699998 meters 0.06890302828308238 Centerline is valid? [True, True] Translation: X:161.48, Y:-11.39, Z:-4.23 [[ 9.93811419e-01 1.11055248e-01 -2.36560534e-03 1.61476641e+02] [-1.11054902e-01 9.93814234e-01 2.77437922e-04 -1.13907190e+01] [ 2.38178319e-03 -1.30089056e-05 9.99997163e-01 -4.23315464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55241403699998 meters 0.06888026500193846 Centerline is valid? [True, True] Translation: X:161.50, Y:-11.40, Z:-4.23 [[ 9.93704059e-01 1.12005117e-01 -2.66410083e-03 1.61503825e+02] [-1.12004693e-01 9.93707630e-01 3.08053948e-04 -1.13991650e+01] [ 2.68184094e-03 -7.72266267e-06 9.99996404e-01 -4.23423000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58241403699998 meters 0.06868411907507448 Centerline is valid? [True, True] Translation: X:161.53, Y:-11.41, Z:-4.23 [[ 9.93572790e-01 1.13147808e-01 -3.26857735e-03 1.61531590e+02] [-1.13147172e-01 9.93578167e-01 3.79602120e-04 -1.14072684e+01] [ 3.29053823e-03 -7.33205499e-06 9.99994586e-01 -4.23348067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61241403699998 meters 0.06832780776229781 Centerline is valid? [True, True] Translation: X:161.56, Y:-11.42, Z:-4.23 [[ 9.93178897e-01 1.16574922e-01 -2.44243709e-03 1.61558038e+02] [-1.16574570e-01 9.93181901e-01 2.86206498e-04 -1.14198890e+01] [ 2.45914881e-03 4.71799741e-07 9.99996976e-01 -4.23487420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64241403699998 meters 0.06832350910910998 Centerline is valid? [True, True] Translation: X:161.58, Y:-11.43, Z:-4.24 [[ 9.92954237e-01 1.18477936e-01 -2.20507169e-03 1.61584650e+02] [-1.18477662e-01 9.92956685e-01 2.54857653e-04 -1.14262829e+01] [ 2.21973569e-03 8.18975192e-06 9.99997536e-01 -4.23541325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67241403699998 meters 0.06825062513746796 Centerline is valid? [True, True] Translation: X:161.61, Y:-11.43, Z:-4.24 [[ 9.92642607e-01 1.21066297e-01 -1.89924889e-03 1.61611911e+02] [-1.21066106e-01 9.92644423e-01 2.15828952e-04 -1.14325889e+01] [ 1.91140844e-03 1.56936536e-05 9.99998173e-01 -4.23626301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70241403699998 meters 0.06805363421328353 Centerline is valid? [True, True] Translation: X:161.64, Y:-11.45, Z:-4.24 [[ 9.91977548e-01 1.26411363e-01 -8.43558164e-04 1.61639332e+02] [-1.26411330e-01 9.91977907e-01 9.22166170e-05 -1.14450011e+01] [ 8.48448290e-04 1.51584960e-05 9.99999640e-01 -4.23774077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73241403699998 meters 0.06792533406366719 Centerline is valid? [True, True] Translation: X:161.67, Y:-11.45, Z:-4.24 [[ 9.91721927e-01 1.28401731e-01 -7.84506102e-04 1.61667111e+02] [-1.28401704e-01 9.91722237e-01 8.51189665e-05 -1.14538798e+01] [ 7.88941569e-04 1.63175748e-05 9.99999689e-01 -4.23901184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76241403699999 meters 0.06760849176038479 Centerline is valid? [True, True] Translation: X:161.69, Y:-11.46, Z:-4.24 [[ 9.91463103e-01 1.30367494e-01 2.28713637e-03 1.61693794e+02] [-1.30367218e-01 9.91465741e-01 -2.70381939e-04 -1.14624249e+01] [-2.30286637e-03 -3.00938879e-05 9.99997348e-01 -4.24138728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.792414037 meters 0.06738159639393658 Centerline is valid? [True, True] Translation: X:161.72, Y:-11.47, Z:-4.24 [[ 9.91301974e-01 1.31559344e-01 3.54054949e-03 1.61720836e+02] [-1.31558677e-01 9.91308296e-01 -4.21524236e-04 -1.14711597e+01] [-3.56523153e-03 -4.79322001e-05 9.99993643e-01 -4.24238632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.822414037 meters 0.06722676290667949 Centerline is valid? [True, True] Translation: X:161.75, Y:-11.49, Z:-4.24 [[ 9.91165506e-01 1.32520551e-01 5.40762080e-03 1.61746956e+02] [-1.32519064e-01 9.91180254e-01 -6.33983357e-04 -1.14860026e+01] [-5.44394278e-03 -8.82304132e-05 9.99985178e-01 -4.24361431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.852414037 meters 0.06740402881298685 Centerline is valid? [True, True] Translation: X:161.77, Y:-11.50, Z:-4.24 [[ 9.91132240e-01 1.32693066e-01 7.03081369e-03 1.61773793e+02] [-1.32690566e-01 9.91157170e-01 -8.22931770e-04 -1.14968219e+01] [-7.07783874e-03 -1.17288440e-04 9.99974945e-01 -4.24455156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.882414037 meters 0.06726424419798434 Centerline is valid? [True, True] Translation: X:161.80, Y:-11.51, Z:-4.25 [[ 9.91181482e-01 1.32299368e-01 7.49318636e-03 1.61800849e+02] [-1.32296500e-01 9.91209798e-01 -8.79342460e-04 -1.15099688e+01] [-7.54365619e-03 -1.19734368e-04 9.99971539e-01 -4.24590131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.912414037 meters 0.06719835586202537 Centerline is valid? [True, True] Translation: X:161.83, Y:-11.52, Z:-4.25 [[ 9.91351027e-01 1.31055832e-01 6.89278219e-03 1.61826797e+02] [-1.31053377e-01 9.91374984e-01 -8.08532037e-04 -1.15242533e+01] [-6.93929467e-03 -1.01783321e-04 9.99975918e-01 -4.24756344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.942414037 meters 0.06715097294453237 Centerline is valid? [True, True] Translation: X:161.85, Y:-11.54, Z:-4.25 [[ 9.91521777e-01 1.29817492e-01 5.65549252e-03 1.61853068e+02] [-1.29815844e-01 9.91537903e-01 -6.59111806e-04 -1.15389566e+01] [-5.69319944e-03 -8.06488246e-05 9.99983790e-01 -4.25015844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.972414037 meters 0.06679241365982568 Centerline is valid? [True, True] Translation: X:161.88, Y:-11.55, Z:-4.25 [[ 9.91716240e-01 1.28336631e-01 5.34859517e-03 1.61880262e+02] [-1.28335139e-01 9.91730661e-01 -6.22703506e-04 -1.15545456e+01] [-5.38428149e-03 -6.88675238e-05 9.99985502e-01 -4.25022287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.002414037 meters 0.06721134647693282 Centerline is valid? [True, True] Translation: X:161.91, Y:-11.58, Z:-4.26 [[ 9.91874867e-01 1.27141523e-01 4.39094183e-03 1.61905919e+02] [-1.27140504e-01 9.91884585e-01 -5.11640817e-04 -1.15752045e+01] [-4.42035831e-03 -5.07828900e-05 9.99990229e-01 -4.25588411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.032414037 meters 0.06732889214670279 Centerline is valid? [True, True] Translation: X:161.93, Y:-11.59, Z:-4.26 [[ 9.91839417e-01 1.27428917e-01 4.05492961e-03 1.61933363e+02] [-1.27428053e-01 9.91847704e-01 -4.71836363e-04 -1.15864464e+01] [-4.08199822e-03 -4.87258808e-05 9.99991667e-01 -4.25657233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.062414037 meters 0.0672054985941874 Centerline is valid? [True, True] Translation: X:161.96, Y:-11.60, Z:-4.25 [[ 9.91777188e-01 1.27884219e-01 4.86165275e-03 1.61960364e+02] [-1.27882984e-01 9.91789102e-01 -5.65193742e-04 -1.16013008e+01] [-4.89401357e-03 -6.11764024e-05 9.99988022e-01 -4.25265594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.092414037 meters 0.06762354762411718 Centerline is valid? [True, True] Translation: X:161.99, Y:-11.62, Z:-4.26 [[ 9.91280017e-01 1.31660339e-01 5.42976387e-03 1.61986031e+02] [-1.31658857e-01 9.91294884e-01 -6.31011534e-04 -1.16217481e+01] [-5.46557634e-03 -8.93673812e-05 9.99985060e-01 -4.25648571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.122414037 meters 0.06843678179290942 Centerline is valid? [True, True] Translation: X:162.01, Y:-11.63, Z:-4.26 [[ 9.91022937e-01 1.33587669e-01 5.27940600e-03 1.62014306e+02] [-1.33586301e-01 9.91036995e-01 -6.12657541e-04 -1.16306477e+01] [-5.31393015e-03 -9.80986404e-05 9.99985876e-01 -4.26090512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.152414037 meters 0.06895337191508187 Centerline is valid? [True, True] Translation: X:162.04, Y:-11.64, Z:-4.26 [[ 9.90768081e-01 1.35466700e-01 5.23291519e-03 1.62041013e+02] [-1.35465377e-01 9.90781894e-01 -6.07940332e-04 -1.16401474e+01] [-5.26703329e-03 -1.06550955e-04 9.99986123e-01 -4.26140314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.182414037 meters 0.07042853592983896 Centerline is valid? [True, True] Translation: X:162.07, Y:-11.65, Z:-4.26 [[ 9.90245604e-01 1.39205149e-01 5.96405389e-03 1.62067700e+02] [-1.39203506e-01 9.90263553e-01 -6.91722246e-04 -1.16540518e+01] [-6.00227649e-03 -1.45242299e-04 9.99981976e-01 -4.25995748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.212414037 meters 0.06932969693314568 Centerline is valid? [True, True] Translation: X:162.10, Y:-11.67, Z:-4.25 [[ 9.90029980e-01 1.40709516e-01 6.43973763e-03 1.62095377e+02] [-1.40707642e-01 9.90050910e-01 -7.45566930e-04 -1.16692186e+01] [-6.48057646e-03 -1.67986681e-04 9.99978987e-01 -4.25409966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24241403699997 meters 0.07162402595926741 Centerline is valid? [True, True] Translation: X:162.12, Y:-11.67, Z:-4.26 [[ 9.89953570e-01 1.41307122e-01 4.92209927e-03 1.62123055e+02] [-1.41306031e-01 9.89965798e-01 -5.70503668e-04 -1.16742185e+01] [-4.95332616e-03 -1.30750168e-04 9.99987724e-01 -4.26034516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27241403699998 meters 0.06962476312169578 Centerline is valid? [True, True] Translation: X:162.15, Y:-11.70, Z:-4.26 [[ 9.90268131e-01 1.39168235e-01 1.10921464e-03 1.62148209e+02] [-1.39168176e-01 9.90268752e-01 -1.30203567e-04 -1.17048135e+01] [-1.11654080e-03 -2.54309353e-05 9.99999376e-01 -4.25833860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30241403699998 meters 0.06928083897940848 Centerline is valid? [True, True] Translation: X:162.17, Y:-11.72, Z:-4.26 [[ 9.90591930e-01 1.36846690e-01 -7.82379826e-04 1.62174793e+02] [-1.36846664e-01 9.90592238e-01 8.70288836e-05 -1.17203939e+01] [ 7.86928998e-04 2.08559595e-05 9.99999690e-01 -4.25982189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33241403699998 meters 0.06847470138982423 Centerline is valid? [True, True] Translation: X:162.20, Y:-11.74, Z:-4.26 [[ 9.91089511e-01 1.33196973e-01 -3.83638238e-04 1.62202563e+02] [-1.33196966e-01 9.91089585e-01 4.23285894e-05 -1.17367852e+01] [ 3.85857903e-04 9.14802859e-06 9.99999926e-01 -4.25955063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36241403699998 meters 0.06772065379263345 Centerline is valid? [True, True] Translation: X:162.23, Y:-11.75, Z:-4.26 [[ 9.91626280e-01 1.29136200e-01 1.07850822e-03 1.62228547e+02] [-1.29136139e-01 9.91626866e-01 -1.26925381e-04 -1.17530707e+01] [-1.08586839e-03 -1.34118438e-05 9.99999410e-01 -4.25920432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39241403699998 meters 0.06633771909565955 Centerline is valid? [True, True] Translation: X:162.26, Y:-11.77, Z:-4.25 [[ 9.92182169e-01 1.24769507e-01 2.66711205e-03 1.62256840e+02] [-1.24769132e-01 9.92185753e-01 -3.07038748e-04 -1.17744763e+01] [-2.68457966e-03 -2.81348863e-05 9.99996396e-01 -4.24828378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42241403699998 meters 0.06596599134393659 Centerline is valid? [True, True] Translation: X:162.29, Y:-11.80, Z:-4.25 [[ 9.93022124e-01 1.17916090e-01 1.69017715e-03 1.62286778e+02] [-1.17915941e-01 9.93023562e-01 -1.87800385e-04 -1.17998526e+01] [-1.70053042e-03 -1.28088920e-05 9.99998554e-01 -4.24644436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45241403699998 meters 0.06597163490422484 Centerline is valid? [True, True] Translation: X:162.32, Y:-11.81, Z:-4.25 [[ 9.93293905e-01 1.15597671e-01 2.09674271e-03 1.62317729e+02] [-1.15597433e-01 9.93296118e-01 -2.34870316e-04 -1.18123310e+01] [-2.10983686e-03 -9.08282163e-06 9.99997774e-01 -4.24542910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48241403699998 meters 0.06610064819545511 Centerline is valid? [True, True] Translation: X:162.35, Y:-11.83, Z:-4.25 [[ 9.93569008e-01 1.13228170e-01 -8.35673389e-05 1.62347165e+02] [-1.13228169e-01 9.93569012e-01 1.61699568e-05 -1.18318191e+01] [ 8.48608129e-05 -6.60379112e-06 9.99999996e-01 -4.24680986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51241403699999 meters 0.0664792581478204 Centerline is valid? [True, True] Translation: X:162.38, Y:-11.84, Z:-4.25 [[ 9.93581940e-01 1.13084248e-01 -2.62315309e-03 1.62376662e+02] [-1.13083831e-01 9.93585403e-01 3.07184855e-04 -1.18439154e+01] [ 2.64106439e-03 -8.57712339e-06 9.99996512e-01 -4.25425385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.542414037 meters 0.06647152325529614 Centerline is valid? [True, True] Translation: X:162.41, Y:-11.85, Z:-4.25 [[ 9.93557856e-01 1.13280860e-01 -3.19892696e-03 1.62408179e+02] [-1.13280230e-01 9.93563006e-01 3.77923969e-04 -1.18549433e+01] [ 3.22114704e-03 -1.31141456e-05 9.99994812e-01 -4.25138773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.572414037 meters 0.06651816421463533 Centerline is valid? [True, True] Translation: X:162.44, Y:-11.87, Z:-4.25 [[ 9.93559959e-01 1.13248050e-01 -3.67252793e-03 1.62437387e+02] [-1.13247223e-01 9.93566746e-01 4.33163188e-04 -1.18720682e+01] [ 3.69795651e-03 -1.44700113e-05 9.99993162e-01 -4.25359076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.602414037 meters 0.06644921276019558 Centerline is valid? [True, True] Translation: X:162.47, Y:-11.88, Z:-4.25 [[ 9.93500289e-01 1.13802420e-01 -2.48712652e-03 1.62468620e+02] [-1.13802034e-01 9.93503402e-01 2.96400391e-04 -1.18815838e+01] [ 2.50469974e-03 -1.14338163e-05 9.99996863e-01 -4.25413627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.632414037 meters 0.06642139344601751 Centerline is valid? [True, True] Translation: X:162.50, Y:-11.89, Z:-4.25 [[ 9.93451954e-01 1.14241869e-01 -1.41817032e-03 1.62500104e+02] [-1.14241739e-01 9.93452966e-01 1.72352540e-04 -1.18908978e+01] [ 1.42857539e-03 -9.20972419e-06 9.99998980e-01 -4.25428939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.662414037 meters 0.06650635770047215 Centerline is valid? [True, True] Translation: X:162.53, Y:-11.90, Z:-4.26 [[ 9.93354672e-01 1.15088149e-01 -1.10174282e-03 1.62530487e+02] [-1.15088070e-01 9.93355283e-01 1.35138123e-04 -1.19001657e+01] [ 1.10997485e-03 -7.44263038e-06 9.99999384e-01 -4.25635569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.692414037 meters 0.06641799328346307 Centerline is valid? [True, True] Translation: X:162.56, Y:-11.91, Z:-4.26 [[ 9.93121209e-01 1.17087719e-01 -8.55004071e-04 1.62562994e+02] [-1.17087669e-01 9.93121577e-01 1.08026233e-04 -1.19089910e+01] [ 8.61771537e-04 -7.17270885e-06 9.99999629e-01 -4.25655513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.722414037 meters 0.06641428520047488 Centerline is valid? [True, True] Translation: X:162.59, Y:-11.92, Z:-4.26 [[ 9.92875247e-01 1.19154080e-01 1.02380063e-03 1.62593848e+02] [-1.19154026e-01 9.92875775e-01 -1.13472582e-04 -1.19175402e+01] [-1.03002757e-03 -9.32584975e-06 9.99999469e-01 -4.25830183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.752414037 meters 0.06641428520047488 Centerline is valid? [True, True] Translation: X:162.63, Y:-11.92, Z:-4.26 [[ 9.92843425e-01 1.19418951e-01 1.02386523e-03 1.62626101e+02] [-1.19418898e-01 9.92843952e-01 -1.12930878e-04 -1.19214254e+01] [-1.03002449e-03 -1.01461787e-05 9.99999469e-01 -4.25922192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.782414037 meters 0.0661555484158997 Centerline is valid? [True, True] Translation: X:162.66, Y:-11.93, Z:-4.26 [[ 9.92287500e-01 1.23803330e-01 6.18489491e-03 1.62656777e+02] [-1.23801203e-01 9.92306774e-01 -7.26931849e-04 -1.19338495e+01] [-6.22730970e-03 -4.43720465e-05 9.99980609e-01 -4.25659794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.812414037 meters 0.0660930067301741 Centerline is valid? [True, True] Translation: X:162.69, Y:-11.94, Z:-4.26 [[ 9.92008992e-01 1.25983914e-01 6.79795752e-03 1.62689129e+02] [-1.25981427e-01 9.92032282e-01 -7.94610201e-04 -1.19412727e+01] [-6.84390142e-03 -6.81559240e-05 9.99976578e-01 -4.25653498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.842414037 meters 0.06623681069565979 Centerline is valid? [True, True] Translation: X:162.72, Y:-11.95, Z:-4.26 [[ 9.91834815e-01 1.27321598e-01 7.27389253e-03 1.62721383e+02] [-1.27318768e-01 9.91861484e-01 -8.52746471e-04 -1.19490409e+01] [-7.32326688e-03 -8.03193959e-05 9.99973181e-01 -4.25766064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.872414037 meters 0.06658650120764535 Centerline is valid? [True, True] Translation: X:162.75, Y:-11.96, Z:-4.26 [[ 9.91713278e-01 1.28437924e-01 2.91082589e-03 1.62751303e+02] [-1.28437483e-01 9.91717550e-01 -3.38658186e-04 -1.19612734e+01] [-2.93021367e-03 -3.80073319e-05 9.99995706e-01 -4.25992522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.902414037 meters 0.06679881481934245 Centerline is valid? [True, True] Translation: X:162.78, Y:-11.97, Z:-4.26 [[ 9.91733820e-01 1.28312237e-01 2.41337441e-05 1.62782705e+02] [-1.28312237e-01 9.91733820e-01 3.84259966e-06 -1.19710436e+01] [-2.34411978e-05 -6.90749075e-06 1.00000000e+00 -4.26147341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.932414037 meters 0.06704221433916384 Centerline is valid? [True, True] Translation: X:162.81, Y:-11.98, Z:-4.26 [[ 9.91837342e-01 1.27495193e-01 -1.91379743e-03 1.62814051e+02] [-1.27494978e-01 9.91839188e-01 2.34734999e-04 -1.19820926e+01] [ 1.92810688e-03 1.11806239e-05 9.99998141e-01 -4.26309622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96241403699997 meters 0.06737207875921236 Centerline is valid? [True, True] Translation: X:162.84, Y:-12.00, Z:-4.27 [[ 9.92225317e-01 1.24367717e-01 -4.64660688e-03 1.62844088e+02] [-1.24366453e-01 9.92236197e-01 5.61159368e-04 -1.19984805e+01] [ 4.68032165e-03 2.10854843e-05 9.99989047e-01 -4.26635767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99241403699997 meters 0.067393189578379 Centerline is valid? [True, True] Translation: X:162.88, Y:-12.01, Z:-4.27 [[ 9.92390384e-01 1.23086346e-01 -3.32823269e-03 1.62875250e+02] [-1.23085681e-01 9.92395965e-01 4.04705275e-04 -1.20064211e+01] [ 3.35273838e-03 8.03216235e-06 9.99994380e-01 -4.26770754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02241403699998 meters 0.06727416893742205 Centerline is valid? [True, True] Translation: X:162.91, Y:-12.01, Z:-4.27 [[ 9.92616391e-01 1.21294980e-01 -4.77396486e-04 1.62905921e+02] [-1.21294966e-01 9.92616506e-01 5.80732740e-05 -1.20134571e+01] [ 4.80915629e-04 2.61306760e-07 9.99999884e-01 -4.26738506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05241403699998 meters 0.06726323326110903 Centerline is valid? [True, True] Translation: X:162.94, Y:-12.02, Z:-4.27 [[ 9.92716063e-01 1.20459311e-01 2.09092815e-03 1.62937209e+02] [-1.20459065e-01 9.92718265e-01 -2.43602539e-04 -1.20206472e+01] [-2.10504676e-03 -1.00430970e-05 9.99997784e-01 -4.26715042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08241403699998 meters 0.06739855662320733 Centerline is valid? [True, True] Translation: X:162.97, Y:-12.03, Z:-4.27 [[ 9.92696242e-01 1.20619625e-01 2.25327579e-03 1.62969033e+02] [-1.20619339e-01 9.92698799e-01 -2.62724385e-04 -1.20321265e+01] [-2.26851389e-03 -1.09831263e-05 9.99997427e-01 -4.26719606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11241403699998 meters 0.06757015107787485 Centerline is valid? [True, True] Translation: X:163.00, Y:-12.04, Z:-4.27 [[ 9.92538631e-01 1.21930580e-01 2.17587406e-05 1.63000399e+02] [-1.21930580e-01 9.92538631e-01 4.55176153e-06 -1.20401196e+01] [-2.10413917e-05 -7.17085500e-06 1.00000000e+00 -4.26628486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14241403699998 meters 0.06758534565888483 Centerline is valid? [True, True] Translation: X:163.03, Y:-12.05, Z:-4.27 [[ 9.92386798e-01 1.23157990e-01 -7.43912894e-04 1.63031848e+02] [-1.23157952e-01 9.92387076e-01 9.69699322e-05 -1.20475617e+01] [ 7.50192164e-04 -4.61289186e-06 9.99999719e-01 -4.26617549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17241403699998 meters 0.06772620561158875 Centerline is valid? [True, True] Translation: X:163.06, Y:-12.06, Z:-4.27 [[ 9.91965693e-01 1.26492325e-01 -1.93773139e-03 1.63062225e+02] [-1.26492102e-01 9.91967586e-01 2.37751280e-04 -1.20558579e+01] [ 1.95224044e-03 9.26660184e-06 9.99998094e-01 -4.26898742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20241403699998 meters 0.0676847620109439 Centerline is valid? [True, True] Translation: X:163.09, Y:-12.06, Z:-4.27 [[ 9.91598312e-01 1.29334349e-01 -2.32672638e-03 1.63093675e+02] [-1.29334028e-01 9.91601042e-01 2.88670763e-04 -1.20619624e+01] [ 2.34451935e-03 1.46794526e-05 9.99997252e-01 -4.26901441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23241403699998 meters 0.06785321741822581 Centerline is valid? [True, True] Translation: X:163.13, Y:-12.07, Z:-4.27 [[ 9.91338259e-01 1.31320885e-01 -1.81146699e-03 1.63125513e+02] [-1.31320689e-01 9.91339914e-01 2.27283218e-04 -1.20685045e+01] [ 1.82562656e-03 1.25685437e-05 9.99998333e-01 -4.27028181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26241403699999 meters 0.06798897273114704 Centerline is valid? [True, True] Translation: X:163.16, Y:-12.08, Z:-4.27 [[ 9.90967115e-01 1.34090133e-01 -2.00331442e-03 1.63156913e+02] [-1.34089900e-01 9.90969140e-01 2.50486757e-04 -1.20759273e+01] [ 2.01881057e-03 2.04000921e-05 9.99997962e-01 -4.27110800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.292414037 meters 0.06842714268359007 Centerline is valid? [True, True] Translation: X:163.19, Y:-12.09, Z:-4.27 [[ 9.90237680e-01 1.39357941e-01 -2.94983551e-03 1.63186388e+02] [-1.39357480e-01 9.90242072e-01 3.62339052e-04 -1.20861719e+01] [ 2.97154605e-03 5.22798607e-05 9.99995584e-01 -4.27392990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.322414037 meters 0.06884119374645883 Centerline is valid? [True, True] Translation: X:163.22, Y:-12.10, Z:-4.28 [[ 9.89566780e-01 1.44049309e-01 -2.71738244e-03 1.63217379e+02] [-1.44048938e-01 9.89570509e-01 3.32725790e-04 -1.20953336e+01] [ 2.73697044e-03 6.21816665e-05 9.99996253e-01 -4.27784916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.352414037 meters 0.06884119374645883 Centerline is valid? [True, True] Translation: X:163.25, Y:-12.10, Z:-4.28 [[ 9.89526987e-01 1.44322425e-01 -2.71658224e-03 1.63249600e+02] [-1.44322037e-01 9.89530714e-01 3.39290073e-04 -1.20993476e+01] [ 2.73710873e-03 5.63260009e-05 9.99996253e-01 -4.27876843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.382414037 meters 0.06925662079246413 Centerline is valid? [True, True] Translation: X:163.28, Y:-12.11, Z:-4.28 [[ 9.89008732e-01 1.47851600e-01 -1.27777401e-03 1.63280085e+02] [-1.47851513e-01 9.89009557e-01 1.62512482e-04 -1.21082109e+01] [ 1.28775844e-03 2.81945572e-05 9.99999170e-01 -4.28113202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.412414037 meters 0.06940681861303209 Centerline is valid? [True, True] Translation: X:163.31, Y:-12.12, Z:-4.28 [[ 9.88898950e-01 1.48587797e-01 -7.30435460e-04 1.63311037e+02] [-1.48587768e-01 9.88899220e-01 9.42376297e-05 -1.21164418e+01] [ 7.36329618e-04 1.53422813e-05 9.99999729e-01 -4.28201594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.442414037 meters 0.06927338414003532 Centerline is valid? [True, True] Translation: X:163.34, Y:-12.13, Z:-4.28 [[ 9.89120208e-01 1.47108072e-01 -6.55717613e-04 1.63341800e+02] [-1.47108050e-01 9.89120425e-01 8.27088669e-05 -1.21343369e+01] [ 6.60750826e-04 1.46523276e-05 9.99999782e-01 -4.28007689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.472414037 meters 0.06912544022763614 Centerline is valid? [True, True] Translation: X:163.37, Y:-12.15, Z:-4.28 [[ 9.89410517e-01 1.45141025e-01 -9.54747627e-04 1.63373110e+02] [-1.45140973e-01 9.89410978e-01 1.23810145e-04 -1.21456427e+01] [ 9.62607714e-04 1.60739403e-05 9.99999537e-01 -4.28068325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.502414037 meters 0.06902295574759769 Centerline is valid? [True, True] Translation: X:163.40, Y:-12.16, Z:-4.28 [[ 9.89736682e-01 1.42895397e-01 -1.48516052e-03 1.63403301e+02] [-1.42895275e-01 9.89737796e-01 1.88703017e-04 -1.21558931e+01] [ 1.49688429e-03 2.54561226e-05 9.99998879e-01 -4.28217319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.532414037 meters 0.06862211606645706 Centerline is valid? [True, True] Translation: X:163.43, Y:-12.17, Z:-4.28 [[ 9.90058137e-01 1.40649821e-01 -1.58532681e-03 1.63433911e+02] [-1.40649678e-01 9.90059406e-01 2.02194742e-04 -1.21681130e+01] [ 1.59800637e-03 2.27911554e-05 9.99998723e-01 -4.28010474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.562414037 meters 0.0687325104223132 Centerline is valid? [True, True] Translation: X:163.46, Y:-12.18, Z:-4.28 [[ 9.90374834e-01 1.38401836e-01 -1.61871189e-03 1.63464321e+02] [-1.38401683e-01 9.90376157e-01 2.06128076e-04 -1.21755207e+01] [ 1.63166216e-03 1.98883912e-05 9.99998669e-01 -4.28473144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.592414037 meters 0.06864877964635188 Centerline is valid? [True, True] Translation: X:163.49, Y:-12.19, Z:-4.29 [[ 9.90695066e-01 1.36088854e-01 -1.76342622e-03 1.63494849e+02] [-1.36088675e-01 9.90696635e-01 2.21567625e-04 -1.21850944e+01] [ 1.77717331e-03 2.04763863e-05 9.99998421e-01 -4.28640413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.622414037 meters 0.06829166732789274 Centerline is valid? [True, True] Translation: X:163.53, Y:-12.20, Z:-4.28 [[ 9.91317072e-01 1.31462202e-01 -2.85516094e-03 1.63525363e+02] [-1.31461709e-01 9.91321184e-01 3.60403573e-04 -1.22027791e+01] [ 2.87776097e-03 1.80701205e-05 9.99995859e-01 -4.28225783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.652414037 meters 0.06851765268623128 Centerline is valid? [True, True] Translation: X:163.56, Y:-12.21, Z:-4.28 [[ 9.91525276e-01 1.29846065e-01 -4.19830824e-03 1.63556176e+02] [-1.29844995e-01 9.91534164e-01 5.27668860e-04 -1.22128166e+01] [ 4.23128178e-03 2.19322983e-05 9.99991048e-01 -4.28310290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.682414037 meters 0.06863540137400981 Centerline is valid? [True, True] Translation: X:163.59, Y:-12.22, Z:-4.28 [[ 9.91656187e-01 1.28800133e-01 -5.34156969e-03 1.63587177e+02] [-1.28798389e-01 9.91670573e-01 6.70746946e-04 -1.22229813e+01] [ 5.38346977e-03 2.28352100e-05 9.99985509e-01 -4.28467740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71241403699997 meters 0.0687343819298799 Centerline is valid? [True, True] Translation: X:163.62, Y:-12.23, Z:-4.28 [[ 9.91736713e-01 1.28083738e-01 -7.26970765e-03 1.63617903e+02] [-1.28080523e-01 9.91763356e-01 9.08037773e-04 -1.22323467e+01] [ 7.32613453e-03 3.05735614e-05 9.99973163e-01 -4.28463552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74241403699997 meters 0.06861922471192974 Centerline is valid? [True, True] Translation: X:163.65, Y:-12.24, Z:-4.29 [[ 9.91788345e-01 1.27734462e-01 -6.30765701e-03 1.63649078e+02] [-1.27732000e-01 9.91808402e-01 7.93345933e-04 -1.22439857e+01] [ 6.35732484e-03 1.88583941e-05 9.99979792e-01 -4.28569792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77241403699998 meters 0.06852924828108024 Centerline is valid? [True, True] Translation: X:163.68, Y:-12.25, Z:-4.29 [[ 9.91844075e-01 1.27385344e-01 -4.27848809e-03 1.63680287e+02] [-1.27384193e-01 9.91853303e-01 5.41450378e-04 -1.22521196e+01] [ 4.31260538e-03 7.97740314e-06 9.99990701e-01 -4.28574883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80241403699998 meters 0.06836503082578448 Centerline is valid? [True, True] Translation: X:163.71, Y:-12.27, Z:-4.28 [[ 9.92226950e-01 1.24440506e-01 -4.90653335e-04 1.63710159e+02] [-1.24440491e-01 9.92227071e-01 6.23165180e-05 -1.22674875e+01] [ 4.94594221e-04 -7.74986653e-07 9.99999878e-01 -4.28286945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83241403699998 meters 0.06841616590340854 Centerline is valid? [True, True] Translation: X:163.74, Y:-12.28, Z:-4.28 [[ 9.92439279e-01 1.22730328e-01 -1.24278126e-03 1.63741031e+02] [-1.22730220e-01 9.92440057e-01 1.62601044e-04 -1.22777161e+01] [ 1.25334199e-03 -8.84484502e-06 9.99999215e-01 -4.28381944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86241403699998 meters 0.06870977737422097 Centerline is valid? [True, True] Translation: X:163.77, Y:-12.29, Z:-4.29 [[ 9.92905479e-01 1.18865992e-01 -3.09610502e-03 1.63770615e+02] [-1.18865339e-01 9.92910306e-01 3.94793073e-04 -1.22922876e+01] [ 3.12108205e-03 -2.39726343e-05 9.99995129e-01 -4.28680608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89241403699998 meters 0.06863564930629314 Centerline is valid? [True, True] Translation: X:163.80, Y:-12.30, Z:-4.29 [[ 9.93113704e-01 1.17073958e-01 -4.34276775e-03 1.63801999e+02] [-1.17072660e-01 9.93123198e-01 5.52763647e-04 -1.22997340e+01] [ 4.37761763e-03 -4.05377784e-05 9.99990417e-01 -4.28748606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92241403699998 meters 0.06882080973831682 Centerline is valid? [True, True] Translation: X:163.83, Y:-12.31, Z:-4.29 [[ 9.93323869e-01 1.15300595e-01 -3.66927897e-03 1.63832798e+02] [-1.15299647e-01 9.93330645e-01 4.69546065e-04 -1.23072508e+01] [ 3.69894619e-03 -4.33447425e-05 9.99993158e-01 -4.29058711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95241403699998 meters 0.06899945557731633 Centerline is valid? [True, True] Translation: X:163.86, Y:-12.32, Z:-4.29 [[ 9.93637286e-01 1.12537823e-01 -4.49245537e-03 1.63864011e+02] [-1.12536379e-01 9.93647440e-01 5.73848378e-04 -1.23151624e+01] [ 4.52849642e-03 -6.46324856e-05 9.99989744e-01 -4.29154737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98241403699998 meters 0.06992663609985628 Centerline is valid? [True, True] Translation: X:163.89, Y:-12.33, Z:-4.29 [[ 9.94463180e-01 1.04731440e-01 -8.62023994e-03 1.63892244e+02] [-1.04725947e-01 9.94500525e-01 1.08743849e-03 -1.23306276e+01] [ 8.68672214e-03 -1.78654744e-04 9.99962254e-01 -4.29176299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01241403699999 meters 0.07046095254181738 Centerline is valid? [True, True] Translation: X:163.92, Y:-12.34, Z:-4.29 [[ 9.94946674e-01 1.00131384e-01 -7.40414635e-03 1.63921726e+02] [-1.00127170e-01 9.94974205e-01 9.38575135e-04 -1.23414443e+01] [ 7.46091546e-03 -1.92475990e-04 9.99972148e-01 -4.29120171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.042414037 meters 0.07060609588246113 Centerline is valid? [True, True] Translation: X:163.95, Y:-12.35, Z:-4.29 [[ 9.95340750e-01 9.61652751e-02 -7.00226760e-03 1.63952768e+02] [-9.61613744e-02 9.95365357e-01 8.92412597e-04 -1.23496906e+01] [ 7.05563370e-03 -2.14906947e-04 9.99975086e-01 -4.28874924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.072414037 meters 0.07060553930746208 Centerline is valid? [True, True] Translation: X:163.98, Y:-12.36, Z:-4.29 [[ 9.95936585e-01 8.99847459e-02 -3.61452314e-03 1.63983965e+02] [-8.99836512e-02 9.95943134e-01 4.64682768e-04 -1.23563579e+01] [ 3.64167386e-03 -1.37546580e-04 9.99993360e-01 -4.28748451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.102414037 meters 0.07075722924363527 Centerline is valid? [True, True] Translation: X:164.01, Y:-12.36, Z:-4.29 [[ 9.96041609e-01 8.88402904e-02 -2.91811646e-03 1.64014604e+02] [-8.88395751e-02 9.96045877e-01 3.74084346e-04 -1.23601425e+01] [ 2.93981164e-03 -1.13359347e-04 9.99995672e-01 -4.28893066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.132414037 meters 0.07046524742427476 Centerline is valid? [True, True] Translation: X:164.05, Y:-12.36, Z:-4.29 [[ 9.96016135e-01 8.91537250e-02 -1.86355450e-03 1.64047137e+02] [-8.91534244e-02 9.96017875e-01 2.43909574e-04 -1.23621306e+01] [ 1.87787904e-03 -7.67956060e-05 9.99998234e-01 -4.28907088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.162414037 meters 0.07028140003297602 Centerline is valid? [True, True] Translation: X:164.08, Y:-12.36, Z:-4.29 [[ 9.95923293e-01 9.01886379e-02 -1.67463501e-03 1.64079553e+02] [-9.01883948e-02 9.95924698e-01 2.20313799e-04 -1.23640074e+01] [ 1.68768017e-03 -6.83830012e-05 9.99998574e-01 -4.28910495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.192414037 meters 0.07037564844267295 Centerline is valid? [True, True] Translation: X:164.11, Y:-12.36, Z:-4.29 [[ 9.95670036e-01 9.29122756e-02 -2.91355778e-03 1.64111383e+02] [-9.29115644e-02 9.95674293e-01 3.78805177e-04 -1.23646838e+01] [ 2.93615024e-03 -1.06461752e-04 9.99995684e-01 -4.28990598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.222414037 meters 0.07052053533160471 Centerline is valid? [True, True] Translation: X:164.14, Y:-12.37, Z:-4.29 [[ 9.95501655e-01 9.46442068e-02 -4.35079916e-03 1.64144316e+02] [-9.46426429e-02 9.95511151e-01 5.64397942e-04 -1.23672608e+01] [ 4.38468608e-03 -1.50087954e-04 9.99990376e-01 -4.29142349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.252414037 meters 0.0707840889861771 Centerline is valid? [True, True] Translation: X:164.18, Y:-12.37, Z:-4.29 [[ 9.95325171e-01 9.64165641e-02 -5.62588990e-03 1.64175008e+02] [-9.64140088e-02 9.95341054e-01 7.24289736e-04 -1.23696105e+01] [ 5.66951271e-03 -1.78489207e-04 9.99983912e-01 -4.29342789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.282414037 meters 0.07051853438481837 Centerline is valid? [True, True] Translation: X:164.21, Y:-12.37, Z:-4.29 [[ 9.95170652e-01 9.78614160e-02 -7.64965280e-03 1.64207186e+02] [-9.78567082e-02 9.95200024e-01 9.88215183e-04 -1.23696155e+01] [ 7.70964278e-03 -2.34872906e-04 9.99970253e-01 -4.29446948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.312414037 meters 0.06984045698115987 Centerline is valid? [True, True] Translation: X:164.24, Y:-12.36, Z:-4.30 [[ 9.94840449e-01 1.01152429e-01 -7.78894152e-03 1.64239821e+02] [-1.01147693e-01 9.94870918e-01 1.00058136e-03 -1.23636477e+01] [ 7.85020264e-03 -2.07585341e-04 9.99969165e-01 -4.29537789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.342414037 meters 0.06951737314320659 Centerline is valid? [True, True] Translation: X:164.27, Y:-12.36, Z:-4.30 [[ 9.94742383e-01 1.02107512e-01 -7.85158840e-03 1.64272269e+02] [-1.02102667e-01 9.94773347e-01 1.01655171e-03 -1.23633174e+01] [ 7.91434844e-03 -2.09538960e-04 9.99968659e-01 -4.29585732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.372414037 meters 0.06959011233165963 Centerline is valid? [True, True] Translation: X:164.30, Y:-12.36, Z:-4.30 [[ 9.94662274e-01 1.02823494e-01 -8.61918227e-03 1.64303987e+02] [-1.02817705e-01 9.94699593e-01 1.11329528e-03 -1.23646675e+01] [ 8.68797000e-03 -2.21148272e-04 9.99962234e-01 -4.29724651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.402414037 meters 0.0698710148953546 Centerline is valid? [True, True] Translation: X:164.34, Y:-12.37, Z:-4.30 [[ 9.94619101e-01 1.02945189e-01 -1.16246633e-02 1.64335506e+02] [-1.02934621e-01 9.94686985e-01 1.50536284e-03 -1.23651654e+01] [ 1.17178712e-02 -3.00682321e-04 9.99931298e-01 -4.29912596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.432414037 meters 0.0698710148953546 Centerline is valid? [True, True] Translation: X:164.37, Y:-12.37, Z:-4.30 [[ 9.94590686e-01 1.03219415e-01 -1.16240621e-02 1.64367676e+02] [-1.03208811e-01 9.94658565e-01 1.51001385e-03 -1.23693932e+01] [ 1.17178356e-02 -3.02140089e-04 9.99931298e-01 -4.30004634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46241403699997 meters 0.06997408091462926 Centerline is valid? [True, True] Translation: X:164.40, Y:-12.37, Z:-4.30 [[ 9.94945672e-01 9.97932671e-02 -1.11540674e-02 1.64400025e+02] [-9.97833423e-02 9.95008140e-01 1.44417709e-03 -1.23725575e+01] [ 1.12425070e-02 -3.23887622e-04 9.99936749e-01 -4.30004547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49241403699997 meters 0.07032418826341637 Centerline is valid? [True, True] Translation: X:164.43, Y:-12.38, Z:-4.30 [[ 9.95274494e-01 9.64090934e-02 -1.15744752e-02 1.64431170e+02] [-9.63981855e-02 9.95341723e-01 1.49794421e-03 -1.23766340e+01] [ 1.16649736e-02 -3.75107250e-04 9.99931892e-01 -4.30130191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52241403699998 meters 0.0709635057842469 Centerline is valid? [True, True] Translation: X:164.46, Y:-12.38, Z:-4.30 [[ 9.95818073e-01 9.06188969e-02 -1.16009372e-02 1.64461692e+02] [-9.06075498e-02 9.95885545e-01 1.50107651e-03 -1.23798002e+01] [ 1.16892315e-02 -4.43666630e-04 9.99931580e-01 -4.30329965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55241403699998 meters 0.07084188582101125 Centerline is valid? [True, True] Translation: X:164.49, Y:-12.38, Z:-4.30 [[ 9.96079045e-01 8.75991560e-02 -1.23662742e-02 1.64492915e+02] [-8.75860186e-02 9.96155674e-01 1.60101255e-03 -1.23818469e+01] [ 1.24589816e-02 -5.11622325e-04 9.99922253e-01 -4.30253258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58241403699998 meters 0.0711054299157969 Centerline is valid? [True, True] Translation: X:164.52, Y:-12.39, Z:-4.30 [[ 9.96217885e-01 8.61109313e-02 -1.16117688e-02 1.64524311e+02] [-8.60991523e-02 9.96285427e-01 1.51144616e-03 -1.23855459e+01] [ 1.16987881e-02 -5.05966246e-04 9.99931439e-01 -4.30304020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61241403699998 meters 0.07148600503548735 Centerline is valid? [True, True] Translation: X:164.56, Y:-12.39, Z:-4.30 [[ 9.96412389e-01 8.39059534e-02 -1.10517457e-02 1.64556505e+02] [-8.38951849e-02 9.96473551e-01 1.43521301e-03 -1.23860706e+01] [ 1.11331952e-02 -5.02875775e-04 9.99937898e-01 -4.30362538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64241403699998 meters 0.07087409793831985 Centerline is valid? [True, True] Translation: X:164.59, Y:-12.38, Z:-4.30 [[ 9.96457781e-01 8.35082240e-02 -9.91301343e-03 1.64589629e+02] [-8.34994639e-02 9.96506981e-01 1.29502813e-03 -1.23819727e+01] [ 9.98653258e-03 -4.62709554e-04 9.99950026e-01 -4.30138655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67241403699998 meters 0.07087409793831985 Centerline is valid? [True, True] Translation: X:164.62, Y:-12.39, Z:-4.30 [[ 9.96434352e-01 8.37873748e-02 -9.91252395e-03 1.64621820e+02] [-8.37785912e-02 9.96483548e-01 1.29878363e-03 -1.23862242e+01] [ 9.98648870e-03 -4.63695336e-04 9.99950026e-01 -4.30230771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70241403699998 meters 0.07087409793831985 Centerline is valid? [True, True] Translation: X:164.65, Y:-12.39, Z:-4.30 [[ 9.96410841e-01 8.40665469e-02 -9.91216079e-03 1.64654011e+02] [-8.40577496e-02 9.96460035e-01 1.30156082e-03 -1.23904842e+01] [ 9.98648981e-03 -4.63695387e-04 9.99950026e-01 -4.30322920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73241403699998 meters 0.07118583954273458 Centerline is valid? [True, True] Translation: X:164.69, Y:-12.39, Z:-4.30 [[ 9.96297487e-01 8.54290848e-02 -9.65340368e-03 1.64686180e+02] [-8.54207898e-02 9.96344156e-01 1.26911221e-03 -1.23881847e+01] [ 9.72653144e-03 -4.39811941e-04 9.99952599e-01 -4.30386489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76241403699999 meters 0.07084118783628096 Centerline is valid? [True, True] Translation: X:164.72, Y:-12.39, Z:-4.30 [[ 9.96200582e-01 8.64605745e-02 -1.04388629e-02 1.64719372e+02] [-8.64508949e-02 9.96255163e-01 1.37581478e-03 -1.23871027e+01] [ 1.05187248e-02 -4.68138449e-04 9.99944567e-01 -4.30349247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.792414037 meters 0.0705381850387398 Centerline is valid? [True, True] Translation: X:164.75, Y:-12.39, Z:-4.30 [[ 9.96003463e-01 8.85477383e-02 -1.16790475e-02 1.64751583e+02] [-8.85357535e-02 9.96071809e-01 1.54026475e-03 -1.23863067e+01] [ 1.17695569e-02 -5.00095755e-04 9.99930611e-01 -4.30489267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.822414037 meters 0.0703601600976379 Centerline is valid? [True, True] Translation: X:164.78, Y:-12.39, Z:-4.31 [[ 9.95861494e-01 9.00796639e-02 -1.20639454e-02 1.64783830e+02] [-9.00669541e-02 9.95934437e-01 1.59382752e-03 -1.23856507e+01] [ 1.21584701e-02 -5.00668637e-04 9.99925958e-01 -4.30627341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.852414037 meters 0.07049234488946943 Centerline is valid? [True, True] Translation: X:164.81, Y:-12.38, Z:-4.31 [[ 9.95648736e-01 9.26001650e-02 -1.04308715e-02 1.64814298e+02] [-9.25908652e-02 9.95703294e-01 1.37201649e-03 -1.23826304e+01] [ 1.05131021e-02 -4.00243073e-04 9.99944656e-01 -4.30887513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.882414037 meters 0.07037621387900964 Centerline is valid? [True, True] Translation: X:164.85, Y:-12.38, Z:-4.31 [[ 9.95547790e-01 9.36947884e-02 -1.02900189e-02 1.64846510e+02] [-9.36856993e-02 9.95600890e-01 1.36285951e-03 -1.23834565e+01] [ 1.03724448e-02 -3.92764155e-04 9.99946128e-01 -4.30994291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.912414037 meters 0.06996867802137102 Centerline is valid? [True, True] Translation: X:164.88, Y:-12.38, Z:-4.31 [[ 9.95504881e-01 9.41903787e-02 -9.90984507e-03 1.64878939e+02] [-9.41819449e-02 9.95554133e-01 1.31534552e-03 -1.23836273e+01] [ 9.98968011e-03 -3.76104397e-04 9.99950031e-01 -4.30996338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.942414037 meters 0.06976494673004209 Centerline is valid? [True, True] Translation: X:164.91, Y:-12.38, Z:-4.31 [[ 9.95460890e-01 9.46659761e-02 -9.79637925e-03 1.64910742e+02] [-9.46577321e-02 9.95509024e-01 1.30284692e-03 -1.23847510e+01] [ 9.87571921e-03 -3.69630113e-04 9.99951166e-01 -4.31009916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.972414037 meters 0.0699647935104896 Centerline is valid? [True, True] Translation: X:164.94, Y:-12.39, Z:-4.31 [[ 9.95535799e-01 9.39140102e-02 -9.41441840e-03 1.64942070e+02] [-9.39063451e-02 9.95580246e-01 1.25393487e-03 -1.23869214e+01] [ 9.49057104e-03 -3.64263428e-04 9.99954897e-01 -4.31166730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.002414037 meters 0.07003469085141513 Centerline is valid? [True, True] Translation: X:164.97, Y:-12.39, Z:-4.31 [[ 9.95595936e-01 9.32314951e-02 -9.82957812e-03 1.64974250e+02] [-9.32230798e-02 9.95644383e-01 1.31185475e-03 -1.23893556e+01] [ 9.90907041e-03 -3.89733709e-04 9.99950828e-01 -4.31299733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.032414037 meters 0.07048987513564721 Centerline is valid? [True, True] Translation: X:165.01, Y:-12.39, Z:-4.31 [[ 9.95758033e-01 9.09219134e-02 -1.41118977e-02 1.65005071e+02] [-9.09044750e-02 9.95857854e-01 1.87361948e-03 -1.23914360e+01] [ 1.42237972e-02 -5.82836996e-04 9.99898667e-01 -4.31372887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.062414037 meters 0.0709045700689256 Centerline is valid? [True, True] Translation: X:165.04, Y:-12.40, Z:-4.32 [[ 9.95780466e-01 9.04191491e-02 -1.56729116e-02 1.65036757e+02] [-9.03975305e-02 9.95903582e-01 2.08380665e-03 -1.23956111e+01] [ 1.57971248e-02 -6.58221453e-04 9.99875001e-01 -4.31514902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.092414037 meters 0.0711021611806068 Centerline is valid? [True, True] Translation: X:165.07, Y:-12.40, Z:-4.32 [[ 9.95730485e-01 9.07240088e-02 -1.70280596e-02 1.65067607e+02] [-9.06983956e-02 9.95875815e-01 2.27205697e-03 -1.23990666e+01] [ 1.71639629e-02 -7.17938701e-04 9.99852431e-01 -4.31707440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.122414037 meters 0.07084789535860189 Centerline is valid? [True, True] Translation: X:165.10, Y:-12.40, Z:-4.32 [[ 9.95572571e-01 9.23021858e-02 -1.77640706e-02 1.65100423e+02] [-9.22746078e-02 9.95730782e-01 2.36765354e-03 -1.23999972e+01] [ 1.79067715e-02 -7.17998278e-04 9.99839403e-01 -4.31799159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.152414037 meters 0.07017492705885393 Centerline is valid? [True, True] Translation: X:165.13, Y:-12.40, Z:-4.32 [[ 9.94940774e-01 9.87163951e-02 -1.86528852e-02 1.65132066e+02] [-9.86871461e-02 9.95115408e-01 2.48434673e-03 -1.23959667e+01] [ 1.88070192e-02 -6.30977848e-04 9.99822933e-01 -4.32033924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.182414037 meters 0.06975334648349964 Centerline is valid? [True, True] Translation: X:165.16, Y:-12.40, Z:-4.32 [[ 9.94490313e-01 1.03100521e-01 -1.89552072e-02 1.65164171e+02] [-1.03071053e-01 9.94670784e-01 2.52764295e-03 -1.23951448e+01] [ 1.91147921e-02 -5.59983261e-04 9.99817139e-01 -4.32143312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21241403699997 meters 0.06905434745707112 Centerline is valid? [True, True] Translation: X:165.19, Y:-12.39, Z:-4.33 [[ 9.93528294e-01 1.12288885e-01 -1.71094914e-02 1.65194742e+02] [-1.12266284e-01 9.93675545e-01 2.27882681e-03 -1.23893757e+01] [ 1.72571701e-02 -3.43259899e-04 9.99851025e-01 -4.32510140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24241403699997 meters 0.06854956491423707 Centerline is valid? [True, True] Translation: X:165.23, Y:-12.39, Z:-4.33 [[ 9.92934973e-01 1.17457422e-01 -1.68491322e-02 1.65226788e+02] [-1.17436199e-01 9.93077887e-01 2.24695747e-03 -1.23883441e+01] [ 1.69964225e-02 -2.52384607e-04 9.99855519e-01 -4.32631570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27241403699998 meters 0.06805156449090172 Centerline is valid? [True, True] Translation: X:165.26, Y:-12.39, Z:-4.32 [[ 9.92369505e-01 1.22205066e-01 -1.63916974e-02 1.65259680e+02] [-1.22185467e-01 9.92504857e-01 2.19563624e-03 -1.23876278e+01] [ 1.65371571e-02 -1.76055251e-04 9.99863236e-01 -4.32471092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30241403699998 meters 0.06789299727773353 Centerline is valid? [True, True] Translation: X:165.29, Y:-12.39, Z:-4.33 [[ 9.91826144e-01 1.26770082e-01 -1.44999000e-02 1.65290575e+02] [-1.26755302e-01 9.91932124e-01 1.93755995e-03 -1.23877396e+01] [ 1.46285413e-02 -8.37834144e-05 9.99892994e-01 -4.32637966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33241403699998 meters 0.0676714850139738 Centerline is valid? [True, True] Translation: X:165.32, Y:-12.39, Z:-4.33 [[ 9.91325896e-01 1.30847575e-01 -1.23239525e-02 1.65322458e+02] [-1.30837197e-01 9.91402497e-01 1.64808903e-03 -1.23881221e+01] [ 1.24336458e-02 -2.13619226e-05 9.99922699e-01 -4.32628132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36241403699998 meters 0.06731773139546714 Centerline is valid? [True, True] Translation: X:165.35, Y:-12.39, Z:-4.32 [[ 9.90467612e-01 1.37539505e-01 -7.53619660e-03 1.65353306e+02] [-1.37535825e-01 9.90496281e-01 1.00691068e-03 -1.23866263e+01] [ 7.60306471e-03 3.91846033e-05 9.99971096e-01 -4.32318377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39241403699998 meters 0.06717211239499413 Centerline is valid? [True, True] Translation: X:165.39, Y:-12.39, Z:-4.32 [[ 9.90139217e-01 1.39960566e-01 -5.94741321e-03 1.65385418e+02] [-1.39958267e-01 9.90157078e-01 8.03031410e-04 -1.23896502e+01] [ 6.00126601e-03 3.72767533e-05 9.99981992e-01 -4.32169943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42241403699998 meters 0.06742434044418252 Centerline is valid? [True, True] Translation: X:165.42, Y:-12.39, Z:-4.32 [[ 9.89743424e-01 1.42706262e-01 -6.54809405e-03 1.65417637e+02] [-1.42703530e-01 9.89765083e-01 8.85014532e-04 -1.23934832e+01] [ 6.60737197e-03 5.84988239e-05 9.99978169e-01 -4.32233420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45241403699998 meters 0.06785299848404074 Centerline is valid? [True, True] Translation: X:165.45, Y:-12.40, Z:-4.32 [[ 9.89054815e-01 1.47227777e-01 -9.72393721e-03 1.65448291e+02] [-1.47222064e-01 9.89102604e-01 1.30468044e-03 -1.23973685e+01] [ 9.81005682e-03 1.41177634e-04 9.99951870e-01 -4.32350761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48241403699998 meters 0.06798884205820996 Centerline is valid? [True, True] Translation: X:165.48, Y:-12.40, Z:-4.32 [[ 9.88717546e-01 1.49454237e-01 -1.00521134e-02 1.65479692e+02] [-1.49448162e-01 9.88768631e-01 1.35707277e-03 -1.24012612e+01] [ 1.01420347e-02 1.60508207e-04 9.99948555e-01 -4.32426018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51241403699999 meters 0.06838347194803668 Centerline is valid? [True, True] Translation: X:165.51, Y:-12.40, Z:-4.33 [[ 9.88227142e-01 1.52664943e-01 -1.00265427e-02 1.65510780e+02] [-1.52659080e-01 9.88277986e-01 1.35204635e-03 -1.24047259e+01] [ 1.01154215e-02 1.94513884e-04 9.99948819e-01 -4.32774862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.542414037 meters 0.06897306041078399 Centerline is valid? [True, True] Translation: X:165.54, Y:-12.41, Z:-4.33 [[ 9.87381000e-01 1.57901011e-01 -1.20843269e-02 1.65541367e+02] [-1.57892921e-01 9.87454900e-01 1.62663755e-03 -1.24088270e+01] [ 1.21895755e-02 3.01918668e-04 9.99925659e-01 -4.33206862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.572414037 meters 0.06928182282098251 Centerline is valid? [True, True] Translation: X:165.57, Y:-12.42, Z:-4.33 [[ 9.86895026e-01 1.60907746e-01 -1.21203929e-02 1.65573211e+02] [-1.60899812e-01 9.86969393e-01 1.63331076e-03 -1.24153500e+01] [ 1.22252692e-02 3.38262669e-04 9.99925211e-01 -4.33364213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.602414037 meters 0.06975711084987614 Centerline is valid? [True, True] Translation: X:165.60, Y:-12.42, Z:-4.34 [[ 9.86574758e-01 1.62785677e-01 -1.30793892e-02 1.65603386e+02] [-1.62776611e-01 9.86661376e-01 1.76184838e-03 -1.24219850e+01] [ 1.31917318e-02 3.90823512e-04 9.99912909e-01 -4.33598894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.632414037 meters 0.07003209683771594 Centerline is valid? [True, True] Translation: X:165.63, Y:-12.43, Z:-4.34 [[ 9.86298784e-01 1.64479902e-01 -1.26913710e-02 1.65633424e+02] [-1.64471401e-01 9.86380356e-01 1.71783202e-03 -1.24294415e+01] [ 1.28010679e-02 3.93071941e-04 9.99917986e-01 -4.33754743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.662414037 meters 0.07009480072053093 Centerline is valid? [True, True] Translation: X:165.66, Y:-12.44, Z:-4.34 [[ 9.85931629e-01 1.66651436e-01 -1.28888274e-02 1.65664209e+02] [-1.66642809e-01 9.86015780e-01 1.74794537e-03 -1.24424971e+01] [ 1.29998848e-02 4.24475782e-04 9.99915408e-01 -4.33746463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.692414037 meters 0.07023830699289664 Centerline is valid? [True, True] Translation: X:165.70, Y:-12.45, Z:-4.34 [[ 9.85773974e-01 1.67604299e-01 -1.25885535e-02 1.65696142e+02] [-1.67596087e-01 9.85854259e-01 1.71197525e-03 -1.24509906e+01] [ 1.26974135e-02 4.22171665e-04 9.99919295e-01 -4.33881362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.722414037 meters 0.07046792513257259 Centerline is valid? [True, True] Translation: X:165.73, Y:-12.46, Z:-4.34 [[ 9.85674331e-01 1.68127094e-01 -1.33937625e-02 1.65726462e+02] [-1.68117833e-01 9.85765222e-01 1.82247027e-03 -1.24598821e+01] [ 1.35095119e-02 4.55368166e-04 9.99908639e-01 -4.34017214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.752414037 meters 0.07089564420966067 Centerline is valid? [True, True] Translation: X:165.76, Y:-12.47, Z:-4.34 [[ 9.85745503e-01 1.67605966e-01 -1.46302456e-02 1.65756514e+02] [-1.67594820e-01 9.85853946e-01 1.99334821e-03 -1.24684476e+01] [ 1.47573824e-02 4.87019349e-04 9.99890985e-01 -4.34363433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.782414037 meters 0.07073220023436932 Centerline is valid? [True, True] Translation: X:165.79, Y:-12.48, Z:-4.34 [[ 9.85847578e-01 1.66922736e-01 -1.55355469e-02 1.65788450e+02] [-1.66909999e-01 9.85969852e-01 2.12200940e-03 -1.24809261e+01] [ 1.56717925e-02 5.01060300e-04 9.99877064e-01 -4.34309916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.812414037 meters 0.07069571713325919 Centerline is valid? [True, True] Translation: X:165.82, Y:-12.49, Z:-4.34 [[ 9.86037269e-01 1.65709857e-01 -1.64544185e-02 1.65820415e+02] [-1.65695334e-01 9.86174420e-01 2.25153261e-03 -1.24927606e+01] [ 1.66000278e-02 5.06325298e-04 9.99862082e-01 -4.34425999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.842414037 meters 0.07046823308715143 Centerline is valid? [True, True] Translation: X:165.85, Y:-12.51, Z:-4.34 [[ 9.86755694e-01 1.61398443e-01 -1.62401575e-02 1.65848347e+02] [-1.61383823e-01 9.86889231e-01 2.21541906e-03 -1.25109129e+01] [ 1.63848018e-02 4.34821338e-04 9.99865666e-01 -4.34432227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.872414037 meters 0.07021295390130025 Centerline is valid? [True, True] Translation: X:165.88, Y:-12.52, Z:-4.34 [[ 9.87117456e-01 1.59261292e-01 -1.53286828e-02 1.65878843e+02] [-1.59247983e-01 9.87236395e-01 2.09280616e-03 -1.25224396e+01] [ 1.54663366e-02 3.75216332e-04 9.99880319e-01 -4.34432880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.902414037 meters 0.07003954218780227 Centerline is valid? [True, True] Translation: X:165.91, Y:-12.53, Z:-4.34 [[ 9.87400257e-01 1.57717629e-01 -1.28795492e-02 1.65909109e+02] [-1.57708079e-01 9.87484209e-01 1.76024031e-03 -1.25336976e+01] [ 1.29959724e-02 2.93147234e-04 9.99915506e-01 -4.34431887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.932414037 meters 0.06995036171017435 Centerline is valid? [True, True] Translation: X:165.94, Y:-12.54, Z:-4.34 [[ 9.87586113e-01 1.56571529e-01 -1.26105762e-02 1.65940073e+02] [-1.56562186e-01 9.87666587e-01 1.73087580e-03 -1.25447579e+01] [ 1.27260507e-02 2.64950472e-04 9.99918985e-01 -4.34449780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96241403699997 meters 0.06982846942911877 Centerline is valid? [True, True] Translation: X:165.97, Y:-12.55, Z:-4.34 [[ 9.87634259e-01 1.56449349e-01 -1.01079836e-02 1.65970358e+02] [-1.56443380e-01 9.87685960e-01 1.38344377e-03 -1.25546739e+01] [ 1.01999524e-02 2.14990652e-04 9.99947956e-01 -4.34471777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99241403699997 meters 0.06896489462036444 Centerline is valid? [True, True] Translation: X:166.00, Y:-12.57, Z:-4.34 [[ 9.87403039e-01 1.58081808e-01 -6.73654708e-03 1.66000054e+02] [-1.58079190e-01 9.87426007e-01 9.22638412e-04 -1.25701468e+01] [ 6.79769413e-03 1.53891934e-04 9.99976884e-01 -4.33873072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02241403699998 meters 0.06895966156003026 Centerline is valid? [True, True] Translation: X:166.03, Y:-12.58, Z:-4.34 [[ 9.87153523e-01 1.59689207e-01 -5.22285944e-03 1.66030859e+02] [-1.59687620e-01 9.87167333e-01 7.22199721e-04 -1.25760867e+01] [ 5.27116372e-03 1.21103995e-04 9.99986100e-01 -4.34058629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05241403699998 meters 0.06870052296331965 Centerline is valid? [True, True] Translation: X:166.06, Y:-12.58, Z:-4.34 [[ 9.86881400e-01 1.61404581e-01 -3.69651352e-03 1.66062106e+02] [-1.61403785e-01 9.86888319e-01 5.14579350e-04 -1.25843841e+01] [ 3.73110148e-03 8.88024849e-05 9.99993035e-01 -4.33908406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08241403699998 meters 0.06894286223983952 Centerline is valid? [True, True] Translation: X:166.09, Y:-12.59, Z:-4.34 [[ 9.86662980e-01 1.62736751e-01 -3.59345007e-03 1.66092812e+02] [-1.62736006e-01 9.86669520e-01 5.00712633e-04 -1.25913264e+01] [ 3.62703201e-03 9.07490932e-05 9.99993418e-01 -4.34131097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11241403699998 meters 0.06915825139973623 Centerline is valid? [True, True] Translation: X:166.12, Y:-12.60, Z:-4.34 [[ 9.86481030e-01 1.63814305e-01 -4.47778029e-03 1.66122932e+02] [-1.63813162e-01 9.86491186e-01 6.23222785e-04 -1.25998757e+01] [ 4.51938359e-03 1.18721893e-04 9.99989780e-01 -4.34305889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14241403699998 meters 0.06926517388483111 Centerline is valid? [True, True] Translation: X:166.15, Y:-12.61, Z:-4.34 [[ 9.86323593e-01 1.64633169e-01 -7.85431909e-03 1.66152894e+02] [-1.64629759e-01 9.86354839e-01 1.08323382e-03 -1.26105783e+01] [ 7.92548186e-03 2.24635582e-04 9.99968568e-01 -4.34381136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17241403699998 meters 0.06945449920807273 Centerline is valid? [True, True] Translation: X:166.18, Y:-12.63, Z:-4.35 [[ 9.86107518e-01 1.65773313e-01 -1.05437962e-02 1.66181955e+02] [-1.65767239e-01 9.86163835e-01 1.45352635e-03 -1.26262498e+01] [ 1.06388664e-02 3.14482715e-04 9.99943356e-01 -4.34550428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20241403699998 meters 0.06929085601521733 Centerline is valid? [True, True] Translation: X:166.21, Y:-12.64, Z:-4.35 [[ 9.86001822e-01 1.66383712e-01 -1.08105079e-02 1.66212924e+02] [-1.66377260e-01 9.86061032e-01 1.49978583e-03 -1.26350982e+01] [ 1.09093605e-02 3.19831114e-04 9.99940440e-01 -4.34806262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23241403699998 meters 0.06942598018516441 Centerline is valid? [True, True] Translation: X:166.24, Y:-12.64, Z:-4.35 [[ 9.85913991e-01 1.66954481e-01 -9.99013881e-03 1.66243812e+02] [-1.66948970e-01 9.85964559e-01 1.38901828e-03 -1.26417099e+01] [ 1.00818256e-02 2.98390822e-04 9.99949133e-01 -4.35097264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26241403699999 meters 0.06938670953426099 Centerline is valid? [True, True] Translation: X:166.27, Y:-12.65, Z:-4.35 [[ 9.85726831e-01 1.68130685e-01 -8.64221521e-03 1.66274708e+02] [-1.68126580e-01 9.85764679e-01 1.20458221e-03 -1.26502617e+01] [ 8.72171773e-03 2.65597084e-04 9.99961930e-01 -4.35365167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.292414037 meters 0.07000544080264152 Centerline is valid? [True, True] Translation: X:166.30, Y:-12.66, Z:-4.36 [[ 9.85234091e-01 1.71131877e-01 -5.25997771e-03 1.66303794e+02] [-1.71130381e-01 9.85248116e-01 7.36565544e-04 -1.26641205e+01] [ 5.30843297e-03 1.74452505e-04 9.99985895e-01 -4.35922509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.322414037 meters 0.06922680448876702 Centerline is valid? [True, True] Translation: X:166.33, Y:-12.68, Z:-4.36 [[ 9.85124716e-01 1.71759280e-01 -5.29558593e-03 1.66334504e+02] [-1.71757762e-01 9.85138934e-01 7.43420057e-04 -1.26799702e+01] [ 5.34457717e-03 1.77196517e-04 9.99985702e-01 -4.35545095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.352414037 meters 0.06936736808220831 Centerline is valid? [True, True] Translation: X:166.36, Y:-12.69, Z:-4.36 [[ 9.85023568e-01 1.72326596e-01 -5.66700971e-03 1.66364871e+02] [-1.72324862e-01 9.85039851e-01 7.96528475e-04 -1.26913581e+01] [ 5.71949344e-03 1.91967347e-04 9.99983625e-01 -4.35673273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.382414037 meters 0.0707046953491552 Centerline is valid? [True, True] Translation: X:166.40, Y:-12.70, Z:-4.36 [[ 9.85024608e-01 1.72336584e-01 -5.15971348e-03 1.66395773e+02] [-1.72335140e-01 9.85038107e-01 7.26514010e-04 -1.26959835e+01] [ 5.20771934e-03 1.73565768e-04 9.99986425e-01 -4.36404450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.412414037 meters 0.06968177403588748 Centerline is valid? [True, True] Translation: X:166.43, Y:-12.72, Z:-4.36 [[ 9.85043417e-01 1.72299294e-01 -1.55575416e-03 1.66425132e+02] [-1.72299163e-01 9.85044644e-01 2.18684692e-04 -1.27153132e+01] [ 1.57016652e-03 5.26412242e-05 9.99998766e-01 -4.36143721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.442414037 meters 0.07106590942036235 Centerline is valid? [True, True] Translation: X:166.46, Y:-12.72, Z:-4.37 [[ 9.85111743e-01 1.71914520e-01 5.02398260e-04 1.66456263e+02] [-1.71914510e-01 9.85111870e-01 -6.32945194e-05 -1.27190039e+01] [-5.05799737e-04 -2.40173767e-05 9.99999872e-01 -4.36789643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.472414037 meters 0.07032026730495458 Centerline is valid? [True, True] Translation: X:166.49, Y:-12.73, Z:-4.36 [[ 9.85199421e-01 1.71381185e-01 3.25416894e-03 1.66486250e+02] [-1.71380619e-01 9.85204789e-01 -4.54221839e-04 -1.27331853e+01] [-3.28386790e-03 -1.10202395e-04 9.99994602e-01 -4.36409497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.502414037 meters 0.06986207459867132 Centerline is valid? [True, True] Translation: X:166.52, Y:-12.75, Z:-4.36 [[ 9.85345869e-01 1.70432641e-01 6.79950183e-03 1.66515593e+02] [-1.70430139e-01 9.85369304e-01 -9.49965090e-04 -1.27542357e+01] [-6.86192545e-03 -2.22795867e-04 9.99976432e-01 -4.35853079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.532414037 meters 0.06980315958064723 Centerline is valid? [True, True] Translation: X:166.55, Y:-12.77, Z:-4.36 [[ 9.85487580e-01 1.69556462e-01 8.05201205e-03 1.66546335e+02] [-1.69552951e-01 9.85520441e-01 -1.12171414e-03 -1.27665127e+01] [-8.12561634e-03 -2.59807046e-04 9.99966953e-01 -4.35643580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.562414037 meters 0.06980315958064723 Centerline is valid? [True, True] Translation: X:166.58, Y:-12.77, Z:-4.36 [[ 9.85439945e-01 1.69833105e-01 8.05183205e-03 1.66578412e+02] [-1.69829593e-01 9.85472804e-01 -1.12300391e-03 -1.27710933e+01] [-8.12558475e-03 -2.60786446e-04 9.99966953e-01 -4.35735584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.592414037 meters 0.06977076821479132 Centerline is valid? [True, True] Translation: X:166.61, Y:-12.78, Z:-4.36 [[ 9.85706198e-01 1.68308802e-01 7.44565842e-03 1.66608663e+02] [-1.68305721e-01 9.85734293e-01 -1.04294475e-03 -1.27812749e+01] [-7.51497762e-03 -2.25109807e-04 9.99971737e-01 -4.35842799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.622414037 meters 0.06993384915048349 Centerline is valid? [True, True] Translation: X:166.64, Y:-12.79, Z:-4.36 [[ 9.85965060e-01 1.66850365e-01 5.81859245e-03 1.66639043e+02] [-1.66848470e-01 9.85982214e-01 -8.13088764e-04 -1.27908018e+01] [-5.87269282e-03 -1.69146135e-04 9.99982741e-01 -4.36096702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.652414037 meters 0.07028112113984257 Centerline is valid? [True, True] Translation: X:166.67, Y:-12.81, Z:-4.37 [[ 9.86283009e-01 1.65055266e-01 1.60791354e-03 1.66669456e+02] [-1.65055126e-01 9.86284318e-01 -2.20060804e-04 -1.28050798e+01] [-1.62218211e-03 -4.83521403e-05 9.99998683e-01 -4.36717293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.682414037 meters 0.07054240939416367 Centerline is valid? [True, True] Translation: X:166.70, Y:-12.81, Z:-4.37 [[ 9.86408065e-01 1.64312411e-01 7.48727616e-04 1.66700136e+02] [-1.64312384e-01 9.86408349e-01 -9.85915283e-05 -1.28134298e+01] [-7.54750983e-04 -2.57737405e-05 9.99999715e-01 -4.37135901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71241403699997 meters 0.0711241043583686 Centerline is valid? [True, True] Translation: X:166.73, Y:-12.82, Z:-4.38 [[ 9.86441450e-01 1.64112669e-01 -5.44602299e-04 1.66730710e+02] [-1.64112648e-01 9.86441601e-01 8.32729014e-05 -1.28198176e+01] [ 5.50884502e-04 7.23228397e-06 9.99999848e-01 -4.37751617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74241403699997 meters 0.07050208341599391 Centerline is valid? [True, True] Translation: X:166.76, Y:-12.83, Z:-4.38 [[ 9.86644385e-01 1.62888264e-01 5.19641019e-04 1.66761596e+02] [-1.62888252e-01 9.86644522e-01 -6.67958071e-05 -1.28325712e+01] [-5.23581218e-04 -1.87397090e-05 9.99999863e-01 -4.37585248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77241403699998 meters 0.07059704657836917 Centerline is valid? [True, True] Translation: X:166.79, Y:-12.85, Z:-4.38 [[ 9.87235305e-01 1.59262315e-01 1.40264764e-03 1.66790475e+02] [-1.59262195e-01 9.87236301e-01 -1.97972704e-04 -1.28477348e+01] [-1.41627426e-03 -2.79430990e-05 9.99998997e-01 -4.37810409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80241403699998 meters 0.07067682382302455 Centerline is valid? [True, True] Translation: X:166.82, Y:-12.86, Z:-4.38 [[ 9.87578216e-01 1.57118310e-01 1.76162472e-03 1.66820987e+02] [-1.57118126e-01 9.87579787e-01 -2.43568852e-04 -1.28567545e+01] [-1.77801410e-03 -3.62398822e-05 9.99998419e-01 -4.38132032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83241403699998 meters 0.07026537392162387 Centerline is valid? [True, True] Translation: X:166.85, Y:-12.87, Z:-4.38 [[ 9.88370248e-01 1.51975002e-01 5.27747998e-03 1.66850357e+02] [-1.51973168e-01 9.88384336e-01 -7.49176433e-04 -1.28726411e+01] [-5.33003464e-03 -6.15716566e-05 9.99985793e-01 -4.38056973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86241403699998 meters 0.06993513108035466 Centerline is valid? [True, True] Translation: X:166.88, Y:-12.88, Z:-4.38 [[ 9.88785247e-01 1.49213568e-01 6.24877581e-03 1.66881968e+02] [-1.49210954e-01 9.88804990e-01 -8.85212649e-04 -1.28824178e+01] [-6.31090644e-03 -5.71005893e-05 9.99980084e-01 -4.38084213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89241403699998 meters 0.06984304457861064 Centerline is valid? [True, True] Translation: X:166.91, Y:-12.89, Z:-4.38 [[ 9.89215407e-01 1.46265693e-01 7.69577635e-03 1.66912826e+02] [-1.46261640e-01 9.89245341e-01 -1.08978862e-03 -1.28924694e+01] [-7.77240959e-03 -4.75611768e-05 9.99969793e-01 -4.38141159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92241403699998 meters 0.0696579346316673 Centerline is valid? [True, True] Translation: X:166.94, Y:-12.90, Z:-4.38 [[ 9.89584680e-01 1.43701583e-01 8.48620070e-03 1.66943414e+02] [-1.43696538e-01 9.89621066e-01 -1.20444076e-03 -1.29027979e+01] [-8.57120303e-03 -2.75415377e-05 9.99963266e-01 -4.38128239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95241403699998 meters 0.06958163284224655 Centerline is valid? [True, True] Translation: X:166.98, Y:-12.91, Z:-4.38 [[ 9.89874014e-01 1.41683734e-01 8.66926889e-03 1.66975219e+02] [-1.41678378e-01 9.89911976e-01 -1.23198766e-03 -1.29125997e+01] [-8.75636570e-03 -8.73538711e-06 9.99961662e-01 -4.38223064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98241403699998 meters 0.06966168194916343 Centerline is valid? [True, True] Translation: X:167.01, Y:-12.92, Z:-4.39 [[ 9.90278198e-01 1.38823520e-01 8.78187651e-03 1.67006421e+02] [-1.38817889e-01 9.90317136e-01 -1.25052527e-03 -1.29244612e+01] [-8.87044511e-03 1.92863498e-05 9.99960657e-01 -4.38507782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01241403699999 meters 0.0695754964548775 Centerline is valid? [True, True] Translation: X:167.04, Y:-12.93, Z:-4.39 [[ 9.90289664e-01 1.38744814e-01 8.73263059e-03 1.67038857e+02] [-1.38739223e-01 9.90328166e-01 -1.24576896e-03 -1.29303720e+01] [-8.82101402e-03 2.21137357e-05 9.99961094e-01 -4.38732050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.042414037 meters 0.0695393855025895 Centerline is valid? [True, True] Translation: X:167.07, Y:-12.94, Z:-4.39 [[ 9.90126069e-01 1.39807147e-01 1.02141311e-02 1.67070492e+02] [-1.39799506e-01 9.90178752e-01 -1.46181906e-03 -1.29367113e+01] [-1.03181883e-02 1.94546766e-05 9.99946766e-01 -4.38936825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.072414037 meters 0.06948249780727658 Centerline is valid? [True, True] Translation: X:167.10, Y:-12.94, Z:-4.39 [[ 9.90040797e-01 1.40209306e-01 1.26716489e-02 1.67101673e+02] [-1.40197519e-01 9.90121886e-01 -1.81813137e-03 -1.29428909e+01] [-1.28013959e-02 2.34904921e-05 9.99918058e-01 -4.38945663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.102414037 meters 0.06938576637820462 Centerline is valid? [True, True] Translation: X:167.13, Y:-12.95, Z:-4.39 [[ 9.90069200e-01 1.39854260e-01 1.42746233e-02 1.67133230e+02] [-1.39839206e-01 9.90172098e-01 -2.05228914e-03 -1.29500834e+01] [-1.44213551e-02 3.57562761e-05 9.99896006e-01 -4.38880266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.132414037 meters 0.06942468951738075 Centerline is valid? [True, True] Translation: X:167.17, Y:-12.96, Z:-4.39 [[ 9.90462287e-01 1.36965348e-01 1.49983884e-02 1.67165074e+02] [-1.36948345e-01 9.90575836e-01 -2.15980386e-03 -1.29590571e+01] [-1.51528595e-02 8.51997981e-05 9.99885185e-01 -4.38818554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.162414037 meters 0.06940740486106663 Centerline is valid? [True, True] Translation: X:167.20, Y:-12.97, Z:-4.39 [[ 9.90680994e-01 1.35357859e-01 1.51465816e-02 1.67197130e+02] [-1.35340267e-01 9.90796769e-01 -2.18530630e-03 -1.29656909e+01] [-1.53029825e-02 1.14999017e-04 9.99882896e-01 -4.38958506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.192414037 meters 0.06946987165441187 Centerline is valid? [True, True] Translation: X:167.23, Y:-12.97, Z:-4.39 [[ 9.90971207e-01 1.33300382e-01 1.43900848e-02 1.67228284e+02] [-1.33284229e-01 9.91075672e-01 -2.08008212e-03 -1.29721575e+01] [-1.45389387e-02 1.43330139e-04 9.99894294e-01 -4.39103169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.222414037 meters 0.06950404325008706 Centerline is valid? [True, True] Translation: X:167.26, Y:-12.98, Z:-4.39 [[ 9.91581073e-01 1.28778902e-01 1.35266770e-02 1.67259934e+02] [-1.28764137e-01 9.91673310e-01 -1.96046753e-03 -1.29796955e+01] [-1.36665114e-02 2.02211609e-04 9.99906588e-01 -4.39249370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.252414037 meters 0.06957709676930424 Centerline is valid? [True, True] Translation: X:167.29, Y:-12.99, Z:-4.39 [[ 9.91879286e-01 1.26441835e-01 1.37093044e-02 1.67291902e+02] [-1.26426466e-01 9.91973995e-01 -1.98543088e-03 -1.29854854e+01] [-1.38503150e-02 2.36088844e-04 9.99904052e-01 -4.39350182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.282414037 meters 0.06986452254613694 Centerline is valid? [True, True] Translation: X:167.32, Y:-12.99, Z:-4.39 [[ 9.92183206e-01 1.23951182e-01 1.44426594e-02 1.67321940e+02] [-1.23933783e-01 9.92288275e-01 -2.09700441e-03 -1.29921076e+01] [-1.45912077e-02 2.90679149e-04 9.99893500e-01 -4.39464581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.312414037 meters 0.07021106103632006 Centerline is valid? [True, True] Translation: X:167.35, Y:-13.00, Z:-4.40 [[ 9.92739814e-01 1.19548005e-01 1.32641099e-02 1.67352360e+02] [-1.19532900e-01 9.92828367e-01 -1.92864869e-03 -1.29986675e+01] [-1.33995506e-02 3.29148829e-04 9.99910168e-01 -4.39686064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.342414037 meters 0.07046592657344748 Centerline is valid? [True, True] Translation: X:167.38, Y:-13.00, Z:-4.40 [[ 9.92958855e-01 1.17853211e-01 1.19721482e-02 1.67382909e+02] [-1.17840814e-01 9.93030977e-01 -1.73813336e-03 -1.30043952e+01] [-1.20935586e-02 3.15087218e-04 9.99926821e-01 -4.39952510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.372414037 meters 0.07053124385616692 Centerline is valid? [True, True] Translation: X:167.41, Y:-13.01, Z:-4.40 [[ 9.93080312e-01 1.16920839e-01 1.10005502e-02 1.67414547e+02] [-1.16910298e-01 9.93141192e-01 -1.59864560e-03 -1.30082358e+01] [-1.11120145e-02 3.01505872e-04 9.99938214e-01 -4.40030520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.402414037 meters 0.07042345099116551 Centerline is valid? [True, True] Translation: X:167.45, Y:-13.01, Z:-4.40 [[ 9.93122986e-01 1.16623795e-01 1.02774194e-02 1.67446040e+02] [-1.16614558e-01 9.93176121e-01 -1.49553682e-03 -1.30116972e+01] [-1.03817027e-02 2.86755269e-04 9.99946068e-01 -4.40062511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.432414037 meters 0.07073825357121725 Centerline is valid? [True, True] Translation: X:167.48, Y:-13.01, Z:-4.40 [[ 9.93202333e-01 1.16066017e-01 8.82073354e-03 1.67477015e+02] [-1.16059161e-01 9.93241469e-01 -1.28697359e-03 -1.30147785e+01] [-8.91049224e-03 2.54498237e-04 9.99960268e-01 -4.40381031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46241403699997 meters 0.07052508644449085 Centerline is valid? [True, True] Translation: X:167.51, Y:-13.02, Z:-4.40 [[ 9.93222244e-01 1.15930512e-01 8.34813685e-03 1.67509281e+02] [-1.15924377e-01 9.93257297e-01 -1.21666109e-03 -1.30160517e+01] [-8.43289599e-03 2.40662299e-04 9.99964414e-01 -4.40494570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49241403699997 meters 0.07094387430236851 Centerline is valid? [True, True] Translation: X:167.54, Y:-13.02, Z:-4.41 [[ 9.93247842e-01 1.15761325e-01 7.61842706e-03 1.67539872e+02] [-1.15756198e-01 9.93277034e-01 -1.11193271e-03 -1.30198799e+01] [-7.69592744e-03 2.22544611e-04 9.99970361e-01 -4.40838255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52241403699998 meters 0.07112024584751606 Centerline is valid? [True, True] Translation: X:167.57, Y:-13.02, Z:-4.41 [[ 9.93376102e-01 1.14645037e-01 7.77400248e-03 1.67571241e+02] [-1.14639635e-01 9.93406492e-01 -1.13839485e-03 -1.30231474e+01] [-7.85325586e-03 2.39645433e-04 9.99969134e-01 -4.41025670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55241403699998 meters 0.07111042167647295 Centerline is valid? [True, True] Translation: X:167.60, Y:-13.03, Z:-4.41 [[ 9.93591660e-01 1.12639559e-01 9.37781841e-03 1.67603503e+02] [-1.12631611e-01 9.93635866e-01 -1.37309875e-03 -1.30260512e+01] [-9.47280196e-03 3.08060668e-04 9.99955085e-01 -4.40772131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58241403699998 meters 0.07168855358709124 Centerline is valid? [True, True] Translation: X:167.63, Y:-13.03, Z:-4.41 [[ 9.93713737e-01 1.11441627e-01 1.06664217e-02 1.67634065e+02] [-1.11431217e-01 9.93770913e-01 -1.56716133e-03 -1.30327339e+01] [-1.07746267e-02 3.68737387e-04 9.99941884e-01 -4.40823281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61241403699998 meters 0.07136817254843332 Centerline is valid? [True, True] Translation: X:167.67, Y:-13.03, Z:-4.41 [[ 9.93798837e-01 1.10505868e-01 1.23419566e-02 1.67666475e+02] [-1.10491853e-01 9.93875375e-01 -1.81384847e-03 -1.30348753e+01] [-1.24668076e-02 4.38914856e-04 9.99922190e-01 -4.40675436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64241403699998 meters 0.07135136257907641 Centerline is valid? [True, True] Translation: X:167.70, Y:-13.04, Z:-4.41 [[ 9.93843052e-01 1.10169296e-01 1.17777041e-02 1.67698173e+02] [-1.10156476e-01 9.93912745e-01 -1.73370386e-03 -1.30354307e+01] [-1.18970112e-02 4.25639149e-04 9.99929137e-01 -4.40658045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67241403699998 meters 0.07118993021277163 Centerline is valid? [True, True] Translation: X:167.73, Y:-13.04, Z:-4.41 [[ 9.93790897e-01 1.10816882e-01 9.96351667e-03 1.67730367e+02] [-1.10807731e-01 9.93840779e-01 -1.46755615e-03 -1.30363363e+01] [-1.00647792e-02 3.54409272e-04 9.99949286e-01 -4.40868584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70241403699998 meters 0.07074289750175701 Centerline is valid? [True, True] Translation: X:167.76, Y:-13.04, Z:-4.41 [[ 9.93715989e-01 1.11644254e-01 8.00581008e-03 1.67763061e+02] [-1.11638369e-01 9.93748199e-01 -1.17968560e-03 -1.30361993e+01] [-8.08746447e-03 2.78516859e-04 9.99967257e-01 -4.40921440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73241403699998 meters 0.07098979238393051 Centerline is valid? [True, True] Translation: X:167.79, Y:-13.03, Z:-4.41 [[ 9.93532144e-01 1.13357812e-01 6.62464756e-03 1.67794542e+02] [-1.13353814e-01 9.93554205e-01 -9.77005510e-04 -1.30349474e+01] [-6.69269765e-03 2.19757308e-04 9.99977580e-01 -4.41346504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76241403699999 meters 0.07103885010003347 Centerline is valid? [True, True] Translation: X:167.83, Y:-13.04, Z:-4.41 [[ 9.93485790e-01 1.13779460e-01 6.34194188e-03 1.67827453e+02] [-1.13775804e-01 9.93506010e-01 -9.35457905e-04 -1.30363958e+01] [-6.40719327e-03 2.07804601e-04 9.99979452e-01 -4.41464588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.792414037 meters 0.07110787117478518 Centerline is valid? [True, True] Translation: X:167.86, Y:-13.04, Z:-4.41 [[ 9.93547598e-01 1.13154743e-01 7.69253847e-03 1.67859990e+02] [-1.13149317e-01 9.93577343e-01 -1.13833566e-03 -1.30381995e+01] [-7.77194001e-03 2.60585186e-04 9.99969764e-01 -4.41488040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.822414037 meters 0.07111416880560441 Centerline is valid? [True, True] Translation: X:167.89, Y:-13.04, Z:-4.42 [[ 9.93639529e-01 1.12341067e-01 7.74413836e-03 1.67891859e+02] [-1.12335521e-01 9.93669669e-01 -1.14882668e-03 -1.30406917e+01] [-7.82417582e-03 2.71577786e-04 9.99969354e-01 -4.41504908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.852414037 meters 0.07101917013673724 Centerline is valid? [True, True] Translation: X:167.93, Y:-13.04, Z:-4.41 [[ 9.93707553e-01 1.11593982e-01 9.59592568e-03 1.67925228e+02] [-1.11585401e-01 9.93753824e-01 -1.42673610e-03 -1.30403939e+01] [-9.69520300e-03 3.46993226e-04 9.99952940e-01 -4.41379950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.882414037 meters 0.07159585405709167 Centerline is valid? [True, True] Translation: X:167.96, Y:-13.04, Z:-4.42 [[ 9.93745638e-01 1.11227768e-01 9.89903127e-03 1.67956035e+02] [-1.11218564e-01 9.93794873e-01 -1.47725595e-03 -1.30427874e+01] [-1.00019184e-02 3.67060612e-04 9.99949912e-01 -4.41567399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.912414037 meters 0.07112275194992791 Centerline is valid? [True, True] Translation: X:167.99, Y:-13.04, Z:-4.42 [[ 9.93653613e-01 1.11991986e-01 1.05019891e-02 1.67988311e+02] [-1.11981670e-01 9.93709037e-01 -1.56704075e-03 -1.30440793e+01] [-1.06114175e-02 3.81065426e-04 9.99943625e-01 -4.41547139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.942414037 meters 0.07033081864195215 Centerline is valid? [True, True] Translation: X:168.02, Y:-13.04, Z:-4.41 [[ 9.93580781e-01 1.12642653e-01 1.04338383e-02 1.68021347e+02] [-1.12632483e-01 9.93635493e-01 -1.55912335e-03 -1.30397797e+01] [-1.05430558e-02 3.73925885e-04 9.99944351e-01 -4.41426267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.972414037 meters 0.0704513538515161 Centerline is valid? [True, True] Translation: X:168.05, Y:-13.04, Z:-4.42 [[ 9.93532315e-01 1.13069934e-01 1.04273006e-02 1.68053125e+02] [-1.13059777e-01 9.93586962e-01 -1.56035079e-03 -1.30411010e+01] [-1.05368587e-02 3.71350654e-04 9.99944417e-01 -4.41561219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.002414037 meters 0.07008872264014314 Centerline is valid? [True, True] Translation: X:168.09, Y:-13.04, Z:-4.42 [[ 9.93465393e-01 1.13687287e-01 1.00852942e-02 1.68086439e+02] [-1.13677798e-01 9.93516520e-01 -1.51114917e-03 -1.30416817e+01] [-1.01917049e-02 3.54800376e-04 9.99948000e-01 -4.41674089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.032414037 meters 0.06996737481524312 Centerline is valid? [True, True] Translation: X:168.12, Y:-13.04, Z:-4.42 [[ 9.93327890e-01 1.14983712e-01 8.85715727e-03 1.68119621e+02] [-1.14976425e-01 9.93367331e-01 -1.32923239e-03 -1.30395217e+01] [-8.95125075e-03 3.01999323e-04 9.99959891e-01 -4.41752526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.062414037 meters 0.07013222755608675 Centerline is valid? [True, True] Translation: X:168.15, Y:-13.04, Z:-4.42 [[ 9.93392721e-01 1.14434880e-01 8.69251950e-03 1.68150547e+02] [-1.14427820e-01 9.93430705e-01 -1.30685594e-03 -1.30428242e+01] [-8.78496568e-03 3.03555119e-04 9.99961365e-01 -4.41855768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.092414037 meters 0.07143189846988184 Centerline is valid? [True, True] Translation: X:168.18, Y:-13.05, Z:-4.42 [[ 9.93424417e-01 1.14098016e-01 9.46414459e-03 1.68181387e+02] [-1.14089612e-01 9.93469441e-01 -1.42490860e-03 -1.30511607e+01] [-9.56491768e-03 3.35778409e-04 9.99954199e-01 -4.42270032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.122414037 meters 0.07144989910523501 Centerline is valid? [True, True] Translation: X:168.21, Y:-13.05, Z:-4.42 [[ 9.93559489e-01 1.13049628e-01 7.70210088e-03 1.68214106e+02] [-1.13043996e-01 9.93589301e-01 -1.16411173e-03 -1.30501225e+01] [-7.78432743e-03 2.85937989e-04 9.99969661e-01 -4.42439767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.152414037 meters 0.07039699961746426 Centerline is valid? [True, True] Translation: X:168.25, Y:-13.05, Z:-4.42 [[ 9.93556952e-01 1.13186136e-01 5.78629916e-03 1.68246954e+02] [-1.13182983e-01 9.93573779e-01 -8.70643806e-04 -1.30474939e+01] [-5.84765994e-03 2.10123608e-04 9.99982880e-01 -4.42416984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.182414037 meters 0.07175293395526783 Centerline is valid? [True, True] Translation: X:168.28, Y:-13.05, Z:-4.43 [[ 9.93513581e-01 1.13663684e-01 3.36622958e-03 1.68277372e+02] [-1.13662625e-01 9.93519276e-01 -5.04990278e-04 -1.30537156e+01] [-3.40181303e-03 1.19100211e-04 9.99994207e-01 -4.42977066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21241403699997 meters 0.0704959961134896 Centerline is valid? [True, True] Translation: X:168.31, Y:-13.05, Z:-4.43 [[ 9.93433785e-01 1.14405019e-01 8.98200873e-04 1.68311224e+02] [-1.14404948e-01 9.93434191e-01 -1.29947614e-04 -1.30464887e+01] [-9.07170117e-04 2.63357263e-05 9.99999588e-01 -4.42930010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24241403699997 meters 0.06994297845682398 Centerline is valid? [True, True] Translation: X:168.34, Y:-13.05, Z:-4.43 [[ 9.93302281e-01 1.15542428e-01 7.25271305e-04 1.68343553e+02] [-1.15542383e-01 9.93302546e-01 -1.03731194e-04 -1.30463401e+01] [-7.32399187e-04 1.92368564e-05 9.99999732e-01 -4.42986279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27241403699998 meters 0.06923753796291095 Centerline is valid? [True, True] Translation: X:168.38, Y:-13.04, Z:-4.43 [[ 9.93152543e-01 1.16818908e-01 1.17037566e-03 1.68376578e+02] [-1.16818787e-01 9.93153232e-01 -1.71561147e-04 -1.30446651e+01] [-1.18240396e-03 3.36645240e-05 9.99999300e-01 -4.42826097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30241403699998 meters 0.06886610144941711 Centerline is valid? [True, True] Translation: X:168.41, Y:-13.04, Z:-4.43 [[ 9.92759661e-01 1.20045992e-01 4.14923173e-03 1.68406711e+02] [-1.20044392e-01 9.92768323e-01 -6.33425892e-04 -1.30425406e+01] [-4.19526606e-03 1.30747672e-04 9.99991191e-01 -4.42719891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33241403699998 meters 0.0681738420726585 Centerline is valid? [True, True] Translation: X:168.44, Y:-13.04, Z:-4.43 [[ 9.92575505e-01 1.21476271e-01 6.11412507e-03 1.68439442e+02] [-1.21472862e-01 9.92594320e-01 -9.27170275e-04 -1.30419897e+01] [-6.18147500e-03 1.77586232e-04 9.99980879e-01 -4.42529405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36241403699998 meters 0.06801674182090975 Centerline is valid? [True, True] Translation: X:168.47, Y:-13.04, Z:-4.43 [[ 9.92360832e-01 1.23075992e-01 8.50177127e-03 1.68470450e+02] [-1.23069383e-01 9.92397220e-01 -1.29831321e-03 -1.30430074e+01] [-8.59692536e-03 2.42087433e-04 9.99963016e-01 -4.42556452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39241403699998 meters 0.06817882103036282 Centerline is valid? [True, True] Translation: X:168.50, Y:-13.04, Z:-4.43 [[ 9.92248108e-01 1.23972679e-01 8.62939555e-03 1.68502157e+02] [-1.23965917e-01 9.92285604e-01 -1.31609788e-03 -1.30443254e+01] [-8.72598515e-03 2.36144698e-04 9.99961900e-01 -4.42551426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42241403699998 meters 0.06785136858466756 Centerline is valid? [True, True] Translation: X:168.54, Y:-13.04, Z:-4.43 [[ 9.92025276e-01 1.25794911e-01 7.84169763e-03 1.68535082e+02] [-1.25789396e-01 9.92056249e-01 -1.19455374e-03 -1.30436335e+01] [-7.92967392e-03 1.98625090e-04 9.99968540e-01 -4.42614707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45241403699998 meters 0.0681637698930302 Centerline is valid? [True, True] Translation: X:168.57, Y:-13.04, Z:-4.43 [[ 9.91867189e-01 1.27217314e-01 3.90323456e-03 1.68567699e+02] [-1.27215969e-01 9.91874864e-01 -5.92038472e-04 -1.30404841e+01] [-3.94683780e-03 9.06697681e-05 9.99992207e-01 -4.42813192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48241403699998 meters 0.0681637698930302 Centerline is valid? [True, True] Translation: X:168.60, Y:-13.05, Z:-4.43 [[ 9.91831637e-01 1.27494190e-01 3.90321939e-03 1.68599721e+02] [-1.27492847e-01 9.91839313e-01 -5.92143569e-04 -1.30454736e+01] [-3.94686131e-03 8.96741738e-05 9.99992207e-01 -4.42905190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51241403699999 meters 0.06834485587260314 Centerline is valid? [True, True] Translation: X:168.63, Y:-13.05, Z:-4.43 [[ 9.91764333e-01 1.28058321e-01 2.13863807e-03 1.68632013e+02] [-1.28057923e-01 9.91766638e-01 -3.22410102e-04 -1.30476800e+01] [-2.16231719e-03 4.58852905e-05 9.99997661e-01 -4.43084333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.542414037 meters 0.06889696433588192 Centerline is valid? [True, True] Translation: X:168.66, Y:-13.05, Z:-4.43 [[ 9.92064077e-01 1.25722243e-01 1.66865095e-03 1.68664005e+02] [-1.25721992e-01 9.92065480e-01 -2.55111938e-04 -1.30492203e+01] [-1.68748425e-03 4.33012675e-05 9.99998575e-01 -4.43120935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.572414037 meters 0.06928561155015635 Centerline is valid? [True, True] Translation: X:168.70, Y:-13.05, Z:-4.43 [[ 9.92372938e-01 1.23256108e-01 1.97073967e-03 1.68695712e+02] [-1.23255760e-01 9.92374893e-01 -2.97219298e-04 -1.30535612e+01] [-1.99234666e-03 5.20473714e-05 9.99998014e-01 -4.43203855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.602414037 meters 0.06993825683051012 Centerline is valid? [True, True] Translation: X:168.73, Y:-13.06, Z:-4.43 [[ 9.92742748e-01 1.20246777e-01 1.59674867e-03 1.68725937e+02] [-1.20246537e-01 9.92744030e-01 -2.45479706e-04 -1.30588538e+01] [-1.61468086e-03 5.16946991e-05 9.99998695e-01 -4.43430123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.632414037 meters 0.07029966332614013 Centerline is valid? [True, True] Translation: X:168.76, Y:-13.06, Z:-4.44 [[ 9.93142373e-01 1.16910685e-01 3.43331051e-04 1.68756255e+02] [-1.16910674e-01 9.93142433e-01 -5.25135675e-05 -1.30635663e+01] [-3.47116033e-04 1.20143844e-05 9.99999940e-01 -4.43501048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.662414037 meters 0.0707462250754786 Centerline is valid? [True, True] Translation: X:168.79, Y:-13.07, Z:-4.43 [[ 9.93861012e-01 1.10635806e-01 -8.85787953e-05 1.68786575e+02] [-1.10635805e-01 9.93861016e-01 1.39728025e-05 -1.30675168e+01] [ 8.95809036e-05 -4.08703722e-06 9.99999996e-01 -4.43401681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.692414037 meters 0.07113326118717528 Centerline is valid? [True, True] Translation: X:168.82, Y:-13.07, Z:-4.43 [[ 9.94178312e-01 1.07746043e-01 -5.23855923e-04 1.68817358e+02] [-1.07746015e-01 9.94178450e-01 8.18811522e-05 -1.30725078e+01] [ 5.29628640e-04 -2.49610773e-05 9.99999859e-01 -4.43358258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.722414037 meters 0.07180050334414192 Centerline is valid? [True, True] Translation: X:168.85, Y:-13.08, Z:-4.43 [[ 9.94598729e-01 1.03794042e-01 -4.05284762e-04 1.68847589e+02] [-1.03794025e-01 9.94598812e-01 6.30827525e-05 -1.30774717e+01] [ 4.09643357e-04 -2.06758886e-05 9.99999916e-01 -4.43449397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.752414037 meters 0.07361524188925005 Centerline is valid? [True, True] Translation: X:168.88, Y:-13.08, Z:-4.44 [[ 9.95337840e-01 9.64205879e-02 -2.37785477e-03 1.68877320e+02] [-9.64199831e-02 9.95340671e-01 3.67939234e-04 -1.30829376e+01] [ 2.40225248e-03 -1.36951126e-04 9.99997105e-01 -4.43583244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.782414037 meters 0.07462568332300677 Centerline is valid? [True, True] Translation: X:168.91, Y:-13.09, Z:-4.44 [[ 9.95681633e-01 9.27517490e-02 -3.89853279e-03 1.68906217e+02] [-9.27501007e-02 9.95689237e-01 6.01870532e-04 -1.30884628e+01] [ 3.93755168e-03 -2.37682126e-04 9.99992220e-01 -4.43620612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.812414037 meters 0.0774717301307279 Centerline is valid? [True, True] Translation: X:168.94, Y:-13.10, Z:-4.44 [[ 9.95959216e-01 8.97349341e-02 -3.58899832e-03 1.68935283e+02] [-8.97335148e-02 9.95965656e-01 5.54859525e-04 -1.30983160e+01] [ 3.62430935e-03 -2.30564023e-04 9.99993406e-01 -4.43912305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.842414037 meters 0.07548676137752673 Centerline is valid? [True, True] Translation: X:168.97, Y:-13.10, Z:-4.44 [[ 9.96467566e-01 8.39322106e-02 -2.78812045e-03 1.68967365e+02] [-8.39313301e-02 9.96471447e-01 4.31518307e-04 -1.30951508e+01] [ 2.81450070e-03 -1.95983340e-04 9.99996020e-01 -4.43536267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.872414037 meters 0.07555295449599739 Centerline is valid? [True, True] Translation: X:169.00, Y:-13.10, Z:-4.44 [[ 9.96629564e-01 8.19375753e-02 -3.96808913e-03 1.68998653e+02] [-8.19357760e-02 9.96637422e-01 6.14170057e-04 -1.30980364e+01] [ 4.00506973e-03 -2.86971574e-04 9.99991939e-01 -4.43577471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.902414037 meters 0.07474433638271112 Centerline is valid? [True, True] Translation: X:169.03, Y:-13.10, Z:-4.44 [[ 9.96706493e-01 8.09873899e-02 -4.14834840e-03 1.69031377e+02] [-8.09854099e-02 9.96715079e-01 6.43341650e-04 -1.30987319e+01] [ 4.18682397e-03 -3.05267104e-04 9.99991189e-01 -4.43603252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.932414037 meters 0.07534215768053218 Centerline is valid? [True, True] Translation: X:169.06, Y:-13.10, Z:-4.44 [[ 9.96770185e-01 8.02815927e-02 -2.01593844e-03 1.69063978e+02] [-8.02811094e-02 9.96772211e-01 3.19645290e-04 -1.30984190e+01] [ 2.03509305e-03 -1.56771121e-04 9.99997917e-01 -4.43949667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96241403699997 meters 0.07419482964459861 Centerline is valid? [True, True] Translation: X:169.10, Y:-13.10, Z:-4.44 [[ 9.96753211e-01 8.05025639e-02 -1.54045060e-03 1.69097329e+02] [-8.05022867e-02 9.96754395e-01 2.41219307e-04 -1.30961129e+01] [ 1.55486968e-03 -1.16426323e-04 9.99998784e-01 -4.43978531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99241403699997 meters 0.07799553272677397 Centerline is valid? [True, True] Translation: X:169.13, Y:-13.11, Z:-4.44 [[ 9.96638522e-01 8.19225817e-02 -5.89046116e-04 1.69126041e+02] [-8.19225416e-02 9.96638695e-01 9.17935259e-05 -1.31065408e+01] [ 5.94586115e-04 -4.32288091e-05 9.99999822e-01 -4.44377014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02241403699998 meters 0.0751282798126303 Centerline is valid? [True, True] Translation: X:169.16, Y:-13.10, Z:-4.44 [[ 9.96317273e-01 8.57427235e-02 2.78426650e-04 1.69158548e+02] [-8.57427148e-02 9.96317311e-01 -4.30817109e-05 -1.30975453e+01] [-2.81095234e-04 1.90499959e-05 9.99999960e-01 -4.44149526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05241403699998 meters 0.07400451542712008 Centerline is valid? [True, True] Translation: X:169.19, Y:-13.10, Z:-4.44 [[ 9.96109347e-01 8.81223013e-02 -7.92726363e-04 1.69190722e+02] [-8.81222305e-02 9.96109661e-01 1.23870176e-04 -1.30959675e+01] [ 8.00558114e-04 -5.35314250e-05 9.99999678e-01 -4.44132348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08241403699998 meters 0.07305212816085925 Centerline is valid? [True, True] Translation: X:169.22, Y:-13.09, Z:-4.44 [[ 9.95712208e-01 9.23947722e-02 -4.51712638e-03 1.69223551e+02] [-9.23925375e-02 9.95722415e-01 7.01368197e-04 -1.30889620e+01] [ 4.56260674e-03 -2.81012108e-04 9.99989552e-01 -4.44477346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11241403699998 meters 0.0743672440032094 Centerline is valid? [True, True] Translation: X:169.25, Y:-13.09, Z:-4.45 [[ 9.95487459e-01 9.47059919e-02 -5.95768571e-03 1.69254097e+02] [-9.47021069e-02 9.95505220e-01 9.31491818e-04 -1.30920900e+01] [ 6.01912508e-03 -3.63083034e-04 9.99981819e-01 -4.44997454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14241403699998 meters 0.07368225714144859 Centerline is valid? [True, True] Translation: X:169.29, Y:-13.09, Z:-4.45 [[ 9.95311015e-01 9.64682623e-02 -7.06099093e-03 1.69287007e+02] [-9.64628428e-02 9.95335973e-01 1.10491809e-03 -1.30909283e+01] [ 7.13464781e-03 -4.18613888e-04 9.99974460e-01 -4.45169041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17241403699998 meters 0.0756072552024455 Centerline is valid? [True, True] Translation: X:169.32, Y:-13.10, Z:-4.46 [[ 9.95235189e-01 9.72103464e-02 -7.55422583e-03 1.69317970e+02] [-9.72041826e-02 9.95263762e-01 1.17972943e-03 -1.30951047e+01] [ 7.63312913e-03 -4.39805899e-04 9.99970771e-01 -4.45610691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20241403699998 meters 0.07227877776541368 Centerline is valid? [True, True] Translation: X:169.35, Y:-13.09, Z:-4.45 [[ 9.95087145e-01 9.88947256e-02 -4.62686090e-03 1.69350263e+02] [-9.88924398e-02 9.95097867e-01 7.20789462e-04 -1.30891941e+01] [ 4.67546169e-03 -2.59686764e-04 9.99989036e-01 -4.45197801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23241403699998 meters 0.07217272025194468 Centerline is valid? [True, True] Translation: X:169.38, Y:-13.09, Z:-4.45 [[ 9.94971999e-01 1.00090565e-01 -3.54959320e-03 1.69382366e+02] [-1.00089223e-01 9.94978311e-01 5.54262752e-04 -1.30903322e+01] [ 3.58724472e-03 -1.96199893e-04 9.99993547e-01 -4.45236356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26241403699999 meters 0.07174090609525768 Centerline is valid? [True, True] Translation: X:169.41, Y:-13.09, Z:-4.45 [[ 9.94835247e-01 1.01474019e-01 -2.41966750e-03 1.69414548e+02] [-1.01473399e-01 9.94838181e-01 3.77898858e-04 -1.30867154e+01] [ 2.44552453e-03 -1.30415217e-04 9.99997001e-01 -4.45257408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.292414037 meters 0.07171854114319486 Centerline is valid? [True, True] Translation: X:169.45, Y:-13.09, Z:-4.45 [[ 9.94694860e-01 1.02824801e-01 -3.03230282e-03 1.69446408e+02] [-1.02823814e-01 9.94699469e-01 4.80003348e-04 -1.30879551e+01] [ 3.06558626e-03 -1.65663922e-04 9.99995287e-01 -4.45380788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.322414037 meters 0.07166345006540958 Centerline is valid? [True, True] Translation: X:169.48, Y:-13.09, Z:-4.46 [[ 9.94520815e-01 1.04458230e-01 -4.10205452e-03 1.69478431e+02] [-1.04456443e-01 9.94529251e-01 6.47891168e-04 -1.30888400e+01] [ 4.14729077e-03 -2.15855227e-04 9.99991377e-01 -4.45539807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.352414037 meters 0.07170992017181715 Centerline is valid? [True, True] Translation: X:169.51, Y:-13.09, Z:-4.46 [[ 9.94352637e-01 1.05870951e-01 -7.36042927e-03 1.69511163e+02] [-1.05865266e-01 9.94379808e-01 1.15885470e-03 -1.30864379e+01] [ 7.44175130e-03 -3.73096426e-04 9.99972240e-01 -4.45738518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.382414037 meters 0.07177880291547199 Centerline is valid? [True, True] Translation: X:169.54, Y:-13.09, Z:-4.46 [[ 9.94227079e-01 1.07073685e-01 -6.90956952e-03 1.69543368e+02] [-1.07068689e-01 9.94251029e-01 1.08997555e-03 -1.30884128e+01] [ 6.98655430e-03 -3.43884658e-04 9.99975535e-01 -4.45859317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.412414037 meters 0.07154929028100955 Centerline is valid? [True, True] Translation: X:169.58, Y:-13.09, Z:-4.46 [[ 9.94066571e-01 1.08506491e-01 -7.61543090e-03 1.69576197e+02] [-1.08500486e-01 9.94095674e-01 1.19848575e-03 -1.30900124e+01] [ 7.70051040e-03 -3.65096666e-04 9.99970284e-01 -4.45957788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.442414037 meters 0.07409651644123434 Centerline is valid? [True, True] Translation: X:169.61, Y:-13.10, Z:-4.47 [[ 9.93719011e-01 1.11786991e-01 -5.11828044e-03 1.69605300e+02] [-1.11784336e-01 9.93732166e-01 8.02788413e-04 -1.30956233e+01] [ 5.17594121e-03 -2.25602528e-04 9.99986579e-01 -4.46717517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.472414037 meters 0.07080962832285342 Centerline is valid? [True, True] Translation: X:169.64, Y:-13.09, Z:-4.46 [[ 9.93525356e-01 1.13539422e-01 -4.02070591e-03 1.69638998e+02] [-1.13537790e-01 9.93533477e-01 6.32460079e-04 -1.30882345e+01] [ 4.06651507e-03 -1.71863061e-04 9.99991717e-01 -4.46111300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.502414037 meters 0.07060730092849564 Centerline is valid? [True, True] Translation: X:169.67, Y:-13.09, Z:-4.46 [[ 9.93347816e-01 1.15121778e-01 -2.66308836e-03 1.69670514e+02] [-1.15121068e-01 9.93351380e-01 4.19006401e-04 -1.30893095e+01] [ 2.69361926e-03 -1.09641518e-04 9.99996366e-01 -4.46167410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.532414037 meters 0.0699195375009126 Centerline is valid? [True, True] Translation: X:169.70, Y:-13.09, Z:-4.46 [[ 9.92959683e-01 1.18429763e-01 -2.33661677e-03 1.69702995e+02] [-1.18429222e-01 9.92962428e-01 3.69100627e-04 -1.30866029e+01] [ 2.36388516e-03 -8.97783349e-05 9.99997202e-01 -4.46097013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.562414037 meters 0.06954464901407069 Centerline is valid? [True, True] Translation: X:169.74, Y:-13.09, Z:-4.46 [[ 9.92605004e-01 1.21292455e-01 -4.84218905e-03 1.69735896e+02] [-1.21290172e-01 9.92616800e-01 7.63383703e-04 -1.30877249e+01] [ 4.89903089e-03 -1.70428540e-04 9.99987985e-01 -4.46147937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.592414037 meters 0.0695044854688291 Centerline is valid? [True, True] Translation: X:169.77, Y:-13.09, Z:-4.47 [[ 9.91873327e-01 1.26806121e-01 -1.03687167e-02 1.69768181e+02] [-1.26795910e-01 9.91927473e-01 1.63894086e-03 -1.30859008e+01] [ 1.04928427e-02 -3.10910859e-04 9.99944900e-01 -4.46578062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.622414037 meters 0.06977369075554175 Centerline is valid? [True, True] Translation: X:169.80, Y:-13.09, Z:-4.47 [[ 9.91526328e-01 1.29371606e-01 -1.17697983e-02 1.69799622e+02] [-1.29358607e-01 9.91596129e-01 1.86234619e-03 -1.30886842e+01] [ 1.19118212e-02 -3.24040563e-04 9.99928999e-01 -4.47072474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.652414037 meters 0.0695881301096628 Centerline is valid? [True, True] Translation: X:169.83, Y:-13.09, Z:-4.47 [[ 9.91281861e-01 1.31324437e-01 -1.06847401e-02 1.69829984e+02] [-1.31313898e-01 9.91339408e-01 1.68498561e-03 -1.30899358e+01] [ 1.08134837e-02 -2.67240803e-04 9.99941497e-01 -4.47251239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.682414037 meters 0.06898756242679581 Centerline is valid? [True, True] Translation: X:169.86, Y:-13.09, Z:-4.47 [[ 9.90801765e-01 1.35081460e-01 -8.05362698e-03 1.69861881e+02] [-1.35075593e-01 9.90834482e-01 1.27049231e-03 -1.30873443e+01] [ 8.15143127e-03 -1.70957577e-04 9.99966762e-01 -4.47252379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71241403699997 meters 0.06889457081856346 Centerline is valid? [True, True] Translation: X:169.89, Y:-13.09, Z:-4.47 [[ 9.90582995e-01 1.36748739e-01 -6.71655661e-03 1.69894040e+02] [-1.36744642e-01 9.90605756e-01 1.06760380e-03 -1.30910069e+01] [ 6.79945311e-03 -1.39097039e-04 9.99976874e-01 -4.47222311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74241403699997 meters 0.0687473420769384 Centerline is valid? [True, True] Translation: X:169.93, Y:-13.10, Z:-4.47 [[ 9.90397867e-01 1.38151574e-01 -5.11924520e-03 1.69925838e+02] [-1.38149198e-01 9.90411093e-01 8.16638510e-04 -1.30958335e+01] [ 5.18297713e-03 -1.01577420e-04 9.99986563e-01 -4.47154331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77241403699998 meters 0.06858811169870063 Centerline is valid? [True, True] Translation: X:169.96, Y:-13.10, Z:-4.47 [[ 9.90253539e-01 1.39225355e-01 -3.77217672e-03 1.69957814e+02] [-1.39224062e-01 9.90260721e-01 6.04589168e-04 -1.31005379e+01] [ 3.81961258e-03 -7.35187967e-05 9.99992703e-01 -4.47076146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80241403699998 meters 0.0684373970156013 Centerline is valid? [True, True] Translation: X:169.99, Y:-13.10, Z:-4.47 [[ 9.90014101e-01 1.40892726e-01 -4.61720957e-03 1.69989893e+02] [-1.40890806e-01 9.90024865e-01 7.40145081e-04 -1.31042967e+01] [ 4.67543334e-03 -8.22316879e-05 9.99989067e-01 -4.47210835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83241403699998 meters 0.06854616332431256 Centerline is valid? [True, True] Translation: X:170.02, Y:-13.11, Z:-4.47 [[ 9.89869461e-01 1.41861798e-01 -5.80350492e-03 1.70021956e+02] [-1.41858787e-01 9.89886469e-01 9.29304875e-04 -1.31077874e+01] [ 5.87664386e-03 -9.66123439e-05 9.99982728e-01 -4.47442280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86241403699998 meters 0.06848957110016239 Centerline is valid? [True, True] Translation: X:170.05, Y:-13.11, Z:-4.48 [[ 9.89685379e-01 1.43065837e-01 -7.41731603e-03 1.70053677e+02] [-1.43060956e-01 9.89713167e-01 1.18729345e-03 -1.31097995e+01] [ 7.51087648e-03 -1.13918648e-04 9.99971786e-01 -4.47637494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89241403699998 meters 0.06866171131298014 Centerline is valid? [True, True] Translation: X:170.08, Y:-13.12, Z:-4.48 [[ 9.89666829e-01 1.43192201e-01 -7.45390317e-03 1.70084762e+02] [-1.43187253e-01 9.89694892e-01 1.19613337e-03 -1.31151534e+01] [ 7.54836687e-03 -1.16469607e-04 9.99971504e-01 -4.47810923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92241403699998 meters 0.06874057219703136 Centerline is valid? [True, True] Translation: X:170.12, Y:-13.12, Z:-4.48 [[ 9.89794692e-01 1.42374336e-01 -6.00133909e-03 1.70115069e+02] [-1.42371121e-01 9.89812881e-01 9.61785091e-04 -1.31217360e+01] [ 6.07713625e-03 -9.75524061e-05 9.99981529e-01 -4.47863545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95241403699998 meters 0.06871821364618284 Centerline is valid? [True, True] Translation: X:170.15, Y:-13.13, Z:-4.48 [[ 9.89953714e-01 1.41307144e-01 -4.89234364e-03 1.70146899e+02] [-1.41304970e-01 9.89965799e-01 7.88973474e-04 -1.31282831e+01] [ 4.95474047e-03 -8.97347493e-05 9.99987721e-01 -4.47650681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98241403699998 meters 0.06910215304149533 Centerline is valid? [True, True] Translation: X:170.18, Y:-13.14, Z:-4.48 [[ 9.90515435e-01 1.37284151e-01 -5.67764169e-03 1.70177711e+02] [-1.37281158e-01 9.90531699e-01 9.15298821e-04 -1.31362848e+01] [ 5.74954009e-03 -1.27184380e-04 9.99983463e-01 -4.47711913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01241403699999 meters 0.06956435669992583 Centerline is valid? [True, True] Translation: X:170.21, Y:-13.14, Z:-4.48 [[ 9.90848340e-01 1.34770114e-01 -7.52217225e-03 1.70207014e+02] [-1.34764850e-01 9.90876876e-01 1.20472265e-03 -1.31434225e+01] [ 7.61590715e-03 -1.79973026e-04 9.99970982e-01 -4.47919618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.042414037 meters 0.07012334484088736 Centerline is valid? [True, True] Translation: X:170.24, Y:-13.15, Z:-4.48 [[ 9.91779377e-01 1.27426709e-01 -1.16662526e-02 1.70236835e+02] [-1.27413528e-01 9.91847921e-01 1.86930585e-03 -1.31517472e+01] [ 1.18093478e-02 -3.67500594e-04 9.99930200e-01 -4.47958192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.072414037 meters 0.07153347154228515 Centerline is valid? [True, True] Translation: X:170.27, Y:-13.16, Z:-4.48 [[ 9.92322516e-01 1.23173534e-01 -1.11491769e-02 1.70265393e+02] [-1.23161199e-01 9.92385066e-01 1.78888129e-03 -1.31627411e+01] [ 1.12846194e-02 -4.02001197e-04 9.99936246e-01 -4.48488657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.102414037 meters 0.07131622351189512 Centerline is valid? [True, True] Translation: X:170.30, Y:-13.17, Z:-4.48 [[ 9.92935856e-01 1.18148697e-01 -1.09211618e-02 1.70296068e+02] [-1.18136577e-01 9.92995813e-01 1.75051420e-03 -1.31680253e+01] [ 1.10514889e-02 -4.47959647e-04 9.99938830e-01 -4.48338604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.132414037 meters 0.07198870088900534 Centerline is valid? [True, True] Translation: X:170.33, Y:-13.18, Z:-4.48 [[ 9.93516429e-01 1.13242662e-01 -1.00600715e-02 1.70326025e+02] [-1.13232117e-01 9.93567252e-01 1.61353116e-03 -1.31756661e+01] [ 1.01780781e-02 -4.63946521e-04 9.99948094e-01 -4.48407826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.162414037 meters 0.07257785333564258 Centerline is valid? [True, True] Translation: X:170.36, Y:-13.18, Z:-4.48 [[ 9.94581526e-01 1.03692938e-01 -7.44056818e-03 1.70356173e+02] [-1.03686901e-01 9.94609271e-01 1.19361038e-03 -1.31845324e+01] [ 7.52422706e-03 -4.15653380e-04 9.99971606e-01 -4.48197541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.192414037 meters 0.07325738342520091 Centerline is valid? [True, True] Translation: X:170.39, Y:-13.19, Z:-4.48 [[ 9.95045646e-01 9.90628562e-02 -8.40904538e-03 1.70386004e+02] [-9.90549862e-02 9.95081048e-01 1.34830451e-03 -1.31928048e+01] [ 8.50124858e-03 -5.08666656e-04 9.99963734e-01 -4.48142305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.222414037 meters 0.07495984818132782 Centerline is valid? [True, True] Translation: X:170.41, Y:-13.20, Z:-4.48 [[ 9.95426999e-01 9.52334068e-02 -7.46241923e-03 1.70414292e+02] [-9.52271030e-02 9.95454855e-01 1.19634882e-03 -1.32026785e+01] [ 7.54243383e-03 -4.80253353e-04 9.99971440e-01 -4.48293801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.252414037 meters 0.07637651463949505 Centerline is valid? [True, True] Translation: X:170.44, Y:-13.21, Z:-4.48 [[ 9.95668889e-01 9.27001756e-02 -7.08107739e-03 1.70443125e+02] [-9.26944359e-02 9.95693955e-01 1.13521344e-03 -1.32103068e+01] [ 7.15582044e-03 -4.73920229e-04 9.99974284e-01 -4.48481851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.282414037 meters 0.07459215036751154 Centerline is valid? [True, True] Translation: X:170.48, Y:-13.21, Z:-4.48 [[ 9.95819266e-01 9.10906067e-02 -6.81838877e-03 1.70475686e+02] [-9.10851921e-02 9.95842495e-01 1.10112657e-03 -1.32081941e+01] [ 6.89034358e-03 -4.75468797e-04 9.99976148e-01 -4.48359807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.312414037 meters 0.07598507314008889 Centerline is valid? [True, True] Translation: X:170.51, Y:-13.21, Z:-4.49 [[ 9.95971583e-01 8.94164273e-02 -6.73112919e-03 1.70505592e+02] [-8.94111557e-02 9.95994216e-01 1.08066653e-03 -1.32092523e+01] [ 6.80079508e-03 -4.74475117e-04 9.99976762e-01 -4.48701226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.342414037 meters 0.07508928723112732 Centerline is valid? [True, True] Translation: X:170.54, Y:-13.21, Z:-4.49 [[ 9.95976410e-01 8.94430368e-02 -5.56175821e-03 1.70537873e+02] [-8.94393915e-02 9.95991859e-01 9.01219615e-04 -1.32094431e+01] [ 5.62007372e-03 -4.00153207e-04 9.99984127e-01 -4.48643078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.372414037 meters 0.07508928723112732 Centerline is valid? [True, True] Translation: X:170.57, Y:-13.21, Z:-4.49 [[ 9.95951631e-01 8.97185607e-02 -5.56135161e-03 1.70569976e+02] [-8.97149057e-02 9.95967077e-01 9.03740112e-04 -1.32146748e+01] [ 5.62000537e-03 -4.01145304e-04 9.99984127e-01 -4.48735312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.402414037 meters 0.07558067164609114 Centerline is valid? [True, True] Translation: X:170.60, Y:-13.21, Z:-4.49 [[ 9.95981541e-01 8.94842409e-02 -3.65234678e-03 1.70601197e+02] [-8.94826657e-02 9.95988203e-01 5.92775825e-04 -1.32141355e+01] [ 3.69073840e-03 -2.63572054e-04 9.99993154e-01 -4.48743800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.432414037 meters 0.07806969312839906 Centerline is valid? [True, True] Translation: X:170.63, Y:-13.22, Z:-4.49 [[ 9.95966487e-01 8.96415901e-02 -3.89116712e-03 1.70631558e+02] [-8.96397915e-02 9.95974048e-01 6.34534854e-04 -1.32212681e+01] [ 3.93238219e-03 -2.83172040e-04 9.99992228e-01 -4.49136060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46241403699997 meters 0.07808556554165114 Centerline is valid? [True, True] Translation: X:170.66, Y:-13.22, Z:-4.49 [[ 9.95957956e-01 8.96673251e-02 -5.24595654e-03 1.70663451e+02] [-8.96640632e-02 9.95971699e-01 8.54179676e-04 -1.32216198e+01] [ 5.30141625e-03 -3.80353266e-04 9.99985875e-01 -4.49324582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49241403699997 meters 0.07544914850220376 Centerline is valid? [True, True] Translation: X:170.70, Y:-13.21, Z:-4.49 [[ 9.95916171e-01 9.00012518e-02 -7.12430160e-03 1.70698133e+02] [-8.99952419e-02 9.95941519e-01 1.16037125e-03 -1.32093273e+01] [ 7.19982262e-03 -5.14479242e-04 9.99973949e-01 -4.49377376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52241403699998 meters 0.07594906832674751 Centerline is valid? [True, True] Translation: X:170.73, Y:-13.21, Z:-4.50 [[ 9.95886143e-01 9.03474038e-02 -6.93807617e-03 1.70729738e+02] [-9.03417038e-02 9.95910185e-01 1.13124983e-03 -1.32102948e+01] [ 7.01190621e-03 -4.99798412e-04 9.99975291e-01 -4.49646192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55241403699998 meters 0.07536001518274801 Centerline is valid? [True, True] Translation: X:170.76, Y:-13.21, Z:-4.50 [[ 9.95827556e-01 9.10857903e-02 -5.55489506e-03 1.70762670e+02] [-9.10821303e-02 9.95842969e-01 9.08853743e-04 -1.32091375e+01] [ 5.61458685e-03 -3.99109927e-04 9.99984158e-01 -4.49695304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58241403699998 meters 0.0770283948661046 Centerline is valid? [True, True] Translation: X:170.79, Y:-13.21, Z:-4.50 [[ 9.95738133e-01 9.20490845e-02 -5.70402573e-03 1.70793565e+02] [-9.20452378e-02 9.95754388e-01 9.33839341e-04 -1.32137167e+01] [ 5.76576771e-03 -4.04831037e-04 9.99983296e-01 -4.50012998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61241403699998 meters 0.07410162234316635 Centerline is valid? [True, True] Translation: X:170.83, Y:-13.20, Z:-4.50 [[ 9.95615788e-01 9.34786334e-02 -3.30861484e-03 1.70826449e+02] [-9.34773593e-02 9.95621260e-01 5.38010450e-04 -1.32013245e+01] [ 3.34441976e-03 -2.26371120e-04 9.99994382e-01 -4.49849882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64241403699998 meters 0.07372840801619301 Centerline is valid? [True, True] Translation: X:170.86, Y:-13.20, Z:-4.50 [[ 9.95535923e-01 9.43591986e-02 -2.13719341e-03 1.70859365e+02] [-9.43586528e-02 9.95538205e-01 3.55009061e-04 -1.31993915e+01] [ 2.16115607e-03 -1.51761582e-04 9.99997653e-01 -4.50019144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67241403699998 meters 0.07351778548301428 Centerline is valid? [True, True] Translation: X:170.89, Y:-13.19, Z:-4.50 [[ 9.95295757e-01 9.68688010e-02 -1.67103311e-03 1.70891717e+02] [-9.68684790e-02 9.95297153e-01 2.72743811e-04 -1.31927937e+01] [ 1.68959486e-03 -1.09590322e-04 9.99998567e-01 -4.50208384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70241403699998 meters 0.07513748892481564 Centerline is valid? [True, True] Translation: X:170.92, Y:-13.20, Z:-4.51 [[ 9.95183071e-01 9.80207529e-02 -1.60872659e-03 1.70922317e+02] [-9.80204459e-02 9.95184365e-01 2.68771566e-04 -1.31971869e+01] [ 1.62732474e-03 -1.09788815e-04 9.99998670e-01 -4.50526494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73241403699998 meters 0.07422721310986442 Centerline is valid? [True, True] Translation: X:170.95, Y:-13.20, Z:-4.51 [[ 9.95009371e-01 9.97606995e-02 -2.03833884e-03 1.70954686e+02] [-9.97602238e-02 9.95011450e-01 3.34017107e-04 -1.31956582e+01] [ 2.06149227e-03 -1.29005012e-04 9.99997867e-01 -4.50539545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76241403699999 meters 0.07355497135039639 Centerline is valid? [True, True] Translation: X:170.99, Y:-13.19, Z:-4.51 [[ 9.94662300e-01 1.03112207e-01 -3.84482206e-03 1.70988149e+02] [-1.03110544e-01 9.94669704e-01 6.28965149e-04 -1.31884941e+01] [ 3.88918201e-03 -2.29166228e-04 9.99992411e-01 -4.50701786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.792414037 meters 0.07361617171552916 Centerline is valid? [True, True] Translation: X:171.02, Y:-13.19, Z:-4.51 [[ 9.94417937e-01 1.05431485e-01 -4.14352924e-03 1.71019398e+02] [-1.05429575e-01 9.94426541e-01 6.77374698e-04 -1.31879807e+01] [ 4.19185208e-03 -2.36743023e-04 9.99991186e-01 -4.50937855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.822414037 meters 0.07147310637995409 Centerline is valid? [True, True] Translation: X:171.05, Y:-13.18, Z:-4.51 [[ 9.94118695e-01 1.08215142e-01 -4.18362594e-03 1.71052427e+02] [-1.08213218e-01 9.94127472e-01 6.84123572e-04 -1.31814367e+01] [ 4.23309001e-03 -2.27376406e-04 9.99991015e-01 -4.50792970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.852414037 meters 0.0720117299342046 Centerline is valid? [True, True] Translation: X:171.08, Y:-13.18, Z:-4.51 [[ 9.93725496e-01 1.11797348e-01 -3.31540903e-03 1.71082043e+02] [-1.11796162e-01 9.93731012e-01 5.41345002e-04 -1.31831796e+01] [ 3.35514571e-03 -1.67298324e-04 9.99994357e-01 -4.51118410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.882414037 meters 0.07077329887390803 Centerline is valid? [True, True] Translation: X:171.11, Y:-13.18, Z:-4.51 [[ 9.92916530e-01 1.18798605e-01 -1.91197946e-03 1.71113776e+02] [-1.18798224e-01 9.92918368e-01 3.12149918e-04 -1.31760167e+01] [ 1.93552250e-03 -8.27990501e-05 9.99998123e-01 -4.51158746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.912414037 meters 0.07012718481501501 Centerline is valid? [True, True] Translation: X:171.15, Y:-13.17, Z:-4.51 [[ 9.92423597e-01 1.22822333e-01 -3.17467106e-03 1.71145922e+02] [-1.22821298e-01 9.92428667e-01 5.19463842e-04 -1.31739998e+01] [ 3.21443633e-03 -1.25610953e-04 9.99994826e-01 -4.51263440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.942414037 meters 0.0704481216873605 Centerline is valid? [True, True] Translation: X:171.18, Y:-13.17, Z:-4.52 [[ 9.91861322e-01 1.27177213e-01 -6.08892427e-03 1.71179295e+02] [-1.27173484e-01 9.91879988e-01 9.97445497e-04 -1.31722504e+01] [ 6.16633447e-03 -2.14977897e-04 9.99980965e-01 -4.51563239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.972414037 meters 0.06884167317897477 Centerline is valid? [True, True] Translation: X:171.21, Y:-13.17, Z:-4.52 [[ 9.90823395e-01 1.35106297e-01 -3.91014697e-03 1.71211455e+02] [-1.35104827e-01 9.90831104e-01 6.38922668e-04 -1.31662452e+01] [ 3.96061772e-03 -1.04779795e-04 9.99992151e-01 -4.51698114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.002414037 meters 0.06860700652639423 Centerline is valid? [True, True] Translation: X:171.24, Y:-13.17, Z:-4.52 [[ 9.90367336e-01 1.38410892e-01 -3.86842918e-03 1.71244002e+02] [-1.38409447e-01 9.90374886e-01 6.40026920e-04 -1.31669128e+01] [ 3.91978180e-03 -9.84346122e-05 9.99992313e-01 -4.51808149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.032414037 meters 0.0684527609717583 Centerline is valid? [True, True] Translation: X:171.27, Y:-13.17, Z:-4.52 [[ 9.89970645e-01 1.41252029e-01 -2.44676292e-03 1.71274165e+02] [-1.41251469e-01 9.89973667e-01 4.00963317e-04 -1.31683348e+01] [ 2.47886775e-03 -5.13330554e-05 9.99996926e-01 -4.51953040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.062414037 meters 0.06833981542489714 Centerline is valid? [True, True] Translation: X:171.31, Y:-13.17, Z:-4.52 [[ 9.89577302e-01 1.43990565e-01 -1.86565361e-03 1.71306228e+02] [-1.43990231e-01 9.89579060e-01 3.12648969e-04 -1.31673545e+01] [ 1.89123025e-03 -4.07544281e-05 9.99998211e-01 -4.52082626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.092414037 meters 0.06826159844715302 Centerline is valid? [True, True] Translation: X:171.34, Y:-13.17, Z:-4.52 [[ 9.89401664e-01 1.45180279e-01 -2.65221055e-03 1.71339558e+02] [-1.45179612e-01 9.89405217e-01 4.43323898e-04 -1.31705200e+01] [ 2.68847284e-03 -5.35785044e-05 9.99996385e-01 -4.52194108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.122414037 meters 0.06818555255263563 Centerline is valid? [True, True] Translation: X:171.37, Y:-13.17, Z:-4.52 [[ 9.89275684e-01 1.46037745e-01 -2.56874870e-03 1.71371886e+02] [-1.46037123e-01 9.89279017e-01 4.29374542e-04 -1.31740702e+01] [ 2.60391408e-03 -4.96371252e-05 9.99996609e-01 -4.52206834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.152414037 meters 0.06826765524357535 Centerline is valid? [True, True] Translation: X:171.40, Y:-13.18, Z:-4.52 [[ 9.89245194e-01 1.46235276e-01 -3.03145194e-03 1.71403918e+02] [-1.46234411e-01 9.89249837e-01 5.06194729e-04 -1.31796015e+01] [ 3.07288686e-03 -5.74481147e-05 9.99995277e-01 -4.52270041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.182414037 meters 0.06824507176923796 Centerline is valid? [True, True] Translation: X:171.43, Y:-13.19, Z:-4.52 [[ 9.89331711e-01 1.45673103e-01 -1.45340929e-03 1.71434482e+02] [-1.45672898e-01 9.89332778e-01 2.46084344e-04 -1.31857882e+01] [ 1.47375333e-03 -3.17367010e-05 9.99998914e-01 -4.52375816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21241403699997 meters 0.0684022691173386 Centerline is valid? [True, True] Translation: X:171.47, Y:-13.19, Z:-4.53 [[ 9.89276230e-01 1.46055505e-01 -5.74961782e-04 1.71465262e+02] [-1.46055471e-01 9.89276397e-01 1.01276593e-04 -1.31916236e+01] [ 5.83588124e-04 -1.62142121e-05 9.99999830e-01 -4.52569299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24241403699997 meters 0.06807626406323268 Centerline is valid? [True, True] Translation: X:171.50, Y:-13.20, Z:-4.52 [[ 9.89300673e-01 1.45887047e-01 -1.07123188e-03 1.71497002e+02] [-1.45886933e-01 9.89301253e-01 1.84177428e-04 -1.31953843e+01] [ 1.08664014e-03 -2.59281201e-05 9.99999409e-01 -4.52418221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27241403699998 meters 0.06834089374434467 Centerline is valid? [True, True] Translation: X:171.53, Y:-13.20, Z:-4.53 [[ 9.89489948e-01 1.44570168e-01 -3.01831978e-03 1.71527456e+02] [-1.44569295e-01 9.89494549e-01 5.06367817e-04 -1.32030385e+01] [ 3.05981665e-03 -6.46895012e-05 9.99995317e-01 -4.52713189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30241403699998 meters 0.06839487291777917 Centerline is valid? [True, True] Translation: X:171.56, Y:-13.21, Z:-4.53 [[ 9.89719499e-01 1.42964513e-01 -4.05715832e-03 1.71558827e+02] [-1.42962926e-01 9.89727811e-01 6.79886924e-04 -1.32106891e+01] [ 4.11268213e-03 -9.28741188e-05 9.99991539e-01 -4.52765020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33241403699998 meters 0.06843627126269637 Centerline is valid? [True, True] Translation: X:171.59, Y:-13.22, Z:-4.53 [[ 9.90049576e-01 1.40672808e-01 -3.60531299e-03 1.71590607e+02] [-1.40671533e-01 9.90056136e-01 6.05996903e-04 -1.32179656e+01] [ 3.65470953e-03 -9.28020719e-05 9.99993317e-01 -4.52746563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36241403699998 meters 0.06948843693219053 Centerline is valid? [True, True] Translation: X:171.62, Y:-13.23, Z:-4.53 [[ 9.90954570e-01 1.34140213e-01 -3.92980818e-03 1.71618417e+02] [-1.34138678e-01 9.90962355e-01 6.52863805e-04 -1.32313038e+01] [ 3.98186726e-03 -1.19819098e-04 9.99992065e-01 -4.53006516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39241403699998 meters 0.06942611234656901 Centerline is valid? [True, True] Translation: X:171.65, Y:-13.24, Z:-4.53 [[ 9.91524262e-01 1.29846803e-01 -4.40977980e-03 1.71648843e+02] [-1.29844825e-01 9.91534056e-01 7.33180667e-04 -1.32382330e+01] [ 4.46764802e-03 -1.54379334e-04 9.99990008e-01 -4.52858542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42241403699998 meters 0.07022445432574508 Centerline is valid? [True, True] Translation: X:171.68, Y:-13.25, Z:-4.53 [[ 9.92151120e-01 1.24938403e-01 -5.15264911e-03 1.71677373e+02] [-1.24935639e-01 9.92164479e-01 8.56108154e-04 -1.32480664e+01] [ 5.21923620e-03 -2.05639157e-04 9.99986359e-01 -4.53068253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45241403699998 meters 0.07131537251989664 Centerline is valid? [True, True] Translation: X:171.71, Y:-13.26, Z:-4.53 [[ 9.93221915e-01 1.16016693e-01 -7.09611547e-03 1.71706830e+02] [-1.16011218e-01 9.93247203e-01 1.17971578e-03 -1.32598218e+01] [ 7.18506356e-03 -3.48490566e-04 9.99974126e-01 -4.53124530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48241403699998 meters 0.07219714818368192 Centerline is valid? [True, True] Translation: X:171.74, Y:-13.27, Z:-4.53 [[ 9.93742954e-01 1.11490824e-01 -6.68856852e-03 1.71735534e+02] [-1.11485861e-01 9.93765399e-01 1.11142026e-03 -1.32691379e+01] [ 6.77078112e-03 -3.58785230e-04 9.99977014e-01 -4.53242426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51241403699999 meters 0.07291478157349975 Centerline is valid? [True, True] Translation: X:171.77, Y:-13.28, Z:-4.53 [[ 9.94151483e-01 1.07899128e-01 -4.53953925e-03 1.71765981e+02] [-1.07896800e-01 9.94161813e-01 7.55466567e-04 -1.32773002e+01] [ 4.59455075e-03 -2.61246451e-04 9.99989411e-01 -4.53300066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.542414037 meters 0.0730030238648472 Centerline is valid? [True, True] Translation: X:171.80, Y:-13.28, Z:-4.53 [[ 9.94363419e-01 1.05954408e-01 -3.88010759e-03 1.71797092e+02] [-1.05952681e-01 9.94370961e-01 6.48653378e-04 -1.32831020e+01] [ 3.92699400e-03 -2.33889389e-04 9.99992262e-01 -4.53302206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.572414037 meters 0.08651041228443546 Centerline is valid? [True, True] Translation: X:171.82, Y:-13.32, Z:-4.55 [[ 9.94624586e-01 1.03543188e-01 -8.60333279e-04 1.71822556e+02] [-1.03543095e-01 9.94624957e-01 1.52089332e-04 -1.33162500e+01] [ 8.71456765e-04 -6.21902186e-05 9.99999618e-01 -4.54571841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.602414037 meters 0.0860212452181393 Centerline is valid? [True, True] Translation: X:171.85, Y:-13.32, Z:-4.55 [[ 9.94590584e-01 1.03872771e-01 1.29295647e-04 1.71854668e+02] [-1.03872770e-01 9.94590593e-01 -1.28862669e-05 -1.33194314e+01] [-1.29934767e-04 -6.13737299e-07 9.99999992e-01 -4.54503322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.632414037 meters 0.08526681544517085 Centerline is valid? [True, True] Translation: X:171.89, Y:-13.32, Z:-4.54 [[ 9.94461480e-01 1.05089041e-01 1.63022526e-03 1.71885982e+02] [-1.05088737e-01 9.94462812e-01 -2.70985631e-04 -1.33223464e+01] [-1.64967601e-03 9.81664586e-05 9.99998634e-01 -4.54390988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.662414037 meters 0.07171795111182547 Centerline is valid? [True, True] Translation: X:171.92, Y:-13.30, Z:-4.53 [[ 9.94240266e-01 1.07168043e-01 1.14172351e-03 1.71923830e+02] [-1.07167898e-01 9.94240920e-01 -1.87530984e-04 -1.32959020e+01] [-1.15524556e-03 6.40947474e-05 9.99999331e-01 -4.53110209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.692414037 meters 0.08334101522630588 Centerline is valid? [True, True] Translation: X:171.95, Y:-13.32, Z:-4.55 [[ 9.93690140e-01 1.12151707e-01 -1.37869505e-03 1.71948849e+02] [-1.12151494e-01 9.93691093e-01 2.31062768e-04 -1.33233669e+01] [ 1.39591107e-03 -7.49820847e-05 9.99999023e-01 -4.54969161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.722414037 meters 0.07135640661167102 Centerline is valid? [True, True] Translation: X:171.99, Y:-13.30, Z:-4.54 [[ 9.93342453e-01 1.15165085e-01 -2.78826339e-03 1.71985884e+02] [-1.15164202e-01 9.93346355e-01 4.75878667e-04 -1.32978810e+01] [ 2.82451588e-03 -1.51602355e-04 9.99996000e-01 -4.53661791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.752414037 meters 0.07131077371954067 Centerline is valid? [True, True] Translation: X:172.02, Y:-13.30, Z:-4.54 [[ 9.92929278e-01 1.18668255e-01 -3.04864925e-03 1.72015494e+02] [-1.18667239e-01 9.92933947e-01 5.12567286e-04 -1.32993079e+01] [ 3.08793280e-03 -1.47168277e-04 9.99995221e-01 -4.53918564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.782414037 meters 0.07079373609223653 Centerline is valid? [True, True] Translation: X:172.05, Y:-13.30, Z:-4.54 [[ 9.92492263e-01 1.22300046e-01 -1.34401610e-03 1.72046311e+02] [-1.22299853e-01 9.92493171e-01 2.25149804e-04 -1.32999810e+01] [ 1.36146263e-03 -5.90864676e-05 9.99999071e-01 -4.53959649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.812414037 meters 0.07037721928775323 Centerline is valid? [True, True] Translation: X:172.08, Y:-13.30, Z:-4.54 [[ 9.92058548e-01 1.25776877e-01 1.24011566e-04 1.72077365e+02] [-1.25776875e-01 9.92058555e-01 -2.01944796e-05 -1.33010984e+01] [-1.25566733e-04 4.43631891e-06 9.99999992e-01 -4.54062048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.842414037 meters 0.0694686989524289 Centerline is valid? [True, True] Translation: X:172.11, Y:-13.30, Z:-4.54 [[ 9.91060884e-01 1.33408814e-01 -6.41548837e-04 1.72108679e+02] [-1.33408773e-01 9.91061092e-01 1.07593699e-04 -1.32974466e+01] [ 6.50168039e-04 -2.10436630e-05 9.99999788e-01 -4.54234083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.872414037 meters 0.06928982076079096 Centerline is valid? [True, True] Translation: X:172.14, Y:-13.30, Z:-4.54 [[ 9.90588942e-01 1.36863154e-01 -1.42332260e-03 1.72141037e+02] [-1.36862942e-01 9.90589963e-01 2.45527331e-04 -1.32983145e+01] [ 1.44353273e-03 -4.84165405e-05 9.99998957e-01 -4.54469926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.902414037 meters 0.06887898952487295 Centerline is valid? [True, True] Translation: X:172.17, Y:-13.30, Z:-4.55 [[ 9.90040029e-01 1.40774208e-01 -1.83413920e-03 1.72173202e+02] [-1.40773876e-01 9.90041726e-01 3.09288011e-04 -1.32988038e+01] [ 1.85941412e-03 -4.80086262e-05 9.99998270e-01 -4.54577202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.932414037 meters 0.06833403065209383 Centerline is valid? [True, True] Translation: X:172.20, Y:-13.30, Z:-4.55 [[ 9.89263841e-01 1.46140485e-01 1.06867412e-04 1.72204750e+02] [-1.46140483e-01 9.89263847e-01 -1.74534360e-05 -1.32968475e+01] [-1.08270721e-04 1.64839782e-06 9.99999994e-01 -4.54568867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96241403699997 meters 0.06801989646725076 Centerline is valid? [True, True] Translation: X:172.24, Y:-13.30, Z:-4.55 [[ 9.88868045e-01 1.48794558e-01 4.11953072e-04 1.72237128e+02] [-1.48794545e-01 9.88868131e-01 -6.23650916e-05 -1.32988095e+01] [-4.16646850e-04 3.74476403e-07 9.99999913e-01 -4.54630488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99241403699997 meters 0.06789868121432174 Centerline is valid? [True, True] Translation: X:172.27, Y:-13.30, Z:-4.55 [[ 9.88453397e-01 1.51524800e-01 3.43129751e-04 1.72269169e+02] [-1.51524791e-01 9.88453456e-01 -5.08112158e-05 -1.33008242e+01] [-3.46866947e-04 -1.76814499e-06 9.99999940e-01 -4.54718983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02241403699998 meters 0.06780670605821239 Centerline is valid? [True, True] Translation: X:172.30, Y:-13.30, Z:-4.55 [[ 9.88076505e-01 1.53963310e-01 3.45052250e-04 1.72301747e+02] [-1.53963300e-01 9.88076565e-01 -5.56426497e-05 -1.33035904e+01] [-3.49504968e-04 1.85381188e-06 9.99999939e-01 -4.54908241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05241403699998 meters 0.06774904289568358 Centerline is valid? [True, True] Translation: X:172.33, Y:-13.30, Z:-4.55 [[ 9.87427673e-01 1.58068748e-01 9.28535621e-04 1.72333139e+02] [-1.58068674e-01 9.87428109e-01 -1.52580987e-04 -1.33044644e+01] [-9.40980458e-04 3.89029486e-06 9.99999557e-01 -4.55173446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08241403699998 meters 0.0675584392978923 Centerline is valid? [True, True] Translation: X:172.37, Y:-13.31, Z:-4.55 [[ 9.87127026e-01 1.59932350e-01 1.37031933e-03 1.72365424e+02] [-1.59932193e-01 9.87127977e-01 -2.24270780e-04 -1.33081490e+01] [-1.38854870e-03 2.22557299e-06 9.99999036e-01 -4.55025078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11241403699998 meters 0.06774945535142451 Centerline is valid? [True, True] Translation: X:172.40, Y:-13.31, Z:-4.55 [[ 9.86885892e-01 1.61405280e-01 2.13807687e-03 1.72396290e+02] [-1.61404890e-01 9.86888208e-01 -3.54953848e-04 -1.33138593e+01] [-2.16733428e-03 5.20288390e-06 9.99997651e-01 -4.55351549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14241403699998 meters 0.06748427327888923 Centerline is valid? [True, True] Translation: X:172.43, Y:-13.32, Z:-4.55 [[ 9.86467668e-01 1.63947891e-01 1.62127642e-03 1.72428223e+02] [-1.63947674e-01 9.86469001e-01 -2.66383507e-04 -1.33215860e+01] [-1.64301194e-03 -3.02578052e-06 9.99998650e-01 -4.55124597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17241403699998 meters 0.06749072386088505 Centerline is valid? [True, True] Translation: X:172.46, Y:-13.33, Z:-4.55 [[ 9.86316056e-01 1.64864734e-01 5.06803885e-04 1.72459612e+02] [-1.64864715e-01 9.86316186e-01 -7.88204554e-05 -1.33283113e+01] [-5.12863588e-04 -5.81219736e-06 9.99999868e-01 -4.55236894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20241403699998 meters 0.06744217193767375 Centerline is valid? [True, True] Translation: X:172.49, Y:-13.33, Z:-4.55 [[ 9.86227460e-01 1.65394494e-01 2.43671769e-04 1.72491648e+02] [-1.65394491e-01 9.86227490e-01 -3.31702679e-05 -1.33349789e+01] [-2.45801976e-04 -7.58853908e-06 9.99999970e-01 -4.55374462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23241403699998 meters 0.06772604965294195 Centerline is valid? [True, True] Translation: X:172.52, Y:-13.35, Z:-4.56 [[ 9.86224081e-01 1.65414020e-01 -5.13970168e-04 1.72521213e+02] [-1.65413994e-01 9.86224215e-01 9.40842574e-05 -1.33453302e+01] [ 5.22452680e-04 -7.77030228e-06 9.99999863e-01 -4.55736286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26241403699999 meters 0.06774935888948778 Centerline is valid? [True, True] Translation: X:172.55, Y:-13.35, Z:-4.56 [[ 9.86256206e-01 1.65218344e-01 -1.26269757e-03 1.72552636e+02] [-1.65218195e-01 9.86257015e-01 2.22128746e-04 -1.33549065e+01] [ 1.28204408e-03 -1.04552402e-05 9.99999178e-01 -4.55872949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.292414037 meters 0.06774935888948778 Centerline is valid? [True, True] Translation: X:172.58, Y:-13.36, Z:-4.56 [[ 9.86210326e-01 1.65491992e-01 -1.26247126e-03 1.72584656e+02] [-1.65491841e-01 9.86211134e-01 2.23450062e-04 -1.33604449e+01] [ 1.28204241e-03 -1.14400651e-05 9.99999178e-01 -4.55964967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.322414037 meters 0.06768236569435752 Centerline is valid? [True, True] Translation: X:172.62, Y:-13.37, Z:-4.56 [[ 9.86305615e-01 1.64927063e-01 -5.45944268e-04 1.72615399e+02] [-1.64927033e-01 9.86305766e-01 1.00344278e-04 -1.33706687e+01] [ 5.55017466e-04 -8.92915620e-06 9.99999846e-01 -4.55918863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.352414037 meters 0.06749593446295513 Centerline is valid? [True, True] Translation: X:172.64, Y:-13.38, Z:-4.56 [[ 9.86724457e-01 1.62396616e-01 1.47853426e-03 1.72644937e+02] [-1.62396428e-01 9.86725564e-01 -2.46623184e-04 -1.33848911e+01] [-1.49895833e-03 3.24044400e-06 9.99998877e-01 -4.55914177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.382414037 meters 0.06751065834229535 Centerline is valid? [True, True] Translation: X:172.68, Y:-13.39, Z:-4.56 [[ 9.86945249e-01 1.61045904e-01 1.81442947e-03 1.72676142e+02] [-1.61045613e-01 9.86946917e-01 -3.05964626e-04 -1.33944699e+01] [-1.84001992e-03 9.76442718e-06 9.99998307e-01 -4.55991937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.412414037 meters 0.06762741737136763 Centerline is valid? [True, True] Translation: X:172.71, Y:-13.40, Z:-4.56 [[ 9.87239376e-01 1.59218698e-01 2.79649096e-03 1.72706600e+02] [-1.59217989e-01 9.87243337e-01 -4.75715208e-04 -1.34037616e+01] [-2.83655982e-03 2.43931184e-05 9.99995977e-01 -4.56107786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.442414037 meters 0.06805343380660298 Centerline is valid? [True, True] Translation: X:172.74, Y:-13.42, Z:-4.56 [[ 9.87847087e-01 1.55423737e-01 1.26255884e-03 1.72736988e+02] [-1.55423590e-01 9.87847894e-01 -2.14622326e-04 -1.34170158e+01] [-1.28057349e-03 1.57826130e-05 9.99999180e-01 -4.56166073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.472414037 meters 0.06802712702048015 Centerline is valid? [True, True] Translation: X:172.77, Y:-13.43, Z:-4.56 [[ 9.88203318e-01 1.53120770e-01 2.86932223e-03 1.72767681e+02] [-1.53120005e-01 9.88207482e-01 -4.85662778e-04 -1.34280307e+01] [-2.90985076e-03 4.05829331e-05 9.99995766e-01 -4.56239870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.502414037 meters 0.06786143659224107 Centerline is valid? [True, True] Translation: X:172.80, Y:-13.44, Z:-4.56 [[ 9.88582981e-01 1.50642252e-01 3.25598035e-03 1.72798716e+02] [-1.50641247e-01 9.88588341e-01 -5.53254943e-04 -1.34373997e+01] [-3.30216779e-03 5.64534811e-05 9.99994546e-01 -4.56008443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.532414037 meters 0.06808342282328701 Centerline is valid? [True, True] Translation: X:172.83, Y:-13.45, Z:-4.56 [[ 9.89046944e-01 1.47540709e-01 4.22880605e-03 1.72828663e+02] [-1.47538959e-01 9.89055980e-01 -7.24542305e-04 -1.34481880e+01] [-4.28942539e-03 9.26927112e-05 9.99990796e-01 -4.56037851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.562414037 meters 0.06869230525134754 Centerline is valid? [True, True] Translation: X:172.86, Y:-13.46, Z:-4.56 [[ 9.89929530e-01 1.41483473e-01 4.68546060e-03 1.72856968e+02] [-1.41481239e-01 9.89940609e-01 -8.06463347e-04 -1.34619560e+01] [-4.75242896e-03 1.35437111e-04 9.99988698e-01 -4.56041966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.592414037 meters 0.06908207397967762 Centerline is valid? [True, True] Translation: X:172.89, Y:-13.47, Z:-4.56 [[ 9.90270157e-01 1.39104264e-01 3.87566125e-03 1.72887954e+02] [-1.39102723e-01 9.90277733e-01 -6.65802851e-04 -1.34707531e+01] [-3.93059705e-03 1.20209661e-04 9.99992268e-01 -4.56235035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.622414037 meters 0.06988164058973349 Centerline is valid? [True, True] Translation: X:172.92, Y:-13.48, Z:-4.56 [[ 9.90775095e-01 1.35490361e-01 2.65945765e-03 1.72916857e+02] [-1.35489620e-01 9.90778660e-01 -4.57775576e-04 -1.34825391e+01] [-2.69695806e-03 9.32237348e-05 9.99996359e-01 -4.56421323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.652414037 meters 0.07122795643296714 Centerline is valid? [True, True] Translation: X:172.95, Y:-13.49, Z:-4.57 [[ 9.90863598e-01 1.34852968e-01 2.00190872e-03 1.72946031e+02] [-1.34852557e-01 9.90865618e-01 -3.39190575e-04 -1.34945843e+01] [-2.02936338e-03 6.61290825e-05 9.99997939e-01 -4.56907684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.682414037 meters 0.0696893399880599 Centerline is valid? [True, True] Translation: X:172.98, Y:-13.50, Z:-4.57 [[ 9.91002775e-01 1.33826488e-01 1.99284477e-03 1.72978289e+02] [-1.33826079e-01 9.91004776e-01 -3.37364188e-04 -1.34964324e+01] [-2.02006695e-03 6.76342441e-05 9.99997957e-01 -4.56533347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71241403699997 meters 0.07034134124738312 Centerline is valid? [True, True] Translation: X:173.01, Y:-13.51, Z:-4.57 [[ 9.91266258e-01 1.31809644e-01 4.17406241e-03 1.73007958e+02] [-1.31807797e-01 9.91275034e-01 -7.15757956e-04 -1.35067073e+01] [-4.23198766e-03 1.59332739e-04 9.99991032e-01 -4.56667317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74241403699997 meters 0.07092993700277918 Centerline is valid? [True, True] Translation: X:173.04, Y:-13.51, Z:-4.57 [[ 9.91365133e-01 1.31063946e-01 4.17325359e-03 1.73038304e+02] [-1.31062088e-01 9.91373903e-01 -7.16713999e-04 -1.35148343e+01] [-4.23119007e-03 1.63569939e-04 9.99991035e-01 -4.56847447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77241403699998 meters 0.06950705312552527 Centerline is valid? [True, True] Translation: X:173.07, Y:-13.52, Z:-4.57 [[ 9.91485509e-01 1.30136652e-01 4.57571315e-03 1.73071125e+02] [-1.30134405e-01 9.91496050e-01 -7.86752614e-04 -1.35158304e+01] [-4.63918687e-03 1.84596109e-04 9.99989222e-01 -4.56555253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80241403699998 meters 0.06999059412670894 Centerline is valid? [True, True] Translation: X:173.10, Y:-13.52, Z:-4.57 [[ 9.91894284e-01 1.27016654e-01 3.53550867e-03 1.73101462e+02] [-1.27015276e-01 9.91900572e-01 -6.12513012e-04 -1.35241363e+01] [-3.58467243e-03 1.58484544e-04 9.99993562e-01 -4.56749278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83241403699998 meters 0.0705399551166654 Centerline is valid? [True, True] Translation: X:173.13, Y:-13.53, Z:-4.57 [[ 9.92076716e-01 1.25597416e-01 3.01314576e-03 1.73131499e+02] [-1.25596424e-01 9.92081282e-01 -5.17044121e-04 -1.35317852e+01] [-3.05422491e-03 1.34507103e-04 9.99995327e-01 -4.56904726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86241403699998 meters 0.07051445801576062 Centerline is valid? [True, True] Translation: X:173.16, Y:-13.54, Z:-4.57 [[ 9.92161496e-01 1.24906394e-01 3.73623648e-03 1.73163376e+02] [-1.24904856e-01 9.92168516e-01 -6.43107279e-04 -1.35377548e+01] [-3.78730441e-03 1.71392201e-04 9.99992813e-01 -4.57000508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89241403699998 meters 0.07075416923859124 Centerline is valid? [True, True] Translation: X:173.19, Y:-13.54, Z:-4.57 [[ 9.92352854e-01 1.23320054e-01 5.28946243e-03 1.73194478e+02] [-1.23316923e-01 9.92366917e-01 -9.15179241e-04 -1.35436899e+01] [-5.36194748e-03 2.55900497e-04 9.99985592e-01 -4.57061240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92241403699998 meters 0.07086265236632203 Centerline is valid? [True, True] Translation: X:173.23, Y:-13.55, Z:-4.57 [[ 9.92409160e-01 1.22877498e-01 5.01782533e-03 1.73225832e+02] [-1.22874673e-01 9.92421816e-01 -8.68636671e-04 -1.35489184e+01] [-5.08653522e-03 2.45479343e-04 9.99987033e-01 -4.57162018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95241403699998 meters 0.07115021396634402 Centerline is valid? [True, True] Translation: X:173.26, Y:-13.55, Z:-4.57 [[ 9.92391315e-01 1.23012292e-01 5.23974084e-03 1.73258181e+02] [-1.23009209e-01 9.92405114e-01 -9.07883152e-04 -1.35544706e+01] [-5.31162639e-03 2.56438982e-04 9.99985860e-01 -4.57320845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98241403699998 meters 0.07123204440178693 Centerline is valid? [True, True] Translation: X:173.29, Y:-13.56, Z:-4.57 [[ 9.92360893e-01 1.23263707e-01 5.09075532e-03 1.73290903e+02] [-1.23260794e-01 9.92373920e-01 -8.83327463e-04 -1.35595267e+01] [-5.16081503e-03 2.49089090e-04 9.99986652e-01 -4.57432187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01241403699999 meters 0.07250334600361256 Centerline is valid? [True, True] Translation: X:173.32, Y:-13.57, Z:-4.58 [[ 9.92439300e-01 1.22704036e-01 2.82069203e-03 1.73321071e+02] [-1.22703135e-01 9.92443298e-01 -4.90872386e-04 -1.35661174e+01] [-2.85960892e-03 1.41053293e-04 9.99995901e-01 -4.57829670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.042414037 meters 0.07203592531288447 Centerline is valid? [True, True] Translation: X:173.35, Y:-13.57, Z:-4.58 [[ 9.92453237e-01 1.22615259e-01 1.43912748e-03 1.73353580e+02] [-1.22615031e-01 9.92454278e-01 -2.45640504e-04 -1.35686412e+01] [-1.45838750e-03 6.73280523e-05 9.99998934e-01 -4.57875785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.072414037 meters 0.07261201170673486 Centerline is valid? [True, True] Translation: X:173.38, Y:-13.57, Z:-4.58 [[ 9.92616388e-01 1.21295042e-01 4.67347212e-04 1.73383921e+02] [-1.21295019e-01 9.92616498e-01 -7.86519358e-05 -1.35726037e+01] [-4.73436643e-04 2.13843116e-05 9.99999888e-01 -4.58095952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.102414037 meters 0.07335596559243485 Centerline is valid? [True, True] Translation: X:173.41, Y:-13.58, Z:-4.58 [[ 9.92723978e-01 1.20412218e-01 -4.06322833e-05 1.73414159e+02] [-1.20412218e-01 9.92723979e-01 8.10331145e-06 -1.35782912e+01] [ 4.13123796e-05 -3.15172823e-06 9.99999999e-01 -4.58280356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.132414037 meters 0.07322020989744517 Centerline is valid? [True, True] Translation: X:173.45, Y:-13.58, Z:-4.58 [[ 9.92776197e-01 1.19979651e-01 -5.54110421e-04 1.73446056e+02] [-1.19979611e-01 9.92776350e-01 1.04173514e-04 -1.35812445e+01] [ 5.62606424e-04 -3.69390325e-05 9.99999841e-01 -4.58370152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.162414037 meters 0.07361780789169516 Centerline is valid? [True, True] Translation: X:173.48, Y:-13.59, Z:-4.59 [[ 9.92824592e-01 1.19575479e-01 -1.01688454e-03 1.73478095e+02] [-1.19575351e-01 9.92825111e-01 1.85765913e-04 -1.35857105e+01] [ 1.03180155e-03 -6.28386404e-05 9.99999466e-01 -4.58532982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.192414037 meters 0.07381114401559302 Centerline is valid? [True, True] Translation: X:173.51, Y:-13.59, Z:-4.59 [[ 9.92858498e-01 1.19284475e-01 -1.79389155e-03 1.73509671e+02] [-1.19284085e-01 9.92860112e-01 3.23008748e-04 -1.35897464e+01] [ 1.81961330e-03 -1.06719268e-04 9.99998339e-01 -4.58680733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.222414037 meters 0.0714939977940889 Centerline is valid? [True, True] Translation: X:173.54, Y:-13.59, Z:-4.58 [[ 9.92769472e-01 1.19993209e-01 -3.22583828e-03 1.73543061e+02] [-1.19991966e-01 9.92774695e-01 5.76838893e-04 -1.35857772e+01] [ 3.27174737e-03 -1.85593364e-04 9.99994631e-01 -4.58389788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.252414037 meters 0.0727116563648145 Centerline is valid? [True, True] Translation: X:173.57, Y:-13.59, Z:-4.59 [[ 9.92737759e-01 1.20195175e-01 -4.98617554e-03 1.73573200e+02] [-1.20192258e-01 9.92750242e-01 8.81707492e-04 -1.35913294e+01] [ 5.05600396e-03 -2.76004622e-04 9.99987180e-01 -4.58732280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.282414037 meters 0.07327481564857957 Centerline is valid? [True, True] Translation: X:173.60, Y:-13.60, Z:-4.59 [[ 9.92579609e-01 1.21582407e-01 -1.85440589e-03 1.73602333e+02] [-1.21582007e-01 9.92581336e-01 3.27531967e-04 -1.35972149e+01] [ 1.88047080e-03 -9.96391626e-05 9.99998227e-01 -4.59011018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.312414037 meters 0.07095352068686446 Centerline is valid? [True, True] Translation: X:173.64, Y:-13.59, Z:-4.59 [[ 9.92056295e-01 1.25791702e-01 -8.68695820e-04 1.73635035e+02] [-1.25791616e-01 9.92056675e-01 1.53805993e-04 -1.35900717e+01] [ 8.81143004e-04 -4.33095528e-05 9.99999611e-01 -4.58752419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.342414037 meters 0.07085929295309103 Centerline is valid? [True, True] Translation: X:173.67, Y:-13.59, Z:-4.59 [[ 9.91818040e-01 1.27659344e-01 -2.60240359e-04 1.73666989e+02] [-1.27659336e-01 9.91818074e-01 4.81689453e-05 -1.35919898e+01] [ 2.64260308e-04 -1.45527175e-05 9.99999965e-01 -4.58965259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.372414037 meters 0.0714097785743036 Centerline is valid? [True, True] Translation: X:173.70, Y:-13.60, Z:-4.59 [[ 9.91562192e-01 1.29631630e-01 -2.43866165e-04 1.73698182e+02] [-1.29631622e-01 9.91562222e-01 5.02087155e-05 -1.35966167e+01] [ 2.48317114e-04 -1.81722975e-05 9.99999969e-01 -4.59239885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.402414037 meters 0.07076355763010353 Centerline is valid? [True, True] Translation: X:173.73, Y:-13.60, Z:-4.59 [[ 9.91377276e-01 1.31038528e-01 3.53388294e-05 1.73730059e+02] [-1.31038528e-01 9.91377276e-01 8.14974629e-07 -1.35988759e+01] [-3.49273194e-05 -5.43869551e-06 9.99999999e-01 -4.59181513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.432414037 meters 0.0714240972351955 Centerline is valid? [True, True] Translation: X:173.76, Y:-13.61, Z:-4.59 [[ 9.91221198e-01 1.32176182e-01 3.16130585e-03 1.73759498e+02] [-1.32175068e-01 9.91226230e-01 -5.59805344e-04 -1.36051086e+01] [-3.20756221e-03 1.37045109e-04 9.99994846e-01 -4.59320632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46241403699997 meters 0.07082198608730646 Centerline is valid? [True, True] Translation: X:173.79, Y:-13.61, Z:-4.59 [[ 9.91147207e-01 1.32710796e-01 3.88062955e-03 1.73791803e+02] [-1.32709142e-01 9.91154790e-01 -6.81819025e-04 -1.36075906e+01] [-3.93678932e-03 1.60788002e-04 9.99992238e-01 -4.59259023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49241403699997 meters 0.07017910621957266 Centerline is valid? [True, True] Translation: X:173.82, Y:-13.61, Z:-4.59 [[ 9.91209098e-01 1.32246762e-01 3.91391076e-03 1.73823959e+02] [-1.32245072e-01 9.91216811e-01 -6.88492359e-04 -1.36089547e+01] [-3.97058503e-03 1.64844478e-04 9.99992104e-01 -4.59207034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52241403699998 meters 0.07691269213371861 Centerline is valid? [True, True] Translation: X:173.85, Y:-13.63, Z:-4.61 [[ 9.91241473e-01 1.32034610e-01 2.68397022e-03 1.73851231e+02] [-1.32033824e-01 9.91245101e-01 -4.68829026e-04 -1.36305603e+01] [-2.72237399e-03 1.10347924e-04 9.99996288e-01 -4.60588385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55241403699998 meters 0.07691269213371861 Centerline is valid? [True, True] Translation: X:173.88, Y:-13.64, Z:-4.61 [[ 9.91192966e-01 1.32398264e-01 2.68404086e-03 1.73883179e+02] [-1.32397481e-01 9.91196594e-01 -4.68442138e-04 -1.36365182e+01] [-2.72243309e-03 1.08956304e-04 9.99996288e-01 -4.60680471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58241403699998 meters 0.07776413728915672 Centerline is valid? [True, True] Translation: X:173.91, Y:-13.64, Z:-4.61 [[ 9.91124573e-01 1.32900944e-01 3.06927872e-03 1.73913974e+02] [-1.32899907e-01 9.91129317e-01 -5.40198153e-04 -1.36404095e+01] [-3.11384497e-03 1.27496806e-04 9.99995144e-01 -4.60946605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61241403699998 meters 0.07742983962511629 Centerline is valid? [True, True] Translation: X:173.95, Y:-13.64, Z:-4.61 [[ 9.90986968e-01 1.33905395e-01 3.76487015e-03 1.73946055e+02] [-1.33903833e-01 9.90994107e-01 -6.65266705e-04 -1.36438971e+01] [-3.82004693e-03 1.55140092e-04 9.99992692e-01 -4.60993938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64241403699998 meters 0.07082017278977697 Centerline is valid? [True, True] Translation: X:173.98, Y:-13.63, Z:-4.60 [[ 9.90848611e-01 1.34935002e-01 3.40224328e-03 1.73981731e+02] [-1.34933731e-01 9.90854443e-01 -6.01398342e-04 -1.36301281e+01] [-3.45227756e-03 1.36817332e-04 9.99994032e-01 -4.59972666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67241403699998 meters 0.07700224671955207 Centerline is valid? [True, True] Translation: X:174.01, Y:-13.65, Z:-4.61 [[ 9.90684231e-01 1.36133526e-01 3.52372884e-03 1.74009092e+02] [-1.36132165e-01 9.90690488e-01 -6.24507595e-04 -1.36519454e+01] [-3.57594106e-03 1.38996992e-04 9.99993597e-01 -4.61158924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70241403699998 meters 0.07076232328772913 Centerline is valid? [True, True] Translation: X:174.05, Y:-13.64, Z:-4.60 [[ 9.90301080e-01 1.38937922e-01 -1.55018646e-04 1.74046009e+02] [-1.38937918e-01 9.90301092e-01 3.80762729e-05 -1.36368845e+01] [ 1.58805372e-04 -1.61690064e-05 9.99999987e-01 -4.60338099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73241403699998 meters 0.07110401692680633 Centerline is valid? [True, True] Translation: X:174.08, Y:-13.64, Z:-4.61 [[ 9.89973880e-01 1.41241690e-01 -1.58178372e-03 1.74076816e+02] [-1.41241408e-01 9.89975142e-01 2.89022991e-04 -1.36409287e+01] [ 1.60674866e-03 -6.27118517e-05 9.99998707e-01 -4.60693374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76241403699999 meters 0.07066022545814026 Centerline is valid? [True, True] Translation: X:174.11, Y:-13.64, Z:-4.61 [[ 9.89558422e-01 1.44120508e-01 -1.84620433e-03 1.74108553e+02] [-1.44120136e-01 9.89560142e-01 3.33765321e-04 -1.36420722e+01] [ 1.87503265e-03 -6.42050655e-05 9.99998240e-01 -4.60854773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.792414037 meters 0.0702355796655201 Centerline is valid? [True, True] Translation: X:174.14, Y:-13.64, Z:-4.61 [[ 9.89080856e-01 1.47366052e-01 -1.51900264e-03 1.74140102e+02] [-1.47365804e-01 9.89082021e-01 2.74843233e-04 -1.36437376e+01] [ 1.54292077e-03 -4.79931343e-05 9.99998809e-01 -4.60921636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.822414037 meters 0.06957532483712715 Centerline is valid? [True, True] Translation: X:174.17, Y:-13.64, Z:-4.61 [[ 9.88621866e-01 1.50416862e-01 -1.25478950e-03 1.74171503e+02] [-1.50416695e-01 9.88622661e-01 2.27280238e-04 -1.36448805e+01] [ 1.27470012e-03 -3.59529232e-05 9.99999187e-01 -4.60841352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.852414037 meters 0.0689519633227374 Centerline is valid? [True, True] Translation: X:174.20, Y:-13.65, Z:-4.61 [[ 9.87544449e-01 1.57336961e-01 -1.02103260e-03 1.74203138e+02] [-1.57336854e-01 9.87544976e-01 1.84741300e-04 -1.36453136e+01] [ 1.03738225e-03 -2.17941881e-05 9.99999462e-01 -4.60879724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.882414037 meters 0.0688276289245246 Centerline is valid? [True, True] Translation: X:174.23, Y:-13.65, Z:-4.61 [[ 9.87025951e-01 1.60560785e-01 -7.70092660e-05 1.74232976e+02] [-1.60560784e-01 9.87025954e-01 1.68600931e-05 -1.36491795e+01] [ 7.87172139e-05 -4.27668129e-06 9.99999997e-01 -4.61021453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.912414037 meters 0.06853718065219191 Centerline is valid? [True, True] Translation: X:174.27, Y:-13.65, Z:-4.61 [[ 9.86634930e-01 1.62942942e-01 1.05475800e-03 1.74265005e+02] [-1.62942839e-01 9.86635494e-01 -1.83557268e-04 -1.36528182e+01] [-1.07057104e-03 9.23874958e-06 9.99999427e-01 -4.61023462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.942414037 meters 0.06843249869072147 Centerline is valid? [True, True] Translation: X:174.30, Y:-13.66, Z:-4.61 [[ 9.86245466e-01 1.65278936e-01 1.65966979e-03 1.74295893e+02] [-1.65278671e-01 9.86246862e-01 -2.96148017e-04 -1.36566009e+01] [-1.68579115e-03 1.77666215e-05 9.99998579e-01 -4.61189658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.972414037 meters 0.06817154893331835 Centerline is valid? [True, True] Translation: X:174.33, Y:-13.66, Z:-4.61 [[ 9.85761882e-01 1.68136628e-01 1.89376902e-03 1.74328260e+02] [-1.68136293e-01 9.85763701e-01 -3.35994872e-04 -1.36606409e+01] [-1.92330181e-03 1.27996348e-05 9.99998150e-01 -4.61220061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.002414037 meters 0.06817881497619568 Centerline is valid? [True, True] Translation: X:174.36, Y:-13.67, Z:-4.61 [[ 9.85059048e-01 1.72216617e-01 -3.30807501e-04 1.74360097e+02] [-1.72216604e-01 9.85059103e-01 6.69931248e-05 -1.36663289e+01] [ 3.37402270e-04 -9.02163910e-06 9.99999943e-01 -4.61300034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.032414037 meters 0.06824865140992477 Centerline is valid? [True, True] Translation: X:174.39, Y:-13.67, Z:-4.62 [[ 9.84845937e-01 1.73429254e-01 -8.80133858e-04 1.74391291e+02] [-1.73429174e-01 9.84846330e-01 1.67311081e-04 -1.36728266e+01] [ 8.95813236e-04 -1.21347503e-05 9.99999599e-01 -4.61624101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.062414037 meters 0.06880250425340576 Centerline is valid? [True, True] Translation: X:174.42, Y:-13.68, Z:-4.62 [[ 9.84710886e-01 1.74149993e-01 -4.03120774e-03 1.74422697e+02] [-1.74148445e-01 9.84719137e-01 7.34453258e-04 -1.36785907e+01] [ 4.09751244e-03 -2.11955577e-05 9.99991605e-01 -4.61739217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.092414037 meters 0.06822263918740037 Centerline is valid? [True, True] Translation: X:174.45, Y:-13.68, Z:-4.62 [[ 9.84553588e-01 1.75073614e-01 -1.86043746e-03 1.74454318e+02] [-1.75073274e-01 9.84555346e-01 3.45453038e-04 -1.36849127e+01] [ 1.89218336e-03 -1.44041513e-05 9.99998210e-01 -4.61774973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.122414037 meters 0.06823176243380502 Centerline is valid? [True, True] Translation: X:174.48, Y:-13.69, Z:-4.62 [[ 9.84346548e-01 1.76239180e-01 -1.27473326e-03 1.74484687e+02] [-1.76239019e-01 9.84347373e-01 2.38626537e-04 -1.36914335e+01] [ 1.29683569e-03 -1.02334680e-05 9.99999159e-01 -4.62035619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.152414037 meters 0.06804607588106072 Centerline is valid? [True, True] Translation: X:174.52, Y:-13.70, Z:-4.62 [[ 9.84099103e-01 1.77618878e-01 6.99294080e-04 1.74516510e+02] [-1.77618834e-01 9.84099352e-01 -1.24984409e-04 -1.36996878e+01] [-7.10374442e-04 -1.21075423e-06 9.99999748e-01 -4.61862146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.182414037 meters 0.06804607588106072 Centerline is valid? [True, True] Translation: X:174.55, Y:-13.71, Z:-4.62 [[ 9.84050192e-01 1.77889652e-01 7.00219488e-04 1.74548463e+02] [-1.77889612e-01 9.84050442e-01 -1.19913034e-04 -1.37055983e+01] [-7.10382584e-04 -6.56132903e-06 9.99999748e-01 -4.61954121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21241403699997 meters 0.06819695389888762 Centerline is valid? [True, True] Translation: X:174.58, Y:-13.71, Z:-4.62 [[ 9.83838701e-01 1.79056478e-01 4.33408240e-04 1.74579646e+02] [-1.79056464e-01 9.83838797e-01 -7.18684839e-05 -1.37130133e+01] [-4.39272359e-04 -6.89755107e-06 9.99999903e-01 -4.62275535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24241403699997 meters 0.06810614995030688 Centerline is valid? [True, True] Translation: X:174.61, Y:-13.72, Z:-4.62 [[ 9.83848527e-01 1.79003001e-01 2.77383695e-05 1.74611066e+02] [-1.79003001e-01 9.83848528e-01 1.79758020e-06 -1.37201841e+01] [-2.69685819e-05 -6.73379801e-06 1.00000000e+00 -4.62202064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27241403699998 meters 0.06815134848838138 Centerline is valid? [True, True] Translation: X:174.64, Y:-13.73, Z:-4.62 [[ 9.83910593e-01 1.78658450e-01 -1.05040040e-03 1.74642543e+02] [-1.78658339e-01 9.83911154e-01 1.99611848e-04 -1.37275178e+01] [ 1.06916301e-03 -8.73742206e-06 9.99999428e-01 -4.62194065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30241403699998 meters 0.06825779702288859 Centerline is valid? [True, True] Translation: X:174.67, Y:-13.74, Z:-4.62 [[ 9.84490392e-01 1.75437196e-01 -6.77550717e-04 1.74673931e+02] [-1.75437147e-01 9.84490625e-01 1.32643839e-04 -1.37378262e+01] [ 6.90312991e-04 -1.17190201e-05 9.99999762e-01 -4.62269244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33241403699998 meters 0.0683200844599045 Centerline is valid? [True, True] Translation: X:174.71, Y:-13.75, Z:-4.62 [[ 9.84935953e-01 1.72919500e-01 1.24184965e-04 1.74705047e+02] [-1.72919499e-01 9.84935961e-01 -1.77079671e-05 -1.37477957e+01] [-1.25376290e-04 -4.03278848e-06 9.99999992e-01 -4.62427021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36241403699998 meters 0.06832925419211308 Centerline is valid? [True, True] Translation: X:174.74, Y:-13.76, Z:-4.62 [[ 9.85455793e-01 1.69926144e-01 1.40892816e-03 1.74736366e+02] [-1.69925959e-01 9.85456800e-01 -2.51183903e-04 -1.37578228e+01] [-1.43112055e-03 8.11716421e-06 9.99998976e-01 -4.62248814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39241403699998 meters 0.06877368352025025 Centerline is valid? [True, True] Translation: X:174.76, Y:-13.77, Z:-4.62 [[ 9.86609815e-01 1.63078649e-01 2.53511438e-03 1.74764899e+02] [-1.63078003e-01 9.86613071e-01 -4.60687407e-04 -1.37742839e+01] [-2.57630527e-03 4.10973254e-05 9.99996680e-01 -4.62289481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42241403699998 meters 0.06913770309327928 Centerline is valid? [True, True] Translation: X:174.79, Y:-13.78, Z:-4.62 [[ 9.87305076e-01 1.58830330e-01 1.27006990e-03 1.74794046e+02] [-1.58830161e-01 9.87305893e-01 -2.33644112e-04 -1.37843754e+01] [-1.29105726e-03 2.89526117e-05 9.99999166e-01 -4.62430388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45241403699998 meters 0.06989435024404218 Centerline is valid? [True, True] Translation: X:174.82, Y:-13.79, Z:-4.63 [[ 9.87881874e-01 1.55207392e-01 -2.60410548e-04 1.74822184e+02] [-1.55207384e-01 9.87881909e-01 5.03841972e-05 -1.37946951e+01] [ 2.65074868e-04 -9.35599536e-06 9.99999965e-01 -4.62714564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48241403699998 meters 0.0699606993253744 Centerline is valid? [True, True] Translation: X:174.85, Y:-13.80, Z:-4.63 [[ 9.88377058e-01 1.52016431e-01 -1.33988946e-03 1.74852301e+02] [-1.52016235e-01 9.88377966e-01 2.47630322e-04 -1.38014595e+01] [ 1.36196109e-03 -4.10671798e-05 9.99999072e-01 -4.62763117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51241403699999 meters 0.07076617963066348 Centerline is valid? [True, True] Translation: X:174.88, Y:-13.81, Z:-4.63 [[ 9.89262901e-01 1.46101359e-01 -3.64756530e-03 1.74881293e+02] [-1.46099870e-01 9.89269617e-01 6.72887567e-04 -1.38126163e+01] [ 3.70673532e-03 -1.32753890e-04 9.99993121e-01 -4.63007323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.542414037 meters 0.07114052382316341 Centerline is valid? [True, True] Translation: X:174.91, Y:-13.82, Z:-4.63 [[ 9.89626244e-01 1.43643623e-01 -2.53110808e-03 1.74911711e+02] [-1.43642880e-01 9.89629475e-01 4.73798122e-04 -1.38218968e+01] [ 2.57291724e-03 -1.05307402e-04 9.99996684e-01 -4.63038641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.572414037 meters 0.07133179728297144 Centerline is valid? [True, True] Translation: X:174.94, Y:-13.83, Z:-4.63 [[ 9.90051438e-01 1.40700429e-01 -1.24047324e-03 1.74942454e+02] [-1.40700250e-01 9.90052214e-01 2.31151163e-04 -1.38309429e+01] [ 1.26065635e-03 -5.43166461e-05 9.99999204e-01 -4.63036280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.602414037 meters 0.07099307681818612 Centerline is valid? [True, True] Translation: X:174.97, Y:-13.84, Z:-4.63 [[ 9.90397356e-01 1.38249995e-01 -1.30938515e-04 1.74973438e+02] [-1.38249992e-01 9.90397364e-01 2.76197399e-05 -1.38381748e+01] [ 1.33499589e-04 -9.25226865e-06 9.99999991e-01 -4.62902632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.632414037 meters 0.07367761723460726 Centerline is valid? [True, True] Translation: X:175.00, Y:-13.85, Z:-4.63 [[ 9.91138041e-01 1.32833876e-01 7.38093994e-04 1.75000071e+02] [-1.32833811e-01 9.91138315e-01 -1.36727770e-04 -1.38546080e+01] [-7.49715317e-04 3.74722555e-05 9.99999718e-01 -4.63254049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.662414037 meters 0.07351157899944058 Centerline is valid? [True, True] Translation: X:175.03, Y:-13.86, Z:-4.63 [[ 9.91407435e-01 1.30808080e-01 7.36982055e-04 1.75030979e+02] [-1.30808020e-01 9.91407709e-01 -1.30245591e-04 -1.38605516e+01] [-7.47686866e-04 3.27232846e-05 9.99999720e-01 -4.63283080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.692414037 meters 0.07269278716262087 Centerline is valid? [True, True] Translation: X:175.06, Y:-13.86, Z:-4.63 [[ 9.91642559e-01 1.29011421e-01 1.04286275e-03 1.75062911e+02] [-1.29011291e-01 9.91643106e-01 -1.91115098e-04 -1.38641191e+01] [-1.05880368e-03 5.49767947e-05 9.99999438e-01 -4.63178823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.722414037 meters 0.07258179674480689 Centerline is valid? [True, True] Translation: X:175.09, Y:-13.87, Z:-4.63 [[ 9.91809349e-01 1.27726962e-01 1.93753252e-04 1.75094018e+02] [-1.27726959e-01 9.91809368e-01 -2.94649957e-05 -1.38695565e+01] [-1.95929765e-04 4.47614455e-06 9.99999981e-01 -4.63215498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.752414037 meters 0.08275334673295921 Centerline is valid? [True, True] Translation: X:175.12, Y:-13.90, Z:-4.65 [[ 9.91946241e-01 1.26659599e-01 2.39440445e-05 1.75121292e+02] [-1.26659599e-01 9.91946241e-01 -1.26075599e-06 -1.38987658e+01] [-2.39108919e-05 -1.78214091e-06 1.00000000e+00 -4.64514285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.782414037 meters 0.07311421840428994 Centerline is valid? [True, True] Translation: X:175.16, Y:-13.88, Z:-4.63 [[ 9.92006690e-01 1.26183231e-01 -7.20062313e-04 1.75157194e+02] [-1.26183161e-01 9.92006950e-01 1.42724465e-04 -1.38821556e+01] [ 7.32316253e-04 -5.07238853e-05 9.99999731e-01 -4.63488264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.812414037 meters 0.0772312082167245 Centerline is valid? [True, True] Translation: X:175.19, Y:-13.90, Z:-4.64 [[ 9.92204941e-01 1.24590761e-01 -2.54883938e-03 1.75185139e+02] [-1.24589953e-01 9.92208203e-01 4.74174285e-04 -1.38969496e+01] [ 2.58805708e-03 -1.52918291e-04 9.99996639e-01 -4.64092805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.842414037 meters 0.08424654682069647 Centerline is valid? [True, True] Translation: X:175.21, Y:-13.92, Z:-4.65 [[ 9.92171053e-01 1.24843112e-01 -3.28626267e-03 1.75214332e+02] [-1.24841753e-01 9.92176475e-01 6.16093762e-04 -1.39161867e+01] [ 3.33746757e-03 -2.01007603e-04 9.99994410e-01 -4.64974423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.872414037 meters 0.08372795217090193 Centerline is valid? [True, True] Translation: X:175.25, Y:-13.92, Z:-4.65 [[ 9.92141921e-01 1.25099694e-01 -2.11537012e-03 1.75247490e+02] [-1.25099131e-01 9.92144168e-01 3.96958476e-04 -1.39166842e+01] [ 2.14841151e-03 -1.29208182e-04 9.99997684e-01 -4.65019932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.902414037 meters 0.0835595249616265 Centerline is valid? [True, True] Translation: X:175.28, Y:-13.92, Z:-4.65 [[ 9.92193576e-01 1.24700766e-01 -1.27551735e-03 1.75279721e+02] [-1.24700551e-01 9.92194392e-01 2.46894912e-04 -1.39191321e+01] [ 1.29634914e-03 -8.59098294e-05 9.99999156e-01 -4.65045623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.932414037 meters 0.08703341572725873 Centerline is valid? [True, True] Translation: X:175.31, Y:-13.93, Z:-4.65 [[ 9.92195171e-01 1.24688462e-01 -1.23726364e-03 1.75309504e+02] [-1.24688260e-01 9.92195939e-01 2.39413503e-04 -1.39284517e+01] [ 1.25746006e-03 -8.32726710e-05 9.99999206e-01 -4.65421314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96241403699997 meters 0.08533649925460558 Centerline is valid? [True, True] Translation: X:175.34, Y:-13.93, Z:-4.65 [[ 9.92336824e-01 1.23560562e-01 -6.43821074e-04 1.75341670e+02] [-1.23560504e-01 9.92337032e-01 1.28612991e-04 -1.39286563e+01] [ 6.54778988e-04 -4.80765508e-05 9.99999784e-01 -4.65240712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99241403699997 meters 0.08663963595668114 Centerline is valid? [True, True] Translation: X:175.37, Y:-13.93, Z:-4.65 [[ 9.92644964e-01 1.21060512e-01 -5.71886588e-04 1.75372970e+02] [-1.21060470e-01 9.92645128e-01 1.08248188e-04 -1.39325922e+01] [ 5.80785016e-04 -3.82191598e-05 9.99999831e-01 -4.65381339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02241403699998 meters 0.08703996716029598 Centerline is valid? [True, True] Translation: X:175.40, Y:-13.94, Z:-4.66 [[ 9.92728990e-01 1.20360996e-01 -1.54396382e-03 1.75404770e+02] [-1.20360677e-01 9.92730184e-01 2.97932339e-04 -1.39372729e+01] [ 1.56859892e-03 -1.09933540e-04 9.99998764e-01 -4.65509543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05241403699998 meters 0.08924334789218187 Centerline is valid? [True, True] Translation: X:175.44, Y:-13.94, Z:-4.66 [[ 9.92808051e-01 1.19699326e-01 -2.06052085e-03 1.75435162e+02] [-1.19698763e-01 9.92810178e-01 3.94924510e-04 -1.39439556e+01] [ 2.09297827e-03 -1.45442437e-04 9.99997799e-01 -4.65853034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08241403699998 meters 0.0867811734336244 Centerline is valid? [True, True] Translation: X:175.47, Y:-13.94, Z:-4.66 [[ 9.92835447e-01 1.19465654e-01 -2.39440903e-03 1.75468247e+02] [-1.19464892e-01 9.92838320e-01 4.59156085e-04 -1.39422435e+01] [ 2.43211442e-03 -1.69818620e-04 9.99997028e-01 -4.65806796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11241403699998 meters 0.09286682313037078 Centerline is valid? [True, True] Translation: X:175.50, Y:-13.95, Z:-4.67 [[ 9.92656847e-01 1.20932369e-01 -2.78307898e-03 1.75498492e+02] [-1.20931349e-01 9.92660730e-01 5.32341775e-04 -1.39504920e+01] [ 2.82703057e-03 -1.91871212e-04 9.99995986e-01 -4.66509199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14241403699998 meters 0.0923788505391822 Centerline is valid? [True, True] Translation: X:175.53, Y:-13.95, Z:-4.67 [[ 9.92381710e-01 1.23181842e-01 -2.18528080e-03 1.75529736e+02] [-1.23181230e-01 9.92384106e-01 4.12748209e-04 -1.39518145e+01] [ 2.21948102e-03 -1.40418196e-04 9.99997527e-01 -4.66633916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17241403699998 meters 0.08554412037575715 Centerline is valid? [True, True] Translation: X:175.56, Y:-13.94, Z:-4.66 [[ 9.92107540e-01 1.25380935e-01 -1.49980921e-03 1.75564134e+02] [-1.25380648e-01 9.92108670e-01 2.84474443e-04 -1.39428201e+01] [ 1.52364139e-03 -9.41821897e-05 9.99998835e-01 -4.66120663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20241403699998 meters 0.08441590616896281 Centerline is valid? [True, True] Translation: X:175.60, Y:-13.94, Z:-4.66 [[ 9.91781234e-01 1.27941114e-01 -1.02682856e-03 1.75595873e+02] [-1.27940980e-01 9.91781764e-01 1.94775366e-04 -1.39442127e+01] [ 1.04330961e-03 -6.18011011e-05 9.99999454e-01 -4.66036292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23241403699998 meters 0.0820750679939126 Centerline is valid? [True, True] Translation: X:175.63, Y:-13.94, Z:-4.66 [[ 9.91058205e-01 1.33424410e-01 -1.24941686e-03 1.75627617e+02] [-1.33424218e-01 9.91058990e-01 2.36029264e-04 -1.39397038e+01] [ 1.26973787e-03 -6.72162712e-05 9.99999192e-01 -4.66064248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26241403699999 meters 0.081337524108457 Centerline is valid? [True, True] Translation: X:175.66, Y:-13.94, Z:-4.66 [[ 9.90660383e-01 1.36338126e-01 -1.98019239e-03 1.75659022e+02] [-1.36337649e-01 9.90662357e-01 3.74566777e-04 -1.39400614e+01] [ 2.01276979e-03 -1.01093692e-04 9.99997969e-01 -4.66310794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.292414037 meters 0.08034355273802471 Centerline is valid? [True, True] Translation: X:175.69, Y:-13.94, Z:-4.67 [[ 9.90301232e-01 1.38923422e-01 -1.93736173e-03 1.75691492e+02] [-1.38922969e-01 9.90303122e-01 3.67211248e-04 -1.39393259e+01] [ 1.96958961e-03 -9.45057091e-05 9.99998056e-01 -4.66557785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.322414037 meters 0.07677062161355705 Centerline is valid? [True, True] Translation: X:175.73, Y:-13.93, Z:-4.66 [[ 9.89530853e-01 1.44315865e-01 -1.27390937e-03 1.75725025e+02] [-1.44315674e-01 9.89531671e-01 2.40924300e-04 -1.39302041e+01] [ 1.29534286e-03 -5.45569393e-05 9.99999160e-01 -4.66472873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.352414037 meters 0.07677979916801644 Centerline is valid? [True, True] Translation: X:175.75, Y:-13.93, Z:-4.67 [[ 9.89199334e-01 1.46575686e-01 -4.95999138e-04 1.75754992e+02] [-1.46575658e-01 9.89199458e-01 9.42001566e-05 -1.39336259e+01] [ 5.04449531e-04 -2.04813323e-05 9.99999873e-01 -4.66623722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.382414037 meters 0.07593435211241313 Centerline is valid? [True, True] Translation: X:175.79, Y:-13.94, Z:-4.67 [[ 9.88841498e-01 1.48971051e-01 -3.42289003e-04 1.75786971e+02] [-1.48971034e-01 9.88841557e-01 7.33916475e-05 -1.39355751e+01] [ 3.49402821e-04 -2.15815600e-05 9.99999939e-01 -4.66684585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.412414037 meters 0.07554168939265019 Centerline is valid? [True, True] Translation: X:175.82, Y:-13.94, Z:-4.67 [[ 9.88372704e-01 1.52039486e-01 -1.84203099e-03 1.75818633e+02] [-1.52039085e-01 9.88374418e-01 3.56621727e-04 -1.39358354e+01] [ 1.87483689e-03 -7.24144731e-05 9.99998240e-01 -4.66957264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.442414037 meters 0.07448176860881167 Centerline is valid? [True, True] Translation: X:175.85, Y:-13.94, Z:-4.67 [[ 9.88034036e-01 1.54212031e-01 -2.71910411e-03 1.75850023e+02] [-1.54211198e-01 9.88037773e-01 5.14585184e-04 -1.39360634e+01] [ 2.76593279e-03 -8.91113729e-05 9.99996171e-01 -4.67029073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.472414037 meters 0.07351944743098071 Centerline is valid? [True, True] Translation: X:175.88, Y:-13.94, Z:-4.67 [[ 9.87666975e-01 1.56538731e-01 -3.09375718e-03 1.75880856e+02] [-1.56537666e-01 9.87671816e-01 5.84780178e-04 -1.39353924e+01] [ 3.14715752e-03 -9.32785409e-05 9.99995043e-01 -4.67106032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.502414037 meters 0.07295508161809505 Centerline is valid? [True, True] Translation: X:175.91, Y:-13.93, Z:-4.67 [[ 9.86952647e-01 1.60987292e-01 -2.75030749e-03 1.75910791e+02] [-1.60986472e-01 9.86956477e-01 5.18350070e-04 -1.39320143e+01] [ 2.79788157e-03 -6.88246740e-05 9.99996084e-01 -4.67338293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.532414037 meters 0.07204669131600609 Centerline is valid? [True, True] Translation: X:175.94, Y:-13.93, Z:-4.67 [[ 9.86528646e-01 1.63576241e-01 -2.01093800e-03 1.75940936e+02] [-1.63575808e-01 9.86530695e-01 3.79055762e-04 -1.39324795e+01] [ 2.04585657e-03 -4.50085594e-05 9.99997906e-01 -4.67186841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.562414037 meters 0.0715348712568661 Centerline is valid? [True, True] Translation: X:175.97, Y:-13.93, Z:-4.67 [[ 9.86101479e-01 1.66139516e-01 -1.23846832e-03 1.75969632e+02] [-1.66139356e-01 9.86102257e-01 2.31646345e-04 -1.39342330e+01] [ 1.25974202e-03 -2.26684731e-05 9.99999206e-01 -4.67189004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.592414037 meters 0.0701170782405301 Centerline is valid? [True, True] Translation: X:176.00, Y:-13.93, Z:-4.67 [[ 9.85176307e-01 1.71543062e-01 -7.89158840e-04 1.76000239e+02] [-1.71542999e-01 9.85176623e-01 1.47186876e-04 -1.39304864e+01] [ 8.02709728e-04 -9.63034956e-06 9.99999678e-01 -4.66981462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.622414037 meters 0.06998596771159897 Centerline is valid? [True, True] Translation: X:176.03, Y:-13.93, Z:-4.67 [[ 9.84748488e-01 1.73975909e-01 -1.67285838e-03 1.76028579e+02] [-1.73975629e-01 9.84749909e-01 3.12724723e-04 -1.39317230e+01] [ 1.70175370e-03 -1.69186095e-05 9.99998552e-01 -4.67191177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.652414037 meters 0.06975246197722672 Centerline is valid? [True, True] Translation: X:176.06, Y:-13.93, Z:-4.68 [[ 9.84178238e-01 1.77174562e-01 -1.53938897e-03 1.76056639e+02] [-1.77174329e-01 9.84179442e-01 2.87385524e-04 -1.39319785e+01] [ 1.56595239e-03 -1.00983701e-05 9.99998774e-01 -4.67529452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.682414037 meters 0.06958795387942283 Centerline is valid? [True, True] Translation: X:176.09, Y:-13.93, Z:-4.68 [[ 9.83617373e-01 1.80257505e-01 -2.02353392e-03 1.76085519e+02] [-1.80257106e-01 9.83619455e-01 3.79256379e-04 -1.39319486e+01] [ 2.05875113e-03 -8.28679554e-06 9.99997881e-01 -4.67696698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71241403699997 meters 0.06954951186881062 Centerline is valid? [True, True] Translation: X:176.11, Y:-13.93, Z:-4.68 [[ 9.82463048e-01 1.86433182e-01 -3.00468220e-03 1.76114769e+02] [-1.86432329e-01 9.82467642e-01 5.64089396e-04 -1.39299812e+01] [ 3.05716801e-03 5.97291321e-06 9.99995327e-01 -4.67898433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74241403699997 meters 0.06984828070768559 Centerline is valid? [True, True] Translation: X:176.14, Y:-13.93, Z:-4.68 [[ 9.82082769e-01 1.88400130e-01 -4.33888228e-03 1.76142743e+02] [-1.88398370e-01 9.82092354e-01 8.14560890e-04 -1.39345026e+01] [ 4.41464649e-03 1.74721332e-05 9.99990255e-01 -4.68119985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77241403699998 meters 0.06908590111871277 Centerline is valid? [True, True] Translation: X:176.17, Y:-13.95, Z:-4.67 [[ 9.81622229e-01 1.90658448e-01 -8.19481209e-03 1.76171193e+02] [-1.90652214e-01 9.81656434e-01 1.54257953e-03 -1.39451993e+01] [ 8.33859583e-03 4.81287070e-05 9.99965232e-01 -4.66890630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80241403699998 meters 0.06914253285847324 Centerline is valid? [True, True] Translation: X:176.20, Y:-13.95, Z:-4.67 [[ 9.81631825e-01 1.90590070e-01 -8.62464394e-03 1.76198285e+02] [-1.90583179e-01 9.81669711e-01 1.62155884e-03 -1.39526649e+01] [ 8.77560474e-03 5.19382942e-05 9.99961492e-01 -4.67104137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83241403699998 meters 0.06906317868824985 Centerline is valid? [True, True] Translation: X:176.23, Y:-13.96, Z:-4.67 [[ 9.81782062e-01 1.89814874e-01 -8.61957206e-03 1.76225985e+02] [-1.89807962e-01 9.81819898e-01 1.62048687e-03 -1.39603411e+01] [ 8.77045987e-03 4.50984686e-05 9.99961538e-01 -4.67157734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86241403699998 meters 0.06890987915426779 Centerline is valid? [True, True] Translation: X:176.25, Y:-13.97, Z:-4.67 [[ 9.81913996e-01 1.89195787e-01 -7.06112575e-03 1.76253986e+02] [-1.89191138e-01 9.81939384e-01 1.32662950e-03 -1.39683508e+01] [ 7.18459018e-03 3.32663495e-05 9.99974190e-01 -4.67234282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89241403699998 meters 0.06870388201615311 Centerline is valid? [True, True] Translation: X:176.28, Y:-13.98, Z:-4.67 [[ 9.82311972e-01 1.87189075e-01 -4.84149979e-03 1.76279850e+02] [-1.87186873e-01 9.82323903e-01 9.08066665e-04 -1.39811827e+01] [ 4.92590113e-03 1.42604499e-05 9.99987868e-01 -4.67102007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92241403699998 meters 0.06852629839174548 Centerline is valid? [True, True] Translation: X:176.31, Y:-13.99, Z:-4.67 [[ 9.82501434e-01 1.86224980e-01 -3.34494459e-03 1.76308086e+02] [-1.86223921e-01 9.82507128e-01 6.27987293e-04 -1.39912844e+01] [ 3.40337883e-03 5.91028131e-06 9.99994208e-01 -4.67071621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95241403699998 meters 0.0684631975431698 Centerline is valid? [True, True] Translation: X:176.34, Y:-14.00, Z:-4.67 [[ 9.82605919e-01 1.85662017e-01 -3.90173820e-03 1.76336213e+02] [-1.85660572e-01 9.82613665e-01 7.32514519e-04 -1.40009423e+01] [ 3.96990140e-03 4.62584511e-06 9.99992120e-01 -4.67019826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98241403699998 meters 0.06855873769224104 Centerline is valid? [True, True] Translation: X:176.36, Y:-14.01, Z:-4.67 [[ 9.82718594e-01 1.85061399e-01 -4.05512805e-03 1.76363935e+02] [-1.85059827e-01 9.82726960e-01 7.62920269e-04 -1.40132783e+01] [ 4.12627075e-03 7.05359485e-07 9.99991487e-01 -4.67398438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01241403699999 meters 0.06851296015252223 Centerline is valid? [True, True] Translation: X:176.39, Y:-14.02, Z:-4.67 [[ 9.82625207e-01 1.85564314e-01 -3.68608446e-03 1.76393295e+02] [-1.85563020e-01 9.82632121e-01 6.93047256e-04 -1.40217899e+01] [ 3.75066983e-03 2.99526170e-06 9.99992966e-01 -4.67369375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.042414037 meters 0.06845925768382445 Centerline is valid? [True, True] Translation: X:176.42, Y:-14.03, Z:-4.67 [[ 9.82600722e-01 1.85708887e-01 -2.83389348e-03 1.76423020e+02] [-1.85708123e-01 9.82604808e-01 5.32820698e-04 -1.40308275e+01] [ 2.88354690e-03 2.72703621e-06 9.99995843e-01 -4.67345619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.072414037 meters 0.06821117389437877 Centerline is valid? [True, True] Translation: X:176.45, Y:-14.04, Z:-4.67 [[ 9.82486547e-01 1.86331137e-01 -9.44895013e-04 1.76452596e+02] [-1.86331046e-01 9.82487001e-01 1.84411438e-04 -1.40434953e+01] [ 9.62708661e-04 -5.11848103e-06 9.99999537e-01 -4.67307026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.102414037 meters 0.06821117389437877 Centerline is valid? [True, True] Translation: X:176.48, Y:-14.05, Z:-4.67 [[ 9.82441274e-01 1.86569694e-01 -9.44768425e-04 1.76483708e+02] [-1.86569602e-01 9.82441728e-01 1.85079221e-04 -1.40494035e+01] [ 9.62710098e-04 -5.56439676e-06 9.99999537e-01 -4.67396681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.132414037 meters 0.06822069747632219 Centerline is valid? [True, True] Translation: X:176.51, Y:-14.06, Z:-4.67 [[ 9.82322540e-01 1.87184146e-01 -2.12653026e-03 1.76514988e+02] [-1.87183701e-01 9.82324842e-01 4.08372257e-04 -1.40588557e+01] [ 2.16538432e-03 -3.10146814e-06 9.99997656e-01 -4.67479600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.162414037 meters 0.06830720369889612 Centerline is valid? [True, True] Translation: X:176.54, Y:-14.07, Z:-4.68 [[ 9.82469209e-01 1.86394387e-01 -3.37442011e-03 1.76544923e+02] [-1.86393274e-01 9.82475003e-01 6.44168651e-04 -1.40678778e+01] [ 3.43535283e-03 -3.90665118e-06 9.99994099e-01 -4.67646692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.192414037 meters 0.06866214756554342 Centerline is valid? [True, True] Translation: X:176.57, Y:-14.08, Z:-4.68 [[ 9.82888946e-01 1.84059380e-01 -7.17386596e-03 1.76572647e+02] [-1.84054365e-01 9.82915126e-01 1.35878425e-03 -1.40808687e+01] [ 7.30139835e-03 -1.51526664e-05 9.99973344e-01 -4.67959282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.222414037 meters 0.06883090403690077 Centerline is valid? [True, True] Translation: X:176.60, Y:-14.09, Z:-4.68 [[ 9.83163568e-01 1.82528737e-01 -8.52397713e-03 1.76603528e+02] [-1.82521544e-01 9.83200518e-01 1.62087814e-03 -1.40914656e+01] [ 8.67663557e-03 -3.77788670e-05 9.99962357e-01 -4.67909897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.252414037 meters 0.06902163406869818 Centerline is valid? [True, True] Translation: X:176.63, Y:-14.10, Z:-4.68 [[ 9.83474653e-01 1.80795778e-01 -9.51285765e-03 1.76632678e+02] [-1.80786801e-01 9.83520658e-01 1.80239519e-03 -1.41020989e+01] [ 9.68195745e-03 -5.28108795e-05 9.99953127e-01 -4.68076262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.282414037 meters 0.06956613230613615 Centerline is valid? [True, True] Translation: X:176.66, Y:-14.12, Z:-4.68 [[ 9.83833857e-01 1.78869673e-01 -8.75110482e-03 1.76662223e+02] [-1.78861928e-01 9.83872773e-01 1.66626179e-03 -1.41190938e+01] [ 8.90801747e-03 -7.40852827e-05 9.99960320e-01 -4.68101424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.312414037 meters 0.06885410824993021 Centerline is valid? [True, True] Translation: X:176.69, Y:-14.13, Z:-4.68 [[ 9.83878501e-01 1.78769872e-01 -4.94255648e-03 1.76691812e+02] [-1.78767414e-01 9.83890914e-01 9.38340525e-04 -1.41300055e+01] [ 5.03068343e-03 -3.96450301e-05 9.99987345e-01 -4.68117182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.342414037 meters 0.06899865432983666 Centerline is valid? [True, True] Translation: X:176.72, Y:-14.14, Z:-4.68 [[ 9.84079737e-01 1.77659656e-01 -4.91100170e-03 1.76723277e+02] [-1.77657174e-01 9.84091989e-01 9.40577311e-04 -1.41409461e+01] [ 4.99998008e-03 -5.31283872e-05 9.99987499e-01 -4.68317400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.372414037 meters 0.06910212904315897 Centerline is valid? [True, True] Translation: X:176.75, Y:-14.15, Z:-4.68 [[ 9.84131776e-01 1.77330635e-01 -6.20435968e-03 1.76753825e+02] [-1.77326676e-01 9.84151331e-01 1.18673753e-03 -1.41516454e+01] [ 6.31647376e-03 -6.77076333e-05 9.99980049e-01 -4.68479684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.402414037 meters 0.0693196725372946 Centerline is valid? [True, True] Translation: X:176.78, Y:-14.17, Z:-4.69 [[ 9.84512557e-01 1.75183595e-01 -6.76257969e-03 1.76782527e+02] [-1.75178839e-01 9.84535779e-01 1.29388555e-03 -1.41667891e+01] [ 6.88466919e-03 -8.91857085e-05 9.99976296e-01 -4.68678779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.432414037 meters 0.0701696372318164 Centerline is valid? [True, True] Translation: X:176.81, Y:-14.18, Z:-4.69 [[ 9.84557380e-01 1.74851837e-01 -8.57911220e-03 1.76812152e+02] [-1.74844170e-01 9.84594750e-01 1.64159203e-03 -1.41776810e+01] [ 8.73398421e-03 -1.16233796e-04 9.99961851e-01 -4.68852090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46241403699997 meters 0.0695262002306554 Centerline is valid? [True, True] Translation: X:176.84, Y:-14.19, Z:-4.68 [[ 9.84694923e-01 1.74165436e-01 -6.50462363e-03 1.76842676e+02] [-1.74160988e-01 9.84716402e-01 1.24849577e-03 -1.41883412e+01] [ 6.62265438e-03 -9.65357683e-05 9.99978065e-01 -4.68496830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49241403699997 meters 0.069150482706438 Centerline is valid? [True, True] Translation: X:176.87, Y:-14.20, Z:-4.69 [[ 9.84901328e-01 1.73077275e-01 -3.69205697e-03 1.76873419e+02] [-1.73075820e-01 9.84908246e-01 7.12506881e-04 -1.42000337e+01] [ 3.75965610e-03 -6.27431850e-05 9.99992931e-01 -4.68503182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52241403699998 meters 0.069919703976849 Centerline is valid? [True, True] Translation: X:176.90, Y:-14.22, Z:-4.69 [[ 9.85521565e-01 1.69502670e-01 -4.01117400e-03 1.76901458e+02] [-1.69500949e-01 9.85529725e-01 7.67746872e-04 -1.42166398e+01] [ 4.08326636e-03 -7.67332989e-05 9.99991660e-01 -4.68910336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55241403699998 meters 0.07020135585128735 Centerline is valid? [True, True] Translation: X:176.93, Y:-14.23, Z:-4.69 [[ 9.85749107e-01 1.68173709e-01 -4.03745845e-03 1.76931612e+02] [-1.68171930e-01 9.85757372e-01 7.78708920e-04 -1.42269186e+01] [ 4.11091280e-03 -8.86244423e-05 9.99991546e-01 -4.69044202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58241403699998 meters 0.0705559590095445 Centerline is valid? [True, True] Translation: X:176.96, Y:-14.24, Z:-4.69 [[ 9.86041843e-01 1.66477694e-01 -2.58082192e-03 1.76961215e+02] [-1.66476951e-01 9.86045219e-01 5.01467584e-04 -1.42398258e+01] [ 2.62829028e-03 -6.48206562e-05 9.99996544e-01 -4.69173604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61241403699998 meters 0.06977867679067787 Centerline is valid? [True, True] Translation: X:176.99, Y:-14.24, Z:-4.69 [[ 9.86014934e-01 1.66645885e-01 -1.92338355e-03 1.76992793e+02] [-1.66645468e-01 9.86016808e-01 3.75918694e-04 -1.42445654e+01] [ 1.95913381e-03 -5.01382941e-05 9.99998080e-01 -4.68741064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64241403699998 meters 0.06959494338590806 Centerline is valid? [True, True] Translation: X:177.02, Y:-14.25, Z:-4.69 [[ 9.86034237e-01 1.66540529e-01 -8.57310091e-04 1.77023770e+02] [-1.66540443e-01 9.86034610e-01 1.71577470e-04 -1.42516542e+01] [ 8.73912023e-04 -2.64044574e-05 9.99999618e-01 -4.68750305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67241403699998 meters 0.06965766099097777 Centerline is valid? [True, True] Translation: X:177.05, Y:-14.26, Z:-4.69 [[ 9.85992824e-01 1.66786194e-01 7.18856019e-04 1.77054539e+02] [-1.66786142e-01 9.85993086e-01 -1.31477896e-04 -1.42593176e+01] [-7.30715763e-04 9.74103967e-06 9.99999733e-01 -4.68819214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70241403699998 meters 0.06987880211138958 Centerline is valid? [True, True] Translation: X:177.08, Y:-14.27, Z:-4.69 [[ 9.85961270e-01 1.66973498e-01 -4.73875065e-04 1.77084697e+02] [-1.66973472e-01 9.85961384e-01 9.48485730e-05 -1.42688130e+01] [ 4.83059713e-04 -1.43924546e-05 9.99999883e-01 -4.68830194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73241403699998 meters 0.06977827554229378 Centerline is valid? [True, True] Translation: X:177.12, Y:-14.28, Z:-4.69 [[ 9.85951895e-01 1.67021654e-01 -1.62080160e-03 1.77115784e+02] [-1.67021355e-01 9.85953227e-01 3.19261894e-04 -1.42753943e+01] [ 1.65135822e-03 -4.40683904e-05 9.99998636e-01 -4.68883861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76241403699999 meters 0.06995702793022406 Centerline is valid? [True, True] Translation: X:177.15, Y:-14.28, Z:-4.69 [[ 9.85984252e-01 1.66789018e-01 -4.05924241e-03 1.77146179e+02] [-1.66787179e-01 9.85992603e-01 7.89642619e-04 -1.42828638e+01] [ 4.13408671e-03 -1.01545595e-04 9.99991449e-01 -4.69161516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.792414037 meters 0.07009012065853926 Centerline is valid? [True, True] Translation: X:177.18, Y:-14.29, Z:-4.69 [[ 9.86028061e-01 1.66520561e-01 -4.42333190e-03 1.77177093e+02] [-1.66518374e-01 9.86037976e-01 8.60916396e-04 -1.42896360e+01] [ 4.50493352e-03 -1.12321690e-04 9.99989846e-01 -4.69320888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.822414037 meters 0.07005666353959783 Centerline is valid? [True, True] Translation: X:177.21, Y:-14.30, Z:-4.69 [[ 9.86218258e-01 1.65373675e-01 -5.00958048e-03 1.77208070e+02] [-1.65370852e-01 9.86230972e-01 9.75490286e-04 -1.42957184e+01] [ 5.10192384e-03 -1.33607737e-04 9.99986976e-01 -4.69413082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.852414037 meters 0.07041832040953433 Centerline is valid? [True, True] Translation: X:177.24, Y:-14.30, Z:-4.70 [[ 9.86142441e-01 1.65803963e-01 -5.66857310e-03 1.77237944e+02] [-1.65800353e-01 9.86158721e-01 1.10422219e-03 -1.43047004e+01] [ 5.77319721e-03 -1.49068943e-04 9.99983324e-01 -4.69682073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.882414037 meters 0.07046732026393475 Centerline is valid? [True, True] Translation: X:177.27, Y:-14.31, Z:-4.70 [[ 9.86044074e-01 1.66406173e-01 -5.10580478e-03 1.77269540e+02] [-1.66403242e-01 9.86057284e-01 9.96720113e-04 -1.43128736e+01] [ 5.20047637e-03 -1.33187495e-04 9.99986469e-01 -4.69726769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.912414037 meters 0.07068044346487398 Centerline is valid? [True, True] Translation: X:177.30, Y:-14.32, Z:-4.70 [[ 9.85785931e-01 1.67896150e-01 -6.08112919e-03 1.77300056e+02] [-1.67892016e-01 9.85804676e-01 1.18782500e-03 -1.43238439e+01] [ 6.19423684e-03 -1.49968141e-04 9.99980804e-01 -4.69845597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.942414037 meters 0.0696185062485437 Centerline is valid? [True, True] Translation: X:177.33, Y:-14.33, Z:-4.69 [[ 9.85530722e-01 1.69402022e-01 -5.67023665e-03 1.77332537e+02] [-1.69398441e-01 9.85547024e-01 1.10951111e-03 -1.43272714e+01] [ 5.77623828e-03 -1.32928035e-04 9.99983309e-01 -4.69386167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.972414037 meters 0.07042571290035164 Centerline is valid? [True, True] Translation: X:177.36, Y:-14.34, Z:-4.70 [[ 9.85171310e-01 1.71453163e-01 -6.42667812e-03 1.77362051e+02] [-1.71448606e-01 9.85192262e-01 1.25753080e-03 -1.43372107e+01] [ 6.54712119e-03 -1.37038258e-04 9.99978558e-01 -4.70178612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.002414037 meters 0.0699126171437324 Centerline is valid? [True, True] Translation: X:177.39, Y:-14.34, Z:-4.70 [[ 9.84568682e-01 1.74784167e-01 -8.66059552e-03 1.77394639e+02] [-1.74776016e-01 9.84606759e-01 1.69517754e-03 -1.43378933e+01] [ 8.82357108e-03 -1.55354340e-04 9.99961059e-01 -4.69675315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.032414037 meters 0.06917507275572117 Centerline is valid? [True, True] Translation: X:177.42, Y:-14.34, Z:-4.70 [[ 9.84270396e-01 1.76622766e-01 -4.02316344e-03 1.77423903e+02] [-1.76621036e-01 9.84278616e-01 7.84156738e-04 -1.43445861e+01] [ 4.09841367e-03 -6.12469696e-05 9.99991600e-01 -4.69811340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.062414037 meters 0.07002683480687125 Centerline is valid? [True, True] Translation: X:177.46, Y:-14.35, Z:-4.70 [[ 9.84088104e-01 1.77559000e-01 -6.58827309e-03 1.77455500e+02] [-1.77554365e-01 9.84110152e-01 1.28659413e-03 -1.43516018e+01] [ 6.71203280e-03 -9.63453323e-05 9.99977469e-01 -4.69948542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.092414037 meters 0.06956522197951477 Centerline is valid? [True, True] Translation: X:177.49, Y:-14.36, Z:-4.70 [[ 9.83892032e-01 1.78698589e-01 -4.82540008e-03 1.77486570e+02] [-1.78696083e-01 9.83903862e-01 9.49191395e-04 -1.43588172e+01] [ 4.91734894e-03 -7.16217569e-05 9.99987907e-01 -4.69840014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.122414037 meters 0.068892012961346 Centerline is valid? [True, True] Translation: X:177.52, Y:-14.37, Z:-4.70 [[ 9.83546077e-01 1.80587094e-01 -5.04142196e-03 1.77517741e+02] [-1.80584377e-01 9.83558995e-01 9.92783152e-04 -1.43667724e+01] [ 5.13781974e-03 -6.60459295e-05 9.99986799e-01 -4.69918900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.152414037 meters 0.06901418793714192 Centerline is valid? [True, True] Translation: X:177.55, Y:-14.37, Z:-4.70 [[ 9.83427999e-01 1.81188920e-01 -6.32027287e-03 1.77549434e+02] [-1.81184663e-01 9.83448305e-01 1.24451607e-03 -1.43734635e+01] [ 6.44115416e-03 -7.87554371e-05 9.99979252e-01 -4.70122422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.182414037 meters 0.06912078092452872 Centerline is valid? [True, True] Translation: X:177.58, Y:-14.38, Z:-4.70 [[ 9.83398646e-01 1.81278265e-01 -8.08041403e-03 1.77579485e+02] [-1.81271375e-01 9.83431839e-01 1.58315418e-03 -1.43797791e+01] [ 8.23352788e-03 -9.21239159e-05 9.99966100e-01 -4.70344118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21241403699997 meters 0.06917590641835988 Centerline is valid? [True, True] Translation: X:177.61, Y:-14.39, Z:-4.70 [[ 9.83415672e-01 1.81200389e-01 -7.74818249e-03 1.77610215e+02] [-1.81193993e-01 9.83446191e-01 1.52556156e-03 -1.43869270e+01] [ 7.89635290e-03 -9.63370215e-05 9.99968819e-01 -4.70466012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24241403699997 meters 0.0698230998863533 Centerline is valid? [True, True] Translation: X:177.64, Y:-14.39, Z:-4.71 [[ 9.83544076e-01 1.80532393e-01 -7.00755246e-03 1.77641934e+02] [-1.80527165e-01 9.83569035e-01 1.37689893e-03 -1.43947529e+01] [ 7.14098647e-03 -8.91872126e-05 9.99974499e-01 -4.70543342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27241403699998 meters 0.06923029655040647 Centerline is valid? [True, True] Translation: X:177.67, Y:-14.40, Z:-4.70 [[ 9.83600653e-01 1.80298203e-01 -4.72372614e-03 1.77672097e+02] [-1.80295796e-01 9.83611993e-01 9.34068680e-04 -1.44035466e+01] [ 4.81472459e-03 -6.70825991e-05 9.99988407e-01 -4.70408553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30241403699998 meters 0.06929084653571121 Centerline is valid? [True, True] Translation: X:177.70, Y:-14.41, Z:-4.70 [[ 9.83803741e-01 1.79188135e-01 -4.67030036e-03 1.77703584e+02] [-1.79185761e-01 9.83814823e-01 9.25287879e-04 -1.44123585e+01] [ 4.76051133e-03 -7.34503511e-05 9.99988666e-01 -4.70335758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33241403699998 meters 0.07013597496440749 Centerline is valid? [True, True] Translation: X:177.73, Y:-14.42, Z:-4.71 [[ 9.84131450e-01 1.77252743e-01 -8.17035706e-03 1.77733745e+02] [-1.77245503e-01 9.84165356e-01 1.60771254e-03 -1.44207856e+01] [ 8.32595381e-03 -1.34041424e-04 9.99965330e-01 -4.70608311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36241403699998 meters 0.0694597018384753 Centerline is valid? [True, True] Translation: X:177.76, Y:-14.43, Z:-4.71 [[ 9.84055456e-01 1.77737557e-01 -6.64990366e-03 1.77764598e+02] [-1.77732744e-01 9.84077918e-01 1.31266979e-03 -1.44266259e+01] [ 6.77733407e-03 -1.09834248e-04 9.99977028e-01 -4.70754492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39241403699998 meters 0.06974881107677744 Centerline is valid? [True, True] Translation: X:177.80, Y:-14.43, Z:-4.71 [[ 9.83866216e-01 1.78698813e-01 -8.60249461e-03 1.77796527e+02] [-1.78690759e-01 9.83903814e-01 1.70206823e-03 -1.44319421e+01] [ 8.76818483e-03 -1.37421131e-04 9.99961549e-01 -4.70932236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42241403699998 meters 0.06950961243503284 Centerline is valid? [True, True] Translation: X:177.83, Y:-14.44, Z:-4.71 [[ 9.83262393e-01 1.82012968e-01 -8.14525906e-03 1.77827112e+02] [-1.82005848e-01 9.83296125e-01 1.61330670e-03 -1.44386856e+01] [ 8.30284441e-03 -1.03819024e-04 9.99965525e-01 -4.71144991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45241403699998 meters 0.06953325217019721 Centerline is valid? [True, True] Translation: X:177.86, Y:-14.45, Z:-4.71 [[ 9.82829752e-01 1.84324621e-01 -8.37336112e-03 1.77857397e+02] [-1.84317165e-01 9.82865416e-01 1.66016395e-03 -1.44456367e+01] [ 8.53589615e-03 -8.83043421e-05 9.99963565e-01 -4.71287537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48241403699998 meters 0.0695335182983437 Centerline is valid? [True, True] Translation: X:177.89, Y:-14.45, Z:-4.71 [[ 9.82410746e-01 1.86521148e-01 -8.88744819e-03 1.77890025e+02] [-1.86512806e-01 9.82450943e-01 1.76568727e-03 -1.44525913e+01] [ 9.06081987e-03 -7.70072516e-05 9.99958947e-01 -4.71386202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51241403699999 meters 0.06936995795586158 Centerline is valid? [True, True] Translation: X:177.92, Y:-14.46, Z:-4.72 [[ 9.81616733e-01 1.90643060e-01 -9.15499182e-03 1.77920310e+02] [-1.90634415e-01 9.81659423e-01 1.81590569e-03 -1.44577735e+01] [ 9.33327380e-03 -3.72669019e-05 9.99956443e-01 -4.71554413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.542414037 meters 0.06931648540711842 Centerline is valid? [True, True] Translation: X:177.95, Y:-14.46, Z:-4.72 [[ 9.81405717e-01 1.91753945e-01 -8.55825609e-03 1.77951709e+02] [-1.91746386e-01 9.81443031e-01 1.70287842e-03 -1.44637843e+01] [ 8.72597446e-03 -3.01999379e-05 9.99961928e-01 -4.71562239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.572414037 meters 0.06929492741621436 Centerline is valid? [True, True] Translation: X:177.98, Y:-14.47, Z:-4.72 [[ 9.81088517e-01 1.93348832e-01 -9.03056731e-03 1.77982493e+02] [-1.93340472e-01 9.81130078e-01 1.79800521e-03 -1.44699364e+01] [ 9.20780341e-03 -1.80281116e-05 9.99957607e-01 -4.71714137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.602414037 meters 0.06942201961777279 Centerline is valid? [True, True] Translation: X:178.01, Y:-14.48, Z:-4.72 [[ 9.80850386e-01 1.94538910e-01 -9.33451460e-03 1.78013438e+02] [-1.94530003e-01 9.80894802e-01 1.86166995e-03 -1.44770551e+01] [ 9.51834410e-03 -1.01765395e-05 9.99954699e-01 -4.71936347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.632414037 meters 0.06911745939946773 Centerline is valid? [True, True] Translation: X:178.04, Y:-14.49, Z:-4.72 [[ 9.80448102e-01 1.96601706e-01 -8.32395619e-03 1.78044500e+02] [-1.96594676e-01 9.80483437e-01 1.66261276e-03 -1.44868363e+01] [ 8.48837368e-03 6.33994570e-06 9.99963973e-01 -4.71664247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.662414037 meters 0.0691385009076131 Centerline is valid? [True, True] Translation: X:178.08, Y:-14.49, Z:-4.72 [[ 9.80208495e-01 1.97808725e-01 -7.93813600e-03 1.78075803e+02] [-1.97802352e-01 9.80240638e-01 1.58787172e-03 -1.44948334e+01] [ 8.09537838e-03 1.37366303e-05 9.99967232e-01 -4.71685415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.692414037 meters 0.069147721936738 Centerline is valid? [True, True] Translation: X:178.11, Y:-14.50, Z:-4.72 [[ 9.79894723e-01 1.99375505e-01 -7.46588613e-03 1.78106321e+02] [-1.99369925e-01 9.79923164e-01 1.49185084e-03 -1.45023000e+01] [ 7.61343327e-03 2.66163951e-05 9.99971017e-01 -4.71923535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.722414037 meters 0.06914256819426474 Centerline is valid? [True, True] Translation: X:178.14, Y:-14.51, Z:-4.72 [[ 9.79292948e-01 2.02339731e-01 -6.62995476e-03 1.78137283e+02] [-2.02335364e-01 9.79315389e-01 1.32990817e-03 -1.45109232e+01] [ 6.76190999e-03 3.91046190e-05 9.99977137e-01 -4.72030979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.752414037 meters 0.06942029407626407 Centerline is valid? [True, True] Translation: X:178.17, Y:-14.52, Z:-4.73 [[ 9.79099771e-01 2.03276551e-01 -6.50242948e-03 1.78168607e+02] [-2.03272376e-01 9.79121362e-01 1.30361707e-03 -1.45172850e+01] [ 6.63166240e-03 4.53931184e-05 9.99978009e-01 -4.72544412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.782414037 meters 0.06920148594158416 Centerline is valid? [True, True] Translation: X:178.20, Y:-14.53, Z:-4.72 [[ 9.78898773e-01 2.04243643e-01 -6.45961834e-03 1.78200815e+02] [-2.04239512e-01 9.78920085e-01 1.29979675e-03 -1.45263538e+01] [ 6.58892535e-03 4.69398539e-05 9.99978292e-01 -4.72284227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.812414037 meters 0.07011143852575635 Centerline is valid? [True, True] Translation: X:178.23, Y:-14.54, Z:-4.72 [[ 9.78919449e-01 2.04106915e-01 -7.55512859e-03 1.78229752e+02] [-2.04101269e-01 9.78948602e-01 1.51909919e-03 -1.45381759e+01] [ 7.70614122e-03 5.49355892e-05 9.99970306e-01 -4.72436665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.842414037 meters 0.06936040491952375 Centerline is valid? [True, True] Translation: X:178.26, Y:-14.55, Z:-4.72 [[ 9.78806337e-01 2.04711335e-01 -5.60572318e-03 1.78260132e+02] [-2.04708217e-01 9.78822388e-01 1.13052435e-03 -1.45472151e+01] [ 5.71843850e-03 4.09732053e-05 9.99983649e-01 -4.72466975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.872414037 meters 0.06926896008896395 Centerline is valid? [True, True] Translation: X:178.29, Y:-14.56, Z:-4.72 [[ 9.78728390e-01 2.05074157e-01 -5.94385570e-03 1.78291247e+02] [-2.05070650e-01 9.78746437e-01 1.20019971e-03 -1.45571479e+01] [ 6.06365753e-03 4.42408182e-05 9.99981615e-01 -4.72250756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.902414037 meters 0.06957181138426644 Centerline is valid? [True, True] Translation: X:178.32, Y:-14.56, Z:-4.73 [[ 9.78514154e-01 2.06015541e-01 -8.22484149e-03 1.78321620e+02] [-2.06008869e-01 9.78548717e-01 1.65945428e-03 -1.45640737e+01] [ 8.39028146e-03 7.05907916e-05 9.99964798e-01 -4.72819005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.932414037 meters 0.06970712425167169 Centerline is valid? [True, True] Translation: X:178.35, Y:-14.57, Z:-4.73 [[ 9.78313298e-01 2.06942060e-01 -8.83596678e-03 1.78353157e+02] [-2.06934382e-01 9.78353197e-01 1.78445274e-03 -1.45721751e+01] [ 9.01397467e-03 8.27114787e-05 9.99959370e-01 -4.72979667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96241403699997 meters 0.06933216232524075 Centerline is valid? [True, True] Translation: X:178.38, Y:-14.58, Z:-4.73 [[ 9.77793322e-01 2.09375723e-01 -9.05680231e-03 1.78383433e+02] [-2.09367738e-01 9.77835260e-01 1.83166609e-03 -1.45832747e+01] [ 9.23956705e-03 1.05211335e-04 9.99957309e-01 -4.72587704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99241403699997 meters 0.06933216232524075 Centerline is valid? [True, True] Translation: X:178.42, Y:-14.59, Z:-4.73 [[ 9.77734527e-01 2.09650140e-01 -9.05609038e-03 1.78415246e+02] [-2.09642133e-01 9.77776461e-01 1.83519243e-03 -1.45897661e+01] [ 9.23958035e-03 1.04207097e-04 9.99957309e-01 -4.72679737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02241403699998 meters 0.06926958568459757 Centerline is valid? [True, True] Translation: X:178.45, Y:-14.60, Z:-4.73 [[ 9.77634929e-01 2.10159050e-01 -7.94475382e-03 1.78445883e+02] [-2.10152889e-01 9.77667206e-01 1.61200821e-03 -1.45984958e+01] [ 8.10610338e-03 9.36574294e-05 9.99967141e-01 -4.72680215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05241403699998 meters 0.06937573972692491 Centerline is valid? [True, True] Translation: X:178.48, Y:-14.61, Z:-4.73 [[ 9.77511313e-01 2.10762195e-01 -7.13647981e-03 1.78476719e+02] [-2.10757221e-01 9.77537360e-01 1.45056246e-03 -1.46080626e+01] [ 7.28189936e-03 8.61234364e-05 9.99973483e-01 -4.72737274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08241403699998 meters 0.06934041940936272 Centerline is valid? [True, True] Translation: X:178.51, Y:-14.62, Z:-4.73 [[ 9.77555666e-01 2.10585158e-01 -6.22984314e-03 1.78507220e+02] [-2.10581348e-01 9.77575514e-01 1.26878719e-03 -1.46183632e+01] [ 6.35732986e-03 7.15786548e-05 9.99979789e-01 -4.72749921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11241403699998 meters 0.06932547086732214 Centerline is valid? [True, True] Translation: X:178.54, Y:-14.63, Z:-4.73 [[ 9.77681467e-01 2.10028641e-01 -5.18844940e-03 1.78536530e+02] [-2.10025996e-01 9.77695232e-01 1.05557957e-03 -1.46323288e+01] [ 5.29442418e-03 5.76886718e-05 9.99985983e-01 -4.72881085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14241403699998 meters 0.06928977287861535 Centerline is valid? [True, True] Translation: X:178.57, Y:-14.64, Z:-4.73 [[ 9.77763522e-01 2.09645724e-01 -5.21210614e-03 1.78567816e+02] [-2.09643019e-01 9.77777412e-01 1.06611578e-03 -1.46435375e+01] [ 5.31978627e-03 5.02725400e-05 9.99985849e-01 -4.72817634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17241403699998 meters 0.06930825514406509 Centerline is valid? [True, True] Translation: X:178.60, Y:-14.65, Z:-4.73 [[ 9.77898036e-01 2.08977817e-01 -6.61078893e-03 1.78597230e+02] [-2.08973489e-01 9.77920379e-01 1.34648561e-03 -1.46530533e+01] [ 6.74621084e-03 6.47539903e-05 9.99977242e-01 -4.73009330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20241403699998 meters 0.06929599437452469 Centerline is valid? [True, True] Translation: X:178.63, Y:-14.67, Z:-4.73 [[ 9.78117603e-01 2.07963332e-01 -6.09977636e-03 1.78626079e+02] [-2.07959600e-01 9.78136621e-01 1.24681435e-03 -1.46667198e+01] [ 6.22570631e-03 4.89759923e-05 9.99980619e-01 -4.73100211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23241403699998 meters 0.0693207830018495 Centerline is valid? [True, True] Translation: X:178.66, Y:-14.68, Z:-4.73 [[ 9.78202830e-01 2.07574257e-01 -5.67020645e-03 1.78656883e+02] [-2.07571011e-01 9.78219263e-01 1.16157178e-03 -1.46776831e+01] [ 5.78781758e-03 4.07176837e-05 9.99983250e-01 -4.73003216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26241403699999 meters 0.0696064443653777 Centerline is valid? [True, True] Translation: X:178.69, Y:-14.69, Z:-4.74 [[ 9.78312467e-01 2.07017167e-01 -6.97203088e-03 1.78686394e+02] [-2.07012249e-01 9.78337309e-01 1.42770871e-03 -1.46873007e+01] [ 7.11655814e-03 4.65505622e-05 9.99974676e-01 -4.73513087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.292414037 meters 0.06956547688358154 Centerline is valid? [True, True] Translation: X:178.72, Y:-14.70, Z:-4.73 [[ 9.78504392e-01 2.06024208e-01 -9.12038083e-03 1.78716774e+02] [-2.06015743e-01 9.78546894e-01 1.86831557e-03 -1.46990028e+01] [ 9.30963857e-03 5.07870479e-05 9.99956663e-01 -4.73371225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.322414037 meters 0.06970452499529133 Centerline is valid? [True, True] Translation: X:178.75, Y:-14.71, Z:-4.74 [[ 9.78916601e-01 2.03938929e-01 -1.14543096e-02 1.78746883e+02] [-2.03925503e-01 9.78983611e-01 2.34053427e-03 -1.47137568e+01] [ 1.16909075e-02 4.46379976e-05 9.99931658e-01 -4.73530859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.352414037 meters 0.07033165015367694 Centerline is valid? [True, True] Translation: X:178.78, Y:-14.72, Z:-4.74 [[ 9.79273885e-01 2.02161664e-01 -1.23822603e-02 1.78776149e+02] [-2.02145795e-01 9.79352164e-01 2.53305442e-03 -1.47237406e+01] [ 1.26386799e-02 2.24678023e-05 9.99920128e-01 -4.73699606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.382414037 meters 0.06945921962815212 Centerline is valid? [True, True] Translation: X:178.81, Y:-14.73, Z:-4.73 [[ 9.79584846e-01 2.00859348e-01 -8.30978735e-03 1.78805348e+02] [-2.00852175e-01 9.79620091e-01 1.69757455e-03 -1.47339122e+01] [ 8.48140836e-03 6.12055357e-06 9.99964032e-01 -4.73474720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.412414037 meters 0.06933097763330444 Centerline is valid? [True, True] Translation: X:178.83, Y:-14.75, Z:-4.73 [[ 9.80407742e-01 1.96934874e-01 -4.16123385e-03 1.78833683e+02] [-1.96933034e-01 9.80416572e-01 8.51257922e-04 -1.47478749e+01] [ 4.24738499e-03 -1.50954482e-05 9.99990980e-01 -4.73469710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.442414037 meters 0.06934732719605052 Centerline is valid? [True, True] Translation: X:178.86, Y:-14.76, Z:-4.73 [[ 9.80797135e-01 1.95005164e-01 -3.15693467e-03 1.78864643e+02] [-1.95004073e-01 9.80802215e-01 6.52767395e-04 -1.47584460e+01] [ 3.22362153e-03 -2.46172720e-05 9.99994804e-01 -4.73490205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.472414037 meters 0.0694731467831511 Centerline is valid? [True, True] Translation: X:178.89, Y:-14.77, Z:-4.74 [[ 9.81216383e-01 1.92867764e-01 -4.05398943e-03 1.78894488e+02] [-1.92865953e-01 9.81224757e-01 8.36665438e-04 -1.47686317e+01] [ 4.13924059e-03 -3.90733007e-05 9.99991433e-01 -4.73683137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.502414037 meters 0.06982796251246286 Centerline is valid? [True, True] Translation: X:178.92, Y:-14.78, Z:-4.74 [[ 9.82036151e-01 1.88558976e-01 -7.10702675e-03 1.78923368e+02] [-1.88553368e-01 9.82061864e-01 1.45718503e-03 -1.47812284e+01] [ 7.25430525e-03 -9.09545531e-05 9.99973683e-01 -4.73948603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.532414037 meters 0.07008017703929655 Centerline is valid? [True, True] Translation: X:178.95, Y:-14.79, Z:-4.74 [[ 9.82430962e-01 1.86396512e-01 -9.25990752e-03 1.78954101e+02] [-1.86386886e-01 9.82474590e-01 1.89954740e-03 -1.47909300e+01] [ 9.45169286e-03 -1.40248851e-04 9.99955322e-01 -4.74153491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.562414037 meters 0.0705655313780133 Centerline is valid? [True, True] Translation: X:178.98, Y:-14.80, Z:-4.74 [[ 9.82860680e-01 1.84096390e-01 -9.66453094e-03 1.78983278e+02] [-1.84085800e-01 9.82908180e-01 1.98182240e-03 -1.48010100e+01] [ 9.86419287e-03 -1.68752406e-04 9.99951333e-01 -4.74498844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.592414037 meters 0.07067162330954263 Centerline is valid? [True, True] Translation: X:179.01, Y:-14.81, Z:-4.74 [[ 9.83165584e-01 1.82501509e-01 -8.86756920e-03 1.79014944e+02] [-1.82492444e-01 9.83205557e-01 1.82770192e-03 -1.48099993e+01] [ 9.05220167e-03 -1.78669243e-04 9.99959012e-01 -4.74498079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.622414037 meters 0.0705511630118155 Centerline is valid? [True, True] Translation: X:179.05, Y:-14.82, Z:-4.74 [[ 9.83594418e-01 1.80197933e-01 -8.40984952e-03 1.79046026e+02] [-1.80189681e-01 9.83630352e-01 1.73504835e-03 -1.48191940e+01] [ 8.58483537e-03 -1.91215767e-04 9.99963131e-01 -4.74216457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.652414037 meters 0.07045963263324921 Centerline is valid? [True, True] Translation: X:179.08, Y:-14.83, Z:-4.74 [[ 9.83801960e-01 1.79073216e-01 -8.15393530e-03 1.79077859e+02] [-1.79065400e-01 9.83835730e-01 1.68472476e-03 -1.48256329e+01] [ 8.32382198e-03 -1.97347841e-04 9.99965337e-01 -4.74160361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.682414037 meters 0.07122384060863932 Centerline is valid? [True, True] Translation: X:179.11, Y:-14.84, Z:-4.75 [[ 9.84026232e-01 1.77847888e-01 -7.90589986e-03 1.79107566e+02] [-1.77840488e-01 9.84057970e-01 1.63499155e-03 -1.48353126e+01] [ 8.07064355e-03 -2.02885483e-04 9.99967411e-01 -4.74560958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71241403699997 meters 0.07110909673055361 Centerline is valid? [True, True] Translation: X:179.14, Y:-14.84, Z:-4.74 [[ 9.84394347e-01 1.75816187e-01 -7.51246526e-03 1.79138814e+02] [-1.75809426e-01 9.84422990e-01 1.55627833e-03 -1.48426162e+01] [ 7.66906243e-03 -2.11229383e-04 9.99970570e-01 -4.74363198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74241403699997 meters 0.07127427481168608 Centerline is valid? [True, True] Translation: X:179.17, Y:-14.85, Z:-4.74 [[ 9.84573765e-01 1.74880681e-01 -5.59000212e-03 1.79169401e+02] [-1.74876904e-01 9.84589620e-01 1.16114503e-03 -1.48512493e+01] [ 5.70691989e-03 -1.65670668e-04 9.99983702e-01 -4.74370999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77241403699998 meters 0.07123442170684581 Centerline is valid? [True, True] Translation: X:179.20, Y:-14.86, Z:-4.74 [[ 9.84899221e-01 1.73088283e-01 -3.73772905e-03 1.79201604e+02] [-1.73086564e-01 9.84906306e-01 7.80860035e-04 -1.48590188e+01] [ 3.81647064e-03 -1.22117760e-04 9.99992710e-01 -4.74278168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80241403699998 meters 0.0712031202852412 Centerline is valid? [True, True] Translation: X:179.23, Y:-14.87, Z:-4.74 [[ 9.85259216e-01 1.71042496e-01 -2.95657206e-03 1.79232961e+02] [-1.71041407e-01 9.85263647e-01 6.19191513e-04 -1.48666707e+01] [ 3.01891104e-03 -1.04367899e-04 9.99995438e-01 -4.74128897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83241403699998 meters 0.07206929477000135 Centerline is valid? [True, True] Translation: X:179.26, Y:-14.88, Z:-4.74 [[ 9.86238073e-01 1.65279070e-01 -4.15830461e-03 1.79261137e+02] [-1.65276908e-01 9.86246827e-01 8.60710157e-04 -1.48778990e+01] [ 4.24337210e-03 -1.61593397e-04 9.99990984e-01 -4.74194885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86241403699998 meters 0.07298259877336384 Centerline is valid? [True, True] Translation: X:179.29, Y:-14.89, Z:-4.74 [[ 9.86728039e-01 1.62219181e-01 -7.26039002e-03 1.79291115e+02] [-1.62212502e-01 9.86754703e-01 1.50355041e-03 -1.48862640e+01] [ 7.40812871e-03 -3.05869319e-04 9.99972513e-01 -4.74480231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89241403699998 meters 0.07347267500080919 Centerline is valid? [True, True] Translation: X:179.32, Y:-14.89, Z:-4.75 [[ 9.87501862e-01 1.57336641e-01 -9.23330224e-03 1.79320711e+02] [-1.57325624e-01 9.87544931e-01 1.91215027e-03 -1.48932490e+01] [ 9.41915213e-03 -4.35616912e-04 9.99955544e-01 -4.74786153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92241403699998 meters 0.0740164347230211 Centerline is valid? [True, True] Translation: X:179.35, Y:-14.90, Z:-4.75 [[ 9.87745278e-01 1.55749379e-01 -1.00695634e-02 1.79351145e+02] [-1.55736109e-01 9.87796478e-01 2.09362347e-03 -1.48999542e+01] [ 1.02727598e-02 -4.99772073e-04 9.99947109e-01 -4.74942644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95241403699998 meters 0.07302617880888755 Centerline is valid? [True, True] Translation: X:179.38, Y:-14.90, Z:-4.75 [[ 9.87922838e-01 1.54697898e-01 -8.77645157e-03 1.79383892e+02] [-1.54687742e-01 9.87961719e-01 1.82858561e-03 -1.49025124e+01] [ 8.95367654e-03 -4.48892007e-04 9.99959814e-01 -4.74650366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98241403699998 meters 0.07364651831915857 Centerline is valid? [True, True] Translation: X:179.41, Y:-14.91, Z:-4.74 [[ 9.88530292e-01 1.50814484e-01 -7.92802273e-03 1.79414605e+02] [-1.50806113e-01 9.88561988e-01 1.64667187e-03 -1.49091730e+01] [ 8.08568388e-03 -4.32190729e-04 9.99967217e-01 -4.74401183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01241403699999 meters 0.07484182984614925 Centerline is valid? [True, True] Translation: X:179.44, Y:-14.92, Z:-4.75 [[ 9.88766910e-01 1.49253869e-01 -7.95491449e-03 1.79443980e+02] [-1.49245363e-01 9.88798807e-01 1.65577387e-03 -1.49177192e+01] [ 8.11294061e-03 -4.49940320e-04 9.99966988e-01 -4.74581975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.042414037 meters 0.07451229156668501 Centerline is valid? [True, True] Translation: X:179.47, Y:-14.92, Z:-4.75 [[ 9.89005190e-01 1.47591879e-01 -9.23962143e-03 1.79474644e+02] [-1.47580363e-01 9.89048205e-01 1.91975970e-03 -1.49209894e+01] [ 9.42177192e-03 -5.35065620e-04 9.99955471e-01 -4.74502781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.072414037 meters 0.07511845016008294 Centerline is valid? [True, True] Translation: X:179.50, Y:-14.93, Z:-4.75 [[ 9.89292476e-01 1.45621143e-01 -9.74064042e-03 1.79504110e+02] [-1.45608254e-01 9.89340256e-01 2.02333081e-03 -1.49257916e+01] [ 9.93144743e-03 -5.83348297e-04 9.99950512e-01 -4.74725933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.102414037 meters 0.07547949460152076 Centerline is valid? [True, True] Translation: X:179.53, Y:-14.93, Z:-4.75 [[ 9.89553618e-01 1.43755842e-01 -1.08579480e-02 1.79534668e+02] [-1.43739707e-01 9.89612958e-01 2.25610992e-03 -1.49295007e+01] [ 1.10694950e-02 -6.71823475e-04 9.99938506e-01 -4.74903046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.132414037 meters 0.07566658170027823 Centerline is valid? [True, True] Translation: X:179.57, Y:-14.93, Z:-4.75 [[ 9.90067991e-01 1.40051486e-01 -1.22863367e-02 1.79566309e+02] [-1.40030544e-01 9.90143894e-01 2.55273605e-03 -1.49296441e+01] [ 1.25227557e-02 -8.06919839e-04 9.99921262e-01 -4.74974595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.162414037 meters 0.07654814442603969 Centerline is valid? [True, True] Translation: X:179.60, Y:-14.93, Z:-4.75 [[ 9.90320070e-01 1.38191046e-01 -1.30151146e-02 1.79596588e+02] [-1.38167365e-01 9.90405199e-01 2.70573584e-03 -1.49346293e+01] [ 1.32641456e-02 -8.81280421e-04 9.99911639e-01 -4.75129133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.192414037 meters 0.07576849468353 Centerline is valid? [True, True] Translation: X:179.63, Y:-14.93, Z:-4.75 [[ 9.90693968e-01 1.35588235e-01 -1.18866702e-02 1.79628178e+02] [-1.35568285e-01 9.90764921e-01 2.47203628e-03 -1.49334665e+01] [ 1.21120748e-02 -8.37575938e-04 9.99926295e-01 -4.74996153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.222414037 meters 0.07668002189410043 Centerline is valid? [True, True] Translation: X:179.66, Y:-14.94, Z:-4.75 [[ 9.90918188e-01 1.33904776e-01 -1.22741731e-02 1.79657559e+02] [-1.33883395e-01 9.90993808e-01 2.55113943e-03 -1.49381047e+01] [ 1.25052393e-02 -8.84662505e-04 9.99921415e-01 -4.75195035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.252414037 meters 0.08025285099271168 Centerline is valid? [True, True] Translation: X:179.69, Y:-14.95, Z:-4.76 [[ 9.90945579e-01 1.33613482e-01 -1.32021573e-02 1.79687211e+02] [-1.33588592e-01 9.91033050e-01 2.75352562e-03 -1.49482416e+01] [ 1.34516823e-02 -9.64936440e-04 9.99909056e-01 -4.75811974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.282414037 meters 0.07789111356534033 Centerline is valid? [True, True] Translation: X:179.72, Y:-14.94, Z:-4.76 [[ 9.91080688e-01 1.32589542e-01 -1.33821854e-02 1.79722109e+02] [-1.32563924e-01 9.91170538e-01 2.78746997e-03 -1.49403027e+01] [ 1.36336173e-02 -9.88612641e-04 9.99906569e-01 -4.75606890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.312414037 meters 0.07778954666769629 Centerline is valid? [True, True] Translation: X:179.75, Y:-14.94, Z:-4.76 [[ 9.91102945e-01 1.32410294e-01 -1.35080413e-02 1.79754041e+02] [-1.32384126e-01 9.91194485e-01 2.81727424e-03 -1.49421017e+01] [ 1.37621321e-02 -1.00395855e-03 9.99904793e-01 -4.75659025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.342414037 meters 0.07631110915734012 Centerline is valid? [True, True] Translation: X:179.79, Y:-14.94, Z:-4.76 [[ 9.91084181e-01 1.32441172e-01 -1.45423888e-02 1.79787558e+02] [-1.32410746e-01 9.91190271e-01 3.03979761e-03 -1.49406644e+01] [ 1.48168687e-02 -1.08712678e-03 9.99889633e-01 -4.75531650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.372414037 meters 0.07717235374432853 Centerline is valid? [True, True] Translation: X:179.82, Y:-14.94, Z:-4.76 [[ 9.91033614e-01 1.32894962e-01 -1.38313346e-02 1.79819665e+02] [-1.32867439e-01 9.91129591e-01 2.89423710e-03 -1.49403811e+01] [ 1.40932745e-02 -1.03055224e-03 9.99900154e-01 -4.75730416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.402414037 meters 0.07543154292657202 Centerline is valid? [True, True] Translation: X:179.85, Y:-14.94, Z:-4.76 [[ 9.90950653e-01 1.33569619e-01 -1.32650327e-02 1.79853477e+02] [-1.33544305e-01 9.91038945e-01 2.78011118e-03 -1.49376325e+01] [ 1.35175024e-02 -9.83483413e-04 9.99908151e-01 -4.75533920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.432414037 meters 0.07548930340765496 Centerline is valid? [True, True] Translation: X:179.88, Y:-14.94, Z:-4.76 [[ 9.90792671e-01 1.34757014e-01 -1.30548710e-02 1.79884539e+02] [-1.34732672e-01 9.90878222e-01 2.73048842e-03 -1.49389945e+01] [ 1.33037399e-02 -9.46430255e-04 9.99911053e-01 -4.75648666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46241403699997 meters 0.07540402329237621 Centerline is valid? [True, True] Translation: X:179.92, Y:-14.93, Z:-4.76 [[ 9.90403853e-01 1.37624389e-01 -1.26386775e-02 1.79917585e+02] [-1.37601810e-01 9.90484102e-01 2.64318385e-03 -1.49332218e+01] [ 1.28821757e-02 -8.78714561e-04 9.99916635e-01 -4.75930151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49241403699997 meters 0.07563140703302418 Centerline is valid? [True, True] Translation: X:179.95, Y:-14.93, Z:-4.76 [[ 9.90154808e-01 1.39496464e-01 -1.15841936e-02 1.79948647e+02] [-1.39477621e-01 9.90222259e-01 2.42290428e-03 -1.49346159e+01] [ 1.18089129e-02 -7.83314557e-04 9.99929966e-01 -4.76169722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52241403699998 meters 0.07544559257659943 Centerline is valid? [True, True] Translation: X:179.98, Y:-14.94, Z:-4.76 [[ 9.89850719e-01 1.41659361e-01 -1.13216043e-02 1.79980604e+02] [-1.41641484e-01 9.89915186e-01 2.36961949e-03 -1.49359129e+01] [ 1.15431068e-02 -7.41960726e-04 9.99933101e-01 -4.76300823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55241403699998 meters 0.07582112485568723 Centerline is valid? [True, True] Translation: X:180.01, Y:-14.94, Z:-4.76 [[ 9.89512268e-01 1.44048816e-01 -1.07428690e-02 1.80010097e+02] [-1.44032883e-01 9.89570352e-01 2.24636455e-03 -1.49380943e+01] [ 1.09544108e-02 -6.75478892e-04 9.99939770e-01 -4.76437496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58241403699998 meters 0.07453807824298313 Centerline is valid? [True, True] Translation: X:180.04, Y:-14.93, Z:-4.76 [[ 9.88666036e-01 1.49918506e-01 -7.99447558e-03 1.80043412e+02] [-1.49909865e-01 9.88698252e-01 1.67268184e-03 -1.49306514e+01] [ 8.15488999e-03 -4.55272961e-04 9.99966645e-01 -4.76442600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61241403699998 meters 0.07444181164124027 Centerline is valid? [True, True] Translation: X:180.07, Y:-14.93, Z:-4.77 [[ 9.88313252e-01 1.52295149e-01 -6.56533199e-03 1.80073778e+02] [-1.52289377e-01 9.88334994e-01 1.37325255e-03 -1.49309488e+01] [ 6.69788705e-03 -3.57373380e-04 9.99977505e-01 -4.76557604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64241403699998 meters 0.07449856018622246 Centerline is valid? [True, True] Translation: X:180.11, Y:-14.93, Z:-4.77 [[ 9.88001158e-01 1.54290064e-01 -6.94902615e-03 1.80105780e+02] [-1.54283586e-01 9.88025525e-01 1.46207001e-03 -1.49320120e+01] [ 7.09139808e-03 -3.72406190e-04 9.99974786e-01 -4.76831957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67241403699998 meters 0.0739910324646204 Centerline is valid? [True, True] Translation: X:180.14, Y:-14.93, Z:-4.77 [[ 9.87698648e-01 1.56169812e-01 -7.89750249e-03 1.80139850e+02] [-1.56161496e-01 9.87730136e-01 1.66276518e-03 -1.49265438e+01] [ 8.06027493e-03 -4.09025114e-04 9.99967432e-01 -4.77034652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70241403699998 meters 0.0738600706311001 Centerline is valid? [True, True] Translation: X:180.17, Y:-14.93, Z:-4.77 [[ 9.87628033e-01 1.56606453e-01 -8.08006382e-03 1.80173575e+02] [-1.56597736e-01 9.87660997e-01 1.70439849e-03 -1.49285949e+01] [ 8.24728368e-03 -4.17992022e-04 9.99965903e-01 -4.77184592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73241403699998 meters 0.07405762103527634 Centerline is valid? [True, True] Translation: X:180.20, Y:-14.93, Z:-4.77 [[ 9.87607057e-01 1.56795315e-01 -6.89426962e-03 1.80204516e+02] [-1.56788965e-01 9.87631056e-01 1.45548633e-03 -1.49317174e+01] [ 7.03720822e-03 -3.56503170e-04 9.99975175e-01 -4.77303146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76241403699999 meters 0.07446332417694893 Centerline is valid? [True, True] Translation: X:180.24, Y:-14.93, Z:-4.77 [[ 9.87742516e-01 1.55993062e-01 -5.55751616e-03 1.80237100e+02] [-1.55988899e-01 9.87758106e-01 1.17756029e-03 -1.49348909e+01] [ 5.67317287e-03 -2.96215536e-04 9.99983864e-01 -4.77409284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.792414037 meters 0.07498185575255463 Centerline is valid? [True, True] Translation: X:180.27, Y:-14.93, Z:-4.78 [[ 9.88081911e-01 1.53847217e-01 -5.01711677e-03 1.80270520e+02] [-1.53843821e-01 9.88094610e-01 1.05826866e-03 -1.49332955e+01] [ 5.12019772e-03 -2.73803704e-04 9.99986854e-01 -4.77667995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.822414037 meters 0.07474864737586222 Centerline is valid? [True, True] Translation: X:180.30, Y:-14.93, Z:-4.78 [[ 9.88293013e-01 1.52461383e-01 -5.69616702e-03 1.80303021e+02] [-1.52456981e-01 9.88309377e-01 1.20167069e-03 -1.49342235e+01] [ 5.81278365e-03 -3.19182321e-04 9.99983055e-01 -4.77624670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.852414037 meters 0.07541799606545131 Centerline is valid? [True, True] Translation: X:180.33, Y:-14.94, Z:-4.78 [[ 9.88485419e-01 1.51196921e-01 -6.00563677e-03 1.80334455e+02] [-1.51192002e-01 9.88503603e-01 1.26727285e-03 -1.49382467e+01] [ 6.12820133e-03 -3.44676483e-04 9.99981163e-01 -4.77831695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.882414037 meters 0.07684947655782848 Centerline is valid? [True, True] Translation: X:180.36, Y:-14.94, Z:-4.78 [[ 9.89118413e-01 1.46956244e-01 -6.97330403e-03 1.80364309e+02] [-1.46949528e-01 9.89142901e-01 1.46866990e-03 -1.49402731e+01] [ 7.11342439e-03 -4.27964704e-04 9.99974608e-01 -4.78115757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.912414037 meters 0.07684947655782848 Centerline is valid? [True, True] Translation: X:180.40, Y:-14.95, Z:-4.78 [[ 9.89078636e-01 1.47223820e-01 -6.97124777e-03 1.80396132e+02] [-1.47217043e-01 9.89103107e-01 1.47842416e-03 -1.49470635e+01] [ 7.11294209e-03 -4.35991271e-04 9.99974608e-01 -4.78207832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.942414037 meters 0.07623829837383031 Centerline is valid? [True, True] Translation: X:180.43, Y:-14.95, Z:-4.78 [[ 9.89516952e-01 1.44229892e-01 -7.34433647e-03 1.80427685e+02] [-1.44222344e-01 9.89544094e-01 1.54994038e-03 -1.49482582e+01] [ 7.49109251e-03 -4.74474859e-04 9.99971829e-01 -4.78039959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.972414037 meters 0.08982256945415637 Centerline is valid? [True, True] Translation: X:180.45, Y:-14.98, Z:-4.80 [[ 9.89850134e-01 1.42002187e-01 -5.66483138e-03 1.80452965e+02] [-1.41997630e-01 9.89866269e-01 1.20080717e-03 -1.49813060e+01] [ 5.77794275e-03 -3.84226512e-04 9.99983234e-01 -4.79590969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.002414037 meters 0.0915256953628469 Centerline is valid? [True, True] Translation: X:180.48, Y:-14.99, Z:-4.80 [[ 9.90274486e-01 1.39069440e-01 -4.01649975e-03 1.80483604e+02] [-1.39067133e-01 9.90282591e-01 8.49502629e-04 -1.49879514e+01] [ 4.09560964e-03 -2.82677676e-04 9.99991573e-01 -4.79585482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.032414037 meters 0.09280284044585557 Centerline is valid? [True, True] Translation: X:180.52, Y:-14.99, Z:-4.80 [[ 9.90575172e-01 1.36932239e-01 -3.22355855e-03 1.80515343e+02] [-1.36930736e-01 9.90580389e-01 6.83593179e-04 -1.49937383e+01] [ 3.28679983e-03 -2.35746186e-04 9.99994571e-01 -4.79577181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.062414037 meters 0.09533930041422095 Centerline is valid? [True, True] Translation: X:180.55, Y:-15.00, Z:-4.80 [[ 9.91082899e-01 1.33204769e-01 -3.34317067e-03 1.80546166e+02] [-1.33203138e-01 9.91088505e-01 7.06762988e-04 -1.49982420e+01] [ 3.40752222e-03 -2.55139886e-04 9.99994162e-01 -4.79703359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.092414037 meters 0.0965147004375778 Centerline is valid? [True, True] Translation: X:180.58, Y:-15.00, Z:-4.80 [[ 9.91278014e-01 1.31734085e-01 -3.74560481e-03 1.80577984e+02] [-1.31732018e-01 9.91285047e-01 7.94236235e-04 -1.50041781e+01] [ 3.81759003e-03 -2.93892836e-04 9.99992670e-01 -4.79891905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.122414037 meters 0.09782860920662238 Centerline is valid? [True, True] Translation: X:180.61, Y:-15.01, Z:-4.80 [[ 9.91572788e-01 1.29453819e-01 -5.01148366e-03 1.80608137e+02] [-1.29450104e-01 9.91585370e-01 1.06006774e-03 -1.50095987e+01] [ 5.10654370e-03 -4.02397247e-04 9.99986881e-01 -4.79993187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.152414037 meters 0.09805642300848857 Centerline is valid? [True, True] Translation: X:180.64, Y:-15.01, Z:-4.80 [[ 9.92054558e-01 1.25682836e-01 -5.61941638e-03 1.80639012e+02] [-1.25678108e-01 9.92070361e-01 1.18812989e-03 -1.50102515e+01] [ 5.72418397e-03 -4.72452060e-04 9.99983505e-01 -4.80083996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.182414037 meters 0.09700768725841408 Centerline is valid? [True, True] Translation: X:180.67, Y:-15.01, Z:-4.80 [[ 9.92287421e-01 1.23833038e-01 -5.57254034e-03 1.80670706e+02] [-1.23828352e-01 9.92302952e-01 1.17962440e-03 -1.50114131e+01] [ 5.67572470e-03 -4.80487965e-04 9.99983778e-01 -4.80044716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21241403699997 meters 0.10267528569465909 Centerline is valid? [True, False] Translation: X:180.68, Y:-15.01, Z:-4.79 [[ 9.92773496e-01 1.17989091e-01 -2.18943077e-02 1.80678722e+02] [-1.17838918e-01 9.93000245e-01 8.03134888e-03 -1.50083686e+01] [ 2.26886645e-02 -5.39330876e-03 9.99728031e-01 -4.79284861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24241403699997 meters 0.10540769768875838 Centerline is valid? [False, False] Translation: X:180.68, Y:-15.00, Z:-4.79 [[ 9.93897394e-01 1.07523264e-01 -2.46316538e-02 1.80681918e+02] [-1.07163390e-01 9.94120662e-01 1.54956887e-02 -1.50041324e+01] [ 2.61529830e-02 -1.27615131e-02 9.99576493e-01 -4.79276860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27241403699998 meters 0.09849614657752244 Centerline is valid? [False, True] Translation: X:180.68, Y:-15.00, Z:-4.79 [[ 9.93975997e-01 1.06742219e-01 -2.48559129e-02 1.80682445e+02] [-1.06416136e-01 9.94221770e-01 1.40953504e-02 -1.50010076e+01] [ 2.62168587e-02 -1.13653698e-02 9.99591669e-01 -4.79291296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30241403699998 meters 0.10170775214969695 Centerline is valid? [True, False] Translation: X:180.68, Y:-15.00, Z:-4.79 [[ 9.94059688e-01 1.05906916e-01 -2.50811011e-02 1.80683119e+02] [-1.05616766e-01 9.94326732e-01 1.26273395e-02 -1.49977620e+01] [ 2.62761318e-02 -9.90334433e-03 9.99605667e-01 -4.79326395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33241403699998 meters 0.10412478354702583 Centerline is valid? [False, False] Translation: X:180.69, Y:-14.99, Z:-4.80 [[ 9.94280845e-01 1.03666350e-01 -2.56688406e-02 1.80685625e+02] [-1.03472022e-01 9.94593523e-01 8.79006130e-03 -1.49899351e+01] [ 2.64412962e-02 -6.08378274e-03 9.99631855e-01 -4.79517413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36241403699998 meters 0.10195904016468146 Centerline is valid? [False, False] Translation: X:180.69, Y:-14.99, Z:-4.80 [[ 9.94389364e-01 1.02545917e-01 -2.59639521e-02 1.80686845e+02] [-1.02402280e-01 9.94719784e-01 6.80615043e-03 -1.49854193e+01] [ 2.65247998e-02 -4.10919571e-03 9.99639710e-01 -4.79603784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39241403699998 meters 0.08415756545010855 Centerline is valid? [False, True] Translation: X:180.69, Y:-14.98, Z:-4.80 [[ 9.94200566e-01 1.04359698e-01 -2.59670649e-02 1.80688354e+02] [-1.04217950e-01 9.94531527e-01 6.75721492e-03 -1.49760275e+01] [ 2.65302456e-02 -4.01179263e-03 9.99639961e-01 -4.79667700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42241403699998 meters 0.0862429935420643 Centerline is valid? [True, True] Translation: X:180.72, Y:-14.98, Z:-4.80 [[ 9.94177500e-01 1.05047632e-01 -2.40019596e-02 1.80716840e+02] [-1.04962156e-01 9.94464646e-01 4.79719624e-03 -1.49794312e+01] [ 2.43730344e-02 -2.24996712e-03 9.99700402e-01 -4.79848257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45241403699998 meters 0.08655477044770597 Centerline is valid? [True, True] Translation: X:180.75, Y:-14.98, Z:-4.80 [[ 9.94105305e-01 1.06191765e-01 -2.18620822e-02 1.80746521e+02] [-1.06121151e-01 9.94343611e-01 4.36848797e-03 -1.49804727e+01] [ 2.22023192e-02 -2.02270775e-03 9.99751452e-01 -4.79857230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48241403699998 meters 0.084780512289675 Centerline is valid? [True, True] Translation: X:180.78, Y:-14.98, Z:-4.80 [[ 9.94002095e-01 1.07233439e-01 -2.14668201e-02 1.80777326e+02] [-1.07165614e-01 9.94231934e-01 4.28869933e-03 -1.49776835e+01] [ 2.18028900e-02 -1.96247116e-03 9.99760363e-01 -4.79773730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51241403699999 meters 0.08354312288231491 Centerline is valid? [True, True] Translation: X:180.81, Y:-14.98, Z:-4.80 [[ 9.93926042e-01 1.08052260e-01 -2.08742186e-02 1.80808454e+02] [-1.07988313e-01 9.94143418e-01 4.17004773e-03 -1.49763460e+01] [ 2.12025501e-02 -1.89054738e-03 9.99773413e-01 -4.79695657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.542414037 meters 0.08355751660138862 Centerline is valid? [True, True] Translation: X:180.84, Y:-14.97, Z:-4.80 [[ 9.93783847e-01 1.09474732e-01 -2.02224813e-02 1.80839221e+02] [-1.09415027e-01 9.93987947e-01 4.03894638e-03 -1.49731943e+01] [ 2.05430653e-02 -1.80119633e-03 9.99787346e-01 -4.79847437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.572414037 meters 0.0868285252745257 Centerline is valid? [True, True] Translation: X:180.87, Y:-14.98, Z:-4.80 [[ 9.93820451e-01 1.09283971e-01 -1.94403040e-02 1.80866518e+02] [-1.09228784e-01 9.94009058e-01 3.88149452e-03 -1.49809655e+01] [ 1.97480234e-02 -1.73406787e-03 9.99803485e-01 -4.80165934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.602414037 meters 0.08426263194153236 Centerline is valid? [True, True] Translation: X:180.90, Y:-14.98, Z:-4.80 [[ 9.93808686e-01 1.09432317e-01 -1.92058315e-02 1.80896896e+02] [-1.09378512e-01 9.93992781e-01 3.83310839e-03 -1.49774323e+01] [ 1.95099238e-02 -1.70867114e-03 9.99808203e-01 -4.80071381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.632414037 meters 0.08291259130821299 Centerline is valid? [True, True] Translation: X:180.93, Y:-14.97, Z:-4.80 [[ 9.93833998e-01 1.09086544e-01 -1.98522138e-02 1.80926996e+02] [-1.09029017e-01 9.94030677e-01 3.96061780e-03 -1.49719610e+01] [ 2.01657596e-02 -1.77172926e-03 9.99795081e-01 -4.80139869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.662414037 meters 0.08402645079404089 Centerline is valid? [True, True] Translation: X:180.95, Y:-14.98, Z:-4.80 [[ 9.93870232e-01 1.09028187e-01 -1.82980029e-02 1.80954528e+02] [-1.08979342e-01 9.94037318e-01 3.64864196e-03 -1.49754505e+01] [ 1.85867026e-02 -1.63217231e-03 9.99825920e-01 -4.80284666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.692414037 meters 0.08462509110945113 Centerline is valid? [True, True] Translation: X:180.98, Y:-14.98, Z:-4.80 [[ 9.93829065e-01 1.09317611e-01 -1.88002464e-02 1.80982424e+02] [-1.09266131e-01 9.94005469e-01 3.74708927e-03 -1.49776576e+01] [ 1.90971706e-02 -1.66973604e-03 9.99816238e-01 -4.80406148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.722414037 meters 0.08663746741981321 Centerline is valid? [True, True] Translation: X:181.01, Y:-14.98, Z:-4.81 [[ 9.93830456e-01 1.09504092e-01 -1.76033555e-02 1.81010562e+02] [-1.09459017e-01 9.93985123e-01 3.50692192e-03 -1.49800141e+01] [ 1.78814958e-02 -1.55843982e-03 9.99838899e-01 -4.80685622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.752414037 meters 0.0834008859632614 Centerline is valid? [True, True] Translation: X:181.04, Y:-14.98, Z:-4.81 [[ 9.93919187e-01 1.08804508e-01 -1.69183085e-02 1.81040408e+02] [-1.08762801e-01 9.94062022e-01 3.36880075e-03 -1.49755713e+01] [ 1.71843887e-02 -1.50823308e-03 9.99851200e-01 -4.80607857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.782414037 meters 0.08539350011585237 Centerline is valid? [True, True] Translation: X:181.07, Y:-14.98, Z:-4.81 [[ 9.93941589e-01 1.08499535e-01 -1.75490417e-02 1.81067246e+02] [-1.08454641e-01 9.94095263e-01 3.49279260e-03 -1.49822075e+01] [ 1.78243855e-02 -1.56835681e-03 9.99839903e-01 -4.80773667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.812414037 meters 0.0825894502212264 Centerline is valid? [True, True] Translation: X:181.10, Y:-14.98, Z:-4.81 [[ 9.93994425e-01 1.08226130e-01 -1.61922277e-02 1.81097090e+02] [-1.08187894e-01 9.94125244e-01 3.22159105e-03 -1.49786693e+01] [ 1.64457627e-02 -1.45044052e-03 9.99863707e-01 -4.80593639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.842414037 meters 0.08248950467741885 Centerline is valid? [True, True] Translation: X:181.13, Y:-14.98, Z:-4.81 [[ 9.93981464e-01 1.08645577e-01 -1.40352525e-02 1.81126708e+02] [-1.08616908e-01 9.94079763e-01 2.79130120e-03 -1.49760577e+01] [ 1.42554231e-02 -1.25003592e-03 9.99897605e-01 -4.80622099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.872414037 meters 0.08566921026610164 Centerline is valid? [True, True] Translation: X:181.15, Y:-14.98, Z:-4.81 [[ 9.93834255e-01 1.09947623e-01 -1.43176258e-02 1.81154380e+02] [-1.09917932e-01 9.93936590e-01 2.84681371e-03 -1.49837194e+01] [ 1.45438126e-02 -1.25549717e-03 9.99893445e-01 -4.80979153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.902414037 meters 0.08224504051130556 Centerline is valid? [True, True] Translation: X:181.19, Y:-14.98, Z:-4.81 [[ 9.93653083e-01 1.11451320e-01 -1.52366068e-02 1.81185406e+02] [-1.11417883e-01 9.93769029e-01 3.02870430e-03 -1.49769094e+01] [ 1.54792210e-02 -1.31185089e-03 9.99879329e-01 -4.80973156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.932414037 meters 0.08643954361250894 Centerline is valid? [True, True] Translation: X:181.21, Y:-14.98, Z:-4.82 [[ 9.93186857e-01 1.15377337e-01 -1.63687620e-02 1.81214634e+02] [-1.15339269e-01 9.93320826e-01 3.25414318e-03 -1.49832064e+01] [ 1.66348866e-02 -1.34401119e-03 9.99860727e-01 -4.81570075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96241403699997 meters 0.08200890873413857 Centerline is valid? [True, True] Translation: X:181.25, Y:-14.98, Z:-4.81 [[ 9.92968268e-01 1.17217747e-01 -1.65535072e-02 1.81246269e+02] [-1.17179082e-01 9.93105351e-01 3.29000065e-03 -1.49761293e+01] [ 1.68250231e-02 -1.32714146e-03 9.99857569e-01 -4.81362203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99241403699997 meters 0.08095490257021683 Centerline is valid? [True, True] Translation: X:181.28, Y:-14.98, Z:-4.81 [[ 9.92806760e-01 1.18788458e-01 -1.49679496e-02 1.81276716e+02] [-1.18757036e-01 9.92918890e-01 2.97407185e-03 -1.49765245e+01] [ 1.52152453e-02 -1.17512931e-03 9.99883551e-01 -4.81362903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02241403699998 meters 0.07949762266603237 Centerline is valid? [True, True] Translation: X:181.31, Y:-14.97, Z:-4.81 [[ 9.92466023e-01 1.21863140e-01 -1.26715289e-02 1.81309189e+02] [-1.21840867e-01 9.92546454e-01 2.51801139e-03 -1.49710167e+01] [ 1.28839338e-02 -9.55130687e-04 9.99916543e-01 -4.81174764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05241403699998 meters 0.08054116557562897 Centerline is valid? [True, True] Translation: X:181.34, Y:-14.97, Z:-4.81 [[ 9.92331289e-01 1.23034822e-01 -1.18762713e-02 1.81337170e+02] [-1.23015362e-01 9.92401965e-01 2.35819107e-03 -1.49741005e+01] [ 1.20761746e-02 -8.79142972e-04 9.99926694e-01 -4.81306564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08241403699998 meters 0.08046911073559812 Centerline is valid? [True, True] Translation: X:181.37, Y:-14.97, Z:-4.81 [[ 9.92252224e-01 1.23718130e-01 -1.13731551e-02 1.81366394e+02] [-1.23700337e-01 9.92317051e-01 2.25758531e-03 -1.49744862e+01] [ 1.15650800e-02 -8.33230924e-04 9.99932775e-01 -4.81344409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11241403699998 meters 0.08186074542144321 Centerline is valid? [True, True] Translation: X:181.39, Y:-14.98, Z:-4.82 [[ 9.92210511e-01 1.23939854e-01 -1.25385495e-02 1.81393980e+02] [-1.23918280e-01 9.92289312e-01 2.48613030e-03 -1.49758498e+01] [ 1.27499993e-02 -9.13009121e-04 9.99918299e-01 -4.81597196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14241403699998 meters 0.08271735417869795 Centerline is valid? [True, True] Translation: X:181.42, Y:-14.98, Z:-4.82 [[ 9.92233192e-01 1.23622360e-01 -1.38132494e-02 1.81421195e+02] [-1.23596152e-01 9.92328823e-01 2.73840246e-03 -1.49806422e+01] [ 1.40458133e-02 -1.00986934e-03 9.99900843e-01 -4.81803531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17241403699998 meters 0.08248029152686284 Centerline is valid? [True, True] Translation: X:181.45, Y:-14.98, Z:-4.82 [[ 9.92302748e-01 1.22988945e-01 -1.44559569e-02 1.81449837e+02] [-1.22960188e-01 9.92407469e-01 2.86495294e-03 -1.49829865e+01] [ 1.46985571e-02 -1.06539350e-03 9.99891403e-01 -4.81881844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20241403699998 meters 0.08368782765323837 Centerline is valid? [True, True] Translation: X:181.48, Y:-14.99, Z:-4.82 [[ 9.92401904e-01 1.22281618e-01 -1.36259791e-02 1.81477531e+02] [-1.22256020e-01 9.92494927e-01 2.69910137e-03 -1.49881040e+01] [ 1.38537656e-02 -1.01273536e-03 9.99903519e-01 -4.82006658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23241403699998 meters 0.08144303110866695 Centerline is valid? [True, True] Translation: X:181.51, Y:-14.99, Z:-4.82 [[ 9.92465025e-01 1.21770248e-01 -1.36081281e-02 1.81507864e+02] [-1.21744682e-01 9.92557792e-01 2.69469897e-03 -1.49852588e+01] [ 1.38349878e-02 -1.01767725e-03 9.99903774e-01 -4.81947327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26241403699999 meters 0.08193674505836877 Centerline is valid? [True, True] Translation: X:181.54, Y:-14.98, Z:-4.82 [[ 9.92606092e-01 1.20632466e-01 -1.34519050e-02 1.81537139e+02] [-1.20607393e-01 9.92696714e-01 2.66279123e-03 -1.49841220e+01] [ 1.36748810e-02 -1.02070360e-03 9.99905973e-01 -4.82088888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.292414037 meters 0.08202037501342066 Centerline is valid? [True, True] Translation: X:181.57, Y:-14.99, Z:-4.82 [[ 9.92705380e-01 1.19809922e-01 -1.34763484e-02 1.81565887e+02] [-1.19784696e-01 9.92796311e-01 2.66665939e-03 -1.49866296e+01] [ 1.36987612e-02 -1.03294683e-03 9.99905634e-01 -4.82177509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.322414037 meters 0.08356287314027885 Centerline is valid? [True, True] Translation: X:181.59, Y:-14.99, Z:-4.82 [[ 9.92773387e-01 1.19001592e-01 -1.54797857e-02 1.81593528e+02] [-1.18968226e-01 9.92893340e-01 3.06207178e-03 -1.49925351e+01] [ 1.57341675e-02 -1.19834074e-03 9.99875492e-01 -4.82351883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.352414037 meters 0.08294438948050593 Centerline is valid? [True, True] Translation: X:181.62, Y:-14.99, Z:-4.82 [[ 9.92940811e-01 1.17711651e-01 -1.45778019e-02 1.81622090e+02] [-1.17681958e-01 9.93047157e-01 2.88120229e-03 -1.49940171e+01] [ 1.48155958e-02 -1.14531907e-03 9.99889587e-01 -4.82352625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.382414037 meters 0.08219273158663361 Centerline is valid? [True, True] Translation: X:181.65, Y:-14.99, Z:-4.82 [[ 9.93338606e-01 1.14342350e-01 -1.42913167e-02 1.81653739e+02] [-1.14313453e-01 9.93440714e-01 2.82545391e-03 -1.49930141e+01] [ 1.45206449e-02 -1.17294269e-03 9.99893882e-01 -4.82309798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.412414037 meters 0.0855249030519918 Centerline is valid? [True, True] Translation: X:181.68, Y:-15.00, Z:-4.83 [[ 9.93549464e-01 1.12525606e-01 -1.40516967e-02 1.81681228e+02] [-1.12497507e-01 9.93648127e-01 2.77693048e-03 -1.50024653e+01] [ 1.42749179e-02 -1.17823695e-03 9.99897414e-01 -4.82505784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.442414037 meters 0.08271427034229763 Centerline is valid? [True, True] Translation: X:181.71, Y:-15.00, Z:-4.82 [[ 9.93804728e-01 1.10233351e-01 -1.41693907e-02 1.81712651e+02] [-1.10204547e-01 9.93904984e-01 2.80020535e-03 -1.49997258e+01] [ 1.43917040e-02 -1.22132603e-03 9.99895688e-01 -4.82432632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.472414037 meters 0.0876409863188509 Centerline is valid? [True, True] Translation: X:181.74, Y:-15.01, Z:-4.83 [[ 9.94246080e-01 1.06279658e-01 -1.33928207e-02 1.81740293e+02] [-1.06253572e-01 9.94335544e-01 2.64648302e-03 -1.50103637e+01] [ 1.35982249e-02 -1.20822032e-03 9.99906810e-01 -4.82741997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.502414037 meters 0.08713952243924615 Centerline is valid? [True, True] Translation: X:181.77, Y:-15.01, Z:-4.83 [[ 9.94442651e-01 1.04360823e-01 -1.38791771e-02 1.81771225e+02] [-1.04332621e-01 9.94538678e-01 2.74273594e-03 -1.50118777e+01] [ 1.40896127e-02 -1.27944267e-03 9.99899918e-01 -4.82688406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.532414037 meters 0.09082491282779873 Centerline is valid? [True, True] Translation: X:181.80, Y:-15.02, Z:-4.83 [[ 9.94797288e-01 1.00789398e-01 -1.48274677e-02 1.81800013e+02] [-1.00756822e-01 9.94906769e-01 2.92975188e-03 -1.50194585e+01] [ 1.50472359e-02 -1.42054071e-03 9.99885775e-01 -4.82903702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.562414037 meters 0.08653195588466585 Centerline is valid? [True, True] Translation: X:181.83, Y:-15.01, Z:-4.83 [[ 9.95000274e-01 9.86023196e-02 -1.58756708e-02 1.81831336e+02] [-9.85647038e-02 9.95125701e-01 3.13656626e-03 -1.50141450e+01] [ 1.61075608e-02 -1.55610350e-03 9.99869054e-01 -4.82839289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.592414037 meters 0.08919666998485634 Centerline is valid? [True, True] Translation: X:181.86, Y:-15.02, Z:-4.83 [[ 9.95174298e-01 9.65692127e-02 -1.73926604e-02 1.81859623e+02] [-9.65237699e-02 9.95324751e-01 3.43551019e-03 -1.50222980e+01] [ 1.76431099e-02 -1.74012629e-03 9.99842834e-01 -4.83047331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.622414037 meters 0.08997280750924351 Centerline is valid? [True, True] Translation: X:181.89, Y:-15.03, Z:-4.83 [[ 9.95410989e-01 9.41663196e-02 -1.70196158e-02 1.81889952e+02] [-9.41224530e-02 9.95554951e-01 3.36210273e-03 -1.50266000e+01] [ 1.72605596e-02 -1.74474601e-03 9.99849503e-01 -4.83074897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.652414037 meters 0.09162938385563306 Centerline is valid? [True, True] Translation: X:181.92, Y:-15.03, Z:-4.83 [[ 9.95827240e-01 8.98981568e-02 -1.56980513e-02 1.81919959e+02] [-8.98603202e-02 9.95949551e-01 3.10065121e-03 -1.50297102e+01] [ 1.59132100e-02 -1.67708101e-03 9.99871970e-01 -4.83074878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.682414037 meters 0.08950966975699456 Centerline is valid? [True, True] Translation: X:181.95, Y:-15.03, Z:-4.83 [[ 9.95955252e-01 8.85103234e-02 -1.54615329e-02 1.81950368e+02] [-8.84734649e-02 9.96073855e-01 3.05319381e-03 -1.50283374e+01] [ 1.56710679e-02 -1.67290902e-03 9.99875802e-01 -4.82861010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71241403699997 meters 0.09440226386190206 Centerline is valid? [True, True] Translation: X:181.98, Y:-15.04, Z:-4.83 [[ 9.96147888e-01 8.63253469e-02 -1.54052087e-02 1.81978388e+02] [-8.62885004e-02 9.96265548e-01 3.04192866e-03 -1.50390229e+01] [ 1.56102742e-02 -1.70091845e-03 9.99876706e-01 -4.83066593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74241403699997 meters 0.09135605343395606 Centerline is valid? [True, True] Translation: X:182.01, Y:-15.03, Z:-4.83 [[ 9.96308900e-01 8.42569823e-02 -1.64114786e-02 1.82010742e+02] [-8.42148888e-02 9.96442347e-01 3.24053202e-03 -1.50316063e+01] [ 1.66261297e-02 -1.84648005e-03 9.99860071e-01 -4.82947312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77241403699998 meters 0.09359233975187793 Centerline is valid? [True, True] Translation: X:182.04, Y:-15.04, Z:-4.83 [[ 9.96381695e-01 8.34449738e-02 -1.61386050e-02 1.82038226e+02] [-8.34042160e-02 9.96510714e-01 3.18344073e-03 -1.50377132e+01] [ 1.63479349e-02 -1.82589437e-03 9.99864696e-01 -4.83045688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80241403699998 meters 0.09359233975187793 Centerline is valid? [True, True] Translation: X:182.07, Y:-15.04, Z:-4.83 [[ 9.96390506e-01 8.33396417e-02 -1.61389002e-02 1.82065386e+02] [-8.32988942e-02 9.96519528e-01 3.18194405e-03 -1.50429669e+01] [ 1.63479113e-02 -1.82610630e-03 9.99864696e-01 -4.83067284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83241403699998 meters 0.09308827203336319 Centerline is valid? [True, True] Translation: X:182.10, Y:-15.04, Z:-4.83 [[ 9.96448282e-01 8.25952988e-02 -1.63962666e-02 1.82095229e+02] [-8.25531422e-02 9.96581421e-01 3.23265404e-03 -1.50442619e+01] [ 1.66072167e-02 -1.86760923e-03 9.99860346e-01 -4.83073043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86241403699998 meters 0.0947058861043739 Centerline is valid? [True, True] Translation: X:182.12, Y:-15.05, Z:-4.83 [[ 9.96464221e-01 8.24238140e-02 -1.62902037e-02 1.82122858e+02] [-8.23822100e-02 9.96595639e-01 3.20983317e-03 -1.50494750e+01] [ 1.64993127e-02 -1.85646092e-03 9.99862154e-01 -4.83165133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89241403699998 meters 0.0935384751065633 Centerline is valid? [True, True] Translation: X:182.15, Y:-15.05, Z:-4.83 [[ 9.96498961e-01 8.18433889e-02 -1.70727944e-02 1.82152312e+02] [-8.17976257e-02 9.96643286e-01 3.36295099e-03 -1.50494147e+01] [ 1.72907212e-02 -1.95466312e-03 9.99848594e-01 -4.83162615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92241403699998 meters 0.09574380571003961 Centerline is valid? [True, True] Translation: X:182.18, Y:-15.05, Z:-4.83 [[ 9.96389771e-01 8.33016705e-02 -1.63784949e-02 1.82181137e+02] [-8.32597614e-02 9.96522658e-01 3.22541507e-03 -1.50516903e+01] [ 1.65902238e-02 -1.85010100e-03 9.99860661e-01 -4.83318420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95241403699998 meters 0.09181962184577812 Centerline is valid? [True, True] Translation: X:182.21, Y:-15.05, Z:-4.83 [[ 9.96323647e-01 8.42422290e-02 -1.55704007e-02 1.82212892e+02] [-8.42044677e-02 9.96443780e-01 3.06624652e-03 -1.50456382e+01] [ 1.57733364e-02 -1.74387661e-03 9.99874072e-01 -4.83140675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98241403699998 meters 0.09146760714318457 Centerline is valid? [True, True] Translation: X:182.24, Y:-15.05, Z:-4.83 [[ 9.96163065e-01 8.61709783e-02 -1.52875952e-02 1.82243726e+02] [-8.61348049e-02 9.96278944e-01 3.01027932e-03 -1.50455967e+01] [ 1.54901079e-02 -1.68193504e-03 9.99878606e-01 -4.83147677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01241403699999 meters 0.0914555586104732 Centerline is valid? [True, True] Translation: X:182.27, Y:-15.05, Z:-4.83 [[ 9.96029116e-01 8.78449611e-02 -1.44659409e-02 1.82274224e+02] [-8.78127567e-02 9.96132928e-01 2.84778886e-03 -1.50461225e+01] [ 1.46601640e-02 -1.56618647e-03 9.99891307e-01 -4.83155148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.042414037 meters 0.08972320879976718 Centerline is valid? [True, True] Translation: X:182.31, Y:-15.04, Z:-4.83 [[ 9.95716258e-01 9.13612074e-02 -1.42219512e-02 1.82306470e+02] [-9.13304432e-02 9.95816707e-01 2.79917061e-03 -1.50402004e+01] [ 1.44181922e-02 -1.48828258e-03 9.99894945e-01 -4.83170442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.072414037 meters 0.09037550871883808 Centerline is valid? [True, True] Translation: X:182.33, Y:-15.04, Z:-4.83 [[ 9.95619506e-01 9.22474271e-02 -1.52384622e-02 1.82334006e+02] [-9.22122372e-02 9.95734863e-01 2.99749135e-03 -1.50430111e+01] [ 1.54499789e-02 -1.57918817e-03 9.99879395e-01 -4.83289838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.102414037 meters 0.0900088970435423 Centerline is valid? [True, True] Translation: X:182.36, Y:-15.04, Z:-4.83 [[ 9.95530113e-01 9.33790457e-02 -1.41473809e-02 1.82364000e+02] [-9.33488301e-02 9.95629576e-01 2.78272288e-03 -1.50437912e+01] [ 1.43453988e-02 -1.44964297e-03 9.99896049e-01 -4.83415687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.132414037 meters 0.08788350535327799 Centerline is valid? [True, True] Translation: X:182.40, Y:-15.04, Z:-4.84 [[ 9.95268637e-01 9.56368946e-02 -1.71442392e-02 1.82396349e+02] [-9.55928537e-02 9.95414806e-01 3.37207255e-03 -1.50363734e+01] [ 1.73881240e-02 -1.71725130e-03 9.99847340e-01 -4.83502573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.162414037 meters 0.08715297076657173 Centerline is valid? [True, True] Translation: X:182.43, Y:-15.04, Z:-4.84 [[ 9.95170356e-01 9.66412553e-02 -1.72171571e-02 1.82426096e+02] [-9.65970889e-02 9.95317826e-01 3.38062360e-03 -1.50356659e+01] [ 1.74632511e-02 -1.70116913e-03 9.99846059e-01 -4.83538253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.192414037 meters 0.08587392164773652 Centerline is valid? [True, True] Translation: X:182.46, Y:-15.03, Z:-4.84 [[ 9.95030943e-01 9.82554859e-02 -1.61022338e-02 1.82456802e+02] [-9.82170436e-02 9.95159991e-01 3.16297485e-03 -1.50338697e+01] [ 1.63350785e-02 -1.56574405e-03 9.99865348e-01 -4.83518438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.222414037 meters 0.08779596140613784 Centerline is valid? [True, True] Translation: X:182.48, Y:-15.04, Z:-4.83 [[ 9.94938352e-01 9.90436330e-02 -1.69715679e-02 1.82484273e+02] [-9.90010771e-02 9.95081749e-01 3.33163214e-03 -1.50381813e+01] [ 1.72180744e-02 -1.63456509e-03 9.99850422e-01 -4.83484391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.252414037 meters 0.08609806585842514 Centerline is valid? [True, True] Translation: X:182.52, Y:-15.04, Z:-4.83 [[ 9.94803210e-01 1.00394089e-01 -1.69587977e-02 1.82515364e+02] [-1.00351788e-01 9.94946448e-01 3.32937734e-03 -1.50365972e+01] [ 1.72073454e-02 -1.61022960e-03 9.99850646e-01 -4.83367412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.282414037 meters 0.08468992314930995 Centerline is valid? [True, True] Translation: X:182.55, Y:-15.03, Z:-4.83 [[ 9.94557163e-01 1.02780031e-01 -1.70972106e-02 1.82546313e+02] [-1.02737398e-01 9.94702853e-01 3.35579053e-03 -1.50322183e+01] [ 1.73515524e-02 -1.58100257e-03 9.99848201e-01 -4.83270575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.312414037 meters 0.08401039833485871 Centerline is valid? [True, True] Translation: X:182.58, Y:-15.03, Z:-4.83 [[ 9.94423926e-01 1.03806489e-01 -1.85813767e-02 1.82575156e+02] [-1.03756428e-01 9.94596073e-01 3.64083615e-03 -1.50326755e+01] [ 1.88589067e-02 -1.69259730e-03 9.99820722e-01 -4.83342662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.342414037 meters 0.08439339427620146 Centerline is valid? [True, True] Translation: X:182.60, Y:-15.04, Z:-4.84 [[ 9.94231862e-01 1.05429308e-01 -1.96892205e-02 1.82604415e+02] [-1.05373393e-01 9.94425239e-01 3.85894181e-03 -1.50352956e+01] [ 1.99863034e-02 -1.76196293e-03 9.99798701e-01 -4.83512102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.372414037 meters 0.08870917363901253 Centerline is valid? [True, True] Translation: X:182.63, Y:-15.04, Z:-4.84 [[ 9.93836578e-01 1.08896474e-01 -2.07464048e-02 1.82633341e+02] [-1.08835140e-01 9.94051497e-01 4.06625541e-03 -1.50427345e+01] [ 2.10657956e-02 -1.78325550e-03 9.99776501e-01 -4.84030289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.402414037 meters 0.08355131630869621 Centerline is valid? [True, True] Translation: X:182.67, Y:-15.04, Z:-4.84 [[ 9.93565512e-01 1.11253620e-01 -2.12180430e-02 1.82665086e+02] [-1.11190019e-01 9.93790467e-01 4.15771577e-03 -1.50350271e+01] [ 2.15488498e-02 -1.77172838e-03 9.99766227e-01 -4.83676238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.432414037 meters 0.08359248178534788 Centerline is valid? [True, True] Translation: X:182.69, Y:-15.04, Z:-4.84 [[ 9.93278197e-01 1.14008186e-01 -2.00139362e-02 1.82694733e+02] [-1.13952164e-01 9.93478499e-01 3.92134199e-03 -1.50372467e+01] [ 2.03304804e-02 -1.61435217e-03 9.99792011e-01 -4.83711569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46241403699997 meters 0.08279874721214406 Centerline is valid? [True, True] Translation: X:182.72, Y:-15.03, Z:-4.84 [[ 9.92626732e-01 1.19605060e-01 -1.96672236e-02 1.82724972e+02] [-1.19552064e-01 9.92820457e-01 3.85289235e-03 -1.50339745e+01] [ 1.99868474e-02 -1.47322677e-03 9.99799158e-01 -4.83586475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49241403699997 meters 0.07893227648180837 Centerline is valid? [True, True] Translation: X:182.76, Y:-15.03, Z:-4.83 [[ 9.92218764e-01 1.22856970e-01 -2.02012047e-02 1.82756605e+02] [-1.22801732e-01 9.92423335e-01 3.95721343e-03 -1.50278660e+01] [ 2.05343181e-02 -1.44567850e-03 9.99788103e-01 -4.83326047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52241403699998 meters 0.07847452862254323 Centerline is valid? [True, True] Translation: X:182.79, Y:-15.03, Z:-4.83 [[ 9.91876029e-01 1.25478969e-01 -2.09038518e-02 1.82787049e+02] [-1.25420408e-01 9.92095236e-01 4.09447809e-03 -1.50299065e+01] [ 2.12523827e-02 -1.43944504e-03 9.99773106e-01 -4.83415050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55241403699998 meters 0.07758083784263625 Centerline is valid? [True, True] Translation: X:182.82, Y:-15.03, Z:-4.84 [[ 9.91521476e-01 1.28128477e-01 -2.16392048e-02 1.82817634e+02] [-1.28066359e-01 9.91756546e-01 4.23812287e-03 -1.50310025e+01] [ 2.20038472e-02 -1.43093568e-03 9.99756862e-01 -4.83531906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58241403699998 meters 0.07701284933576857 Centerline is valid? [True, True] Translation: X:182.85, Y:-15.03, Z:-4.84 [[ 9.91180646e-01 1.30862440e-01 -2.08793947e-02 1.82848177e+02] [-1.30805221e-01 9.91399654e-01 4.08892803e-03 -1.50319214e+01] [ 2.12349118e-02 -1.32173248e-03 9.99773640e-01 -4.83580118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61241403699998 meters 0.07646440738147722 Centerline is valid? [True, True] Translation: X:182.88, Y:-15.03, Z:-4.84 [[ 9.91094987e-01 1.31663786e-01 -1.98840361e-02 1.82877046e+02] [-1.31612092e-01 9.91293654e-01 3.89211606e-03 -1.50341295e+01] [ 2.02233695e-02 -1.24047714e-03 9.99794717e-01 -4.83538051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64241403699998 meters 0.07746302221486985 Centerline is valid? [True, True] Translation: X:182.91, Y:-15.04, Z:-4.84 [[ 9.90889544e-01 1.33408312e-01 -1.84427377e-02 1.82905397e+02] [-1.33364150e-01 9.91060530e-01 3.60956761e-03 -1.50409517e+01] [ 1.87594157e-02 -1.11708276e-03 9.99823403e-01 -4.83681592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67241403699998 meters 0.07636196140913384 Centerline is valid? [True, True] Translation: X:182.93, Y:-15.04, Z:-4.84 [[ 9.90749597e-01 1.34497363e-01 -1.80470056e-02 1.82934398e+02] [-1.34455286e-01 9.90913372e-01 3.53053003e-03 -1.50413652e+01] [ 1.83578662e-02 -1.07135590e-03 9.99830906e-01 -4.83584512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70241403699998 meters 0.07578537316482074 Centerline is valid? [True, True] Translation: X:182.96, Y:-15.04, Z:-4.84 [[ 9.90185328e-01 1.38544113e-01 -1.83995886e-02 1.82964410e+02] [-1.38501069e-01 9.90355742e-01 3.59962041e-03 -1.50430998e+01] [ 1.87208445e-02 -1.01592863e-03 9.99824233e-01 -4.83642042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73241403699998 meters 0.07488505590579204 Centerline is valid? [True, True] Translation: X:182.99, Y:-15.04, Z:-4.84 [[ 9.89881263e-01 1.40672713e-01 -1.86084211e-02 1.82993304e+02] [-1.40629094e-01 9.90055664e-01 3.63870532e-03 -1.50447911e+01] [ 1.89352392e-02 -9.85000819e-04 9.99820227e-01 -4.83549331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76241403699999 meters 0.07450542429958422 Centerline is valid? [True, True] Translation: X:183.02, Y:-15.05, Z:-4.84 [[ 9.89638944e-01 1.42338943e-01 -1.88251241e-02 1.83022027e+02] [-1.42294630e-01 9.89817507e-01 3.67970554e-03 -1.50475560e+01] [ 1.91572028e-02 -9.62865851e-04 9.99816020e-01 -4.83537834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.792414037 meters 0.07408340231379267 Centerline is valid? [True, True] Translation: X:183.05, Y:-15.05, Z:-4.84 [[ 9.89070065e-01 1.46303252e-01 -1.83238985e-02 1.83051290e+02] [-1.46261953e-01 9.89239412e-01 3.58133573e-03 -1.50492078e+01] [ 1.86506836e-02 -8.62102789e-04 9.99825689e-01 -4.83530595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.822414037 meters 0.07392646998555953 Centerline is valid? [True, True] Translation: X:183.08, Y:-15.05, Z:-4.84 [[ 9.88870550e-01 1.47625872e-01 -1.84834426e-02 1.83079782e+02] [-1.47584199e-01 9.89042921e-01 3.60621009e-03 -1.50523258e+01] [ 1.88132880e-02 -8.38210873e-04 9.99822663e-01 -4.83519704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.852414037 meters 0.073514027668591 Centerline is valid? [True, True] Translation: X:183.11, Y:-15.06, Z:-4.84 [[ 9.88618566e-01 1.49237196e-01 -1.90155141e-02 1.83108697e+02] [-1.49193479e-01 9.88801081e-01 3.70522977e-03 -1.50551523e+01] [ 1.93555190e-02 -8.26068229e-04 9.99812323e-01 -4.83555665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.882414037 meters 0.07373284079667981 Centerline is valid? [True, True] Translation: X:183.14, Y:-15.06, Z:-4.84 [[ 9.88347373e-01 1.50981619e-01 -1.93396445e-02 1.83135841e+02] [-1.50936741e-01 9.88536242e-01 3.76793861e-03 -1.50613533e+01] [ 1.96868290e-02 -8.04969297e-04 9.99805872e-01 -4.83786417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.912414037 meters 0.0732076916816444 Centerline is valid? [True, True] Translation: X:183.16, Y:-15.07, Z:-4.84 [[ 9.87869202e-01 1.54026714e-01 -1.97537539e-02 1.83164432e+02] [-1.53980526e-01 9.88066392e-01 3.84738236e-03 -1.50662842e+01] [ 2.01106200e-02 -7.59017116e-04 9.99797473e-01 -4.83939974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.942414037 meters 0.07344069223693088 Centerline is valid? [True, True] Translation: X:183.19, Y:-15.07, Z:-4.84 [[ 9.87571060e-01 1.55949498e-01 -1.95743424e-02 1.83191053e+02] [-1.55904559e-01 9.87764774e-01 3.81056636e-03 -1.50731031e+01] [ 1.99291018e-02 -7.11475829e-04 9.99801143e-01 -4.84194540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.972414037 meters 0.07305217873430951 Centerline is valid? [True, True] Translation: X:183.22, Y:-15.08, Z:-4.84 [[ 9.87299874e-01 1.57689427e-01 -1.93133162e-02 1.83220222e+02] [-1.57646120e-01 9.87488535e-01 3.75427541e-03 -1.50766918e+01] [ 1.96636879e-02 -6.61926279e-04 9.99806432e-01 -4.84171783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.002414037 meters 0.0727227068510093 Centerline is valid? [True, True] Translation: X:183.25, Y:-15.08, Z:-4.84 [[ 9.86931812e-01 1.59909059e-01 -1.98668341e-02 1.83247378e+02] [-1.59863694e-01 9.87131546e-01 3.86127464e-03 -1.50811681e+01] [ 2.02286314e-02 -6.34829292e-04 9.99795179e-01 -4.84139709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.032414037 meters 0.07190101908682808 Centerline is valid? [True, True] Translation: X:183.28, Y:-15.08, Z:-4.84 [[ 9.86598679e-01 1.61937753e-01 -1.99802583e-02 1.83276315e+02] [-1.61892413e-01 9.86800798e-01 3.87699564e-03 -1.50829559e+01] [ 2.03443668e-02 -5.90386555e-04 9.99792858e-01 -4.83932901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.062414037 meters 0.07169902965583286 Centerline is valid? [True, True] Translation: X:183.31, Y:-15.09, Z:-4.84 [[ 9.85679333e-01 1.67456816e-01 -1.98611963e-02 1.83305527e+02] [-1.67413114e-01 9.85879298e-01 3.85483041e-03 -1.50876470e+01] [ 2.02262598e-02 -4.74601966e-04 9.99795316e-01 -4.83998101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.092414037 meters 0.07132473086081384 Centerline is valid? [True, True] Translation: X:183.33, Y:-15.09, Z:-4.84 [[ 9.85238494e-01 1.70139542e-01 -1.89115173e-02 1.83333608e+02] [-1.70100445e-01 9.85419899e-01 3.66887796e-03 -1.50942313e+01] [ 1.92600067e-02 -3.97862297e-04 9.99814430e-01 -4.84033660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.122414037 meters 0.07115510103756809 Centerline is valid? [True, True] Translation: X:183.36, Y:-15.10, Z:-4.84 [[ 9.84966573e-01 1.71867786e-01 -1.73871722e-02 1.83361873e+02] [-1.71835101e-01 9.85119970e-01 3.36783536e-03 -1.51014382e+01] [ 1.77072729e-02 -3.29478756e-04 9.99843160e-01 -4.83981195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.152414037 meters 0.07073396301097556 Centerline is valid? [True, True] Translation: X:183.39, Y:-15.11, Z:-4.84 [[ 9.84685218e-01 1.73675911e-01 -1.52216438e-02 1.83389071e+02] [-1.73651079e-01 9.84802828e-01 2.94829993e-03 -1.51111376e+01] [ 1.55023666e-02 -2.59892487e-04 9.99879797e-01 -4.83893478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.182414037 meters 0.07070946851710053 Centerline is valid? [True, True] Translation: X:183.42, Y:-15.12, Z:-4.84 [[ 9.84637349e-01 1.73911673e-01 -1.56211725e-02 1.83415913e+02] [-1.73885647e-01 9.84761222e-01 3.01956511e-03 -1.51183374e+01] [ 1.59082625e-02 -2.56878906e-04 9.99873423e-01 -4.83975853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21241403699997 meters 0.07069221118670793 Centerline is valid? [True, True] Translation: X:183.44, Y:-15.13, Z:-4.84 [[ 9.84651221e-01 1.73824365e-01 -1.57182288e-02 1.83442677e+02] [-1.73798079e-01 9.84776637e-01 3.03366079e-03 -1.51251998e+01] [ 1.60062687e-02 -2.55299829e-04 9.99871859e-01 -4.83958141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24241403699997 meters 0.0709436625093709 Centerline is valid? [True, True] Translation: X:183.47, Y:-15.13, Z:-4.84 [[ 9.84640207e-01 1.73763017e-01 -1.70316267e-02 1.83469056e+02] [-1.73732141e-01 9.84787458e-01 3.28734378e-03 -1.51342389e+01] [ 1.73437512e-02 -2.77909888e-04 9.99849547e-01 -4.84152936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27241403699998 meters 0.0710760216871459 Centerline is valid? [True, True] Translation: X:183.50, Y:-15.14, Z:-4.84 [[ 9.84634196e-01 1.73750334e-01 -1.75020592e-02 1.83495105e+02] [-1.73717753e-01 9.84789694e-01 3.37662088e-03 -1.51445899e+01] [ 1.78225366e-02 -2.84317978e-04 9.99841126e-01 -4.84444882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30241403699998 meters 0.07101900592087688 Centerline is valid? [True, True] Translation: X:183.52, Y:-15.16, Z:-4.85 [[ 9.84760333e-01 1.72852353e-01 -1.92132706e-02 1.83521453e+02] [-1.72813031e-01 9.84947694e-01 3.70097998e-03 -1.51597844e+01] [ 1.95637896e-02 -3.24274746e-04 9.99808558e-01 -4.84577125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33241403699998 meters 0.07098546278788644 Centerline is valid? [True, True] Translation: X:183.55, Y:-15.17, Z:-4.85 [[ 9.84780732e-01 1.72752942e-01 -1.90612625e-02 1.83547669e+02] [-1.72714330e-01 9.84965136e-01 3.66609616e-03 -1.51691720e+01] [ 1.94080079e-02 -3.18147679e-04 9.99811596e-01 -4.84597845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36241403699998 meters 0.07086034506755857 Centerline is valid? [True, True] Translation: X:183.57, Y:-15.18, Z:-4.85 [[ 9.84693116e-01 1.73290880e-01 -1.87012733e-02 1.83574474e+02] [-1.73253814e-01 9.84870641e-01 3.59668017e-03 -1.51780307e+01] [ 1.90416069e-02 -3.01559285e-04 9.99818647e-01 -4.84751841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39241403699998 meters 0.07046324409513091 Centerline is valid? [True, True] Translation: X:183.60, Y:-15.19, Z:-4.84 [[ 9.84360920e-01 1.75106715e-01 -1.92670103e-02 1.83601950e+02] [-1.75067837e-01 9.84549423e-01 3.69948531e-03 -1.51866493e+01] [ 1.96171286e-02 -2.68594933e-04 9.99807530e-01 -4.84393659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42241403699998 meters 0.07029849378661863 Centerline is valid? [True, True] Translation: X:183.63, Y:-15.19, Z:-4.84 [[ 9.84196520e-01 1.76083124e-01 -1.87601305e-02 1.83630185e+02] [-1.76046526e-01 9.84375272e-01 3.59780826e-03 -1.51948817e+01] [ 1.91005219e-02 -2.38294574e-04 9.99817540e-01 -4.84349726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45241403699998 meters 0.0702198008347257 Centerline is valid? [True, True] Translation: X:183.66, Y:-15.20, Z:-4.84 [[ 9.84008772e-01 1.77296704e-01 -1.71060192e-02 1.83657472e+02] [-1.77266539e-01 9.84157428e-01 3.27595341e-03 -1.52047389e+01] [ 1.74158316e-02 -1.91242070e-04 9.99848315e-01 -4.84424735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48241403699998 meters 0.07007556617520486 Centerline is valid? [True, True] Translation: X:183.68, Y:-15.21, Z:-4.84 [[ 9.83752125e-01 1.78717921e-01 -1.70780710e-02 1.83684845e+02] [-1.78688144e-01 9.83900340e-01 3.26627530e-03 -1.52149734e+01] [ 1.73868618e-02 -1.61556456e-04 9.99848824e-01 -4.84452483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51241403699999 meters 0.06988494781607528 Centerline is valid? [True, True] Translation: X:183.71, Y:-15.23, Z:-4.85 [[ 9.83301675e-01 1.81325099e-01 -1.54604106e-02 1.83711717e+02] [-1.81301083e-01 9.83423204e-01 2.95282584e-03 -1.52280535e+01] [ 1.57395480e-02 -1.00529422e-04 9.99876121e-01 -4.84629928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.542414037 meters 0.06980520837959518 Centerline is valid? [True, True] Translation: X:183.74, Y:-15.24, Z:-4.85 [[ 9.83167545e-01 1.82016428e-01 -1.58618490e-02 1.83738457e+02] [-1.81991317e-01 9.83295486e-01 3.02459163e-03 -1.52358463e+01] [ 1.61474099e-02 -8.69615366e-05 9.99869618e-01 -4.84590449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.572414037 meters 0.06974018233177318 Centerline is valid? [True, True] Translation: X:183.76, Y:-15.24, Z:-4.85 [[ 9.83168175e-01 1.81985542e-01 -1.61741412e-02 1.83764999e+02] [-1.81959506e-01 9.83301203e-01 3.07936213e-03 -1.52439795e+01] [ 1.64644519e-02 -8.44920986e-05 9.99864448e-01 -4.84526031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.602414037 meters 0.06963750357845748 Centerline is valid? [True, True] Translation: X:183.79, Y:-15.25, Z:-4.85 [[ 9.83034272e-01 1.82768662e-01 -1.54672945e-02 1.83791016e+02] [-1.82744965e-01 9.83155945e-01 2.94379602e-03 -1.52536882e+01] [ 1.57447962e-02 -6.72821805e-05 9.99876041e-01 -4.84643417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.632414037 meters 0.06965476833112612 Centerline is valid? [True, True] Translation: X:183.82, Y:-15.27, Z:-4.85 [[ 9.83082601e-01 1.82477533e-01 -1.58287483e-02 1.83816956e+02] [-1.82452755e-01 9.83210021e-01 3.00780016e-03 -1.52710952e+01] [ 1.61118399e-02 -6.89172601e-05 9.99870194e-01 -4.84779500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.662414037 meters 0.06975252374808678 Centerline is valid? [True, True] Translation: X:183.84, Y:-15.28, Z:-4.85 [[ 9.83359519e-01 1.81037986e-01 -1.51428247e-02 1.83843328e+02] [-1.81015213e-01 9.83476101e-01 2.87260605e-03 -1.52827357e+01] [ 1.54126570e-02 -8.37228597e-05 9.99881214e-01 -4.84773256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.692414037 meters 0.0696736049417255 Centerline is valid? [True, True] Translation: X:183.87, Y:-15.29, Z:-4.85 [[ 9.83568893e-01 1.79823262e-01 -1.59945859e-02 1.83869432e+02] [-1.79797691e-01 9.83698929e-01 3.03441354e-03 -1.52948439e+01] [ 1.62795152e-02 -1.08765157e-04 9.99867474e-01 -4.84876973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.722414037 meters 0.0696736049417255 Centerline is valid? [True, True] Translation: X:183.90, Y:-15.30, Z:-4.85 [[ 9.83619169e-01 1.79547955e-01 -1.59957142e-02 1.83896406e+02] [-1.79522444e-01 9.83749216e-01 3.02846245e-03 -1.52998780e+01] [ 1.62795256e-02 -1.07264004e-04 9.99867474e-01 -4.84898399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.752414037 meters 0.06969693363682093 Centerline is valid? [True, True] Translation: X:183.92, Y:-15.31, Z:-4.85 [[ 9.84044234e-01 1.77214288e-01 -1.58758189e-02 1.83923287e+02] [-1.77188915e-01 9.84172280e-01 3.00203948e-03 -1.53113076e+01] [ 1.61565451e-02 -1.41120515e-04 9.99869465e-01 -4.85027511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.782414037 meters 0.06971819160020745 Centerline is valid? [True, True] Translation: X:183.95, Y:-15.32, Z:-4.85 [[ 9.84294249e-01 1.75902875e-01 -1.49334871e-02 1.83949348e+02] [-1.75880277e-01 9.84407515e-01 2.82364840e-03 -1.53228936e+01] [ 1.51973248e-02 -1.52795031e-04 9.99884502e-01 -4.85153067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.812414037 meters 0.06964126751661437 Centerline is valid? [True, True] Translation: X:183.98, Y:-15.33, Z:-4.85 [[ 9.84692133e-01 1.73644317e-01 -1.51345630e-02 1.83976203e+02] [-1.73620918e-01 9.84808416e-01 2.85655959e-03 -1.53339630e+01] [ 1.54006704e-02 -1.85155029e-04 9.99881386e-01 -4.85030727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.842414037 meters 0.06970328855436095 Centerline is valid? [True, True] Translation: X:184.00, Y:-15.35, Z:-4.85 [[ 9.85512366e-01 1.69082171e-01 -1.32889692e-02 1.84000761e+02] [-1.69063719e-01 9.85601932e-01 2.50803875e-03 -1.53523592e+01] [ 1.35216984e-02 -2.25020650e-04 9.99908552e-01 -4.85116008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.872414037 meters 0.07005452601349174 Centerline is valid? [True, True] Translation: X:184.03, Y:-15.36, Z:-4.85 [[ 9.85986990e-01 1.66213994e-01 -1.42324646e-02 1.84027348e+02] [-1.66192546e-01 9.86089666e-01 2.68489934e-03 -1.53648401e+01] [ 1.44807541e-02 -2.81946295e-04 9.99895109e-01 -4.85186143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.902414037 meters 0.07034515451084117 Centerline is valid? [True, True] Translation: X:184.05, Y:-15.38, Z:-4.85 [[ 9.86773405e-01 1.61296304e-01 -1.61786697e-02 1.84053758e+02] [-1.61267937e-01 9.86905943e-01 3.05152592e-03 -1.53834905e+01] [ 1.64590251e-02 -4.02063940e-04 9.99864460e-01 -4.85228034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.932414037 meters 0.07106783569661716 Centerline is valid? [True, True] Translation: X:184.08, Y:-15.40, Z:-4.85 [[ 9.87165670e-01 1.58831196e-01 -1.66310537e-02 1.84079172e+02] [-1.58800908e-01 9.87305650e-01 3.13466386e-03 -1.53958626e+01] [ 1.69178157e-02 -4.53406131e-04 9.99856781e-01 -4.85439768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96241403699997 meters 0.07088030253654248 Centerline is valid? [True, True] Translation: X:184.11, Y:-15.40, Z:-4.85 [[ 9.87551087e-01 1.56358449e-01 -1.71722313e-02 1.84107063e+02] [-1.56325880e-01 9.87700247e-01 3.23117376e-03 -1.54048509e+01] [ 1.74662384e-02 -5.06484990e-04 9.99847325e-01 -4.85341186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99241403699997 meters 0.07090296360460265 Centerline is valid? [True, True] Translation: X:184.13, Y:-15.42, Z:-4.85 [[ 9.87847527e-01 1.54416735e-01 -1.76843495e-02 1.84134265e+02] [-1.54381964e-01 9.88005651e-01 3.32304928e-03 -1.54154593e+01] [ 1.79853716e-02 -5.52521416e-04 9.99838097e-01 -4.85249915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02241403699998 meters 0.07133262519265873 Centerline is valid? [True, True] Translation: X:184.16, Y:-15.43, Z:-4.85 [[ 9.88334240e-01 1.51393807e-01 -1.65935447e-02 1.84159198e+02] [-1.51362801e-01 9.88473365e-01 3.11605370e-03 -1.54312851e+01] [ 1.68740282e-02 -5.68057157e-04 9.99857462e-01 -4.85233114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05241403699998 meters 0.07165411752893143 Centerline is valid? [True, True] Translation: X:184.19, Y:-15.44, Z:-4.85 [[ 9.88509670e-01 1.50230524e-01 -1.67158904e-02 1.84185471e+02] [-1.50198909e-01 9.88650818e-01 3.13808839e-03 -1.54418986e+01] [ 1.69976154e-02 -5.91322209e-04 9.99855355e-01 -4.85244247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08241403699998 meters 0.07122563681931345 Centerline is valid? [True, True] Translation: X:184.21, Y:-15.45, Z:-4.85 [[ 9.88586872e-01 1.49774144e-01 -1.62388875e-02 1.84212447e+02] [-1.49744348e-01 9.88720069e-01 3.04234742e-03 -1.54499064e+01] [ 1.65113790e-02 -5.75943091e-04 9.99863512e-01 -4.85060197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11241403699998 meters 0.07111836331213438 Centerline is valid? [True, True] Translation: X:184.24, Y:-15.46, Z:-4.85 [[ 9.88594922e-01 1.49774029e-01 -1.57422917e-02 1.84240366e+02] [-1.49746088e-01 9.88720098e-01 2.94558682e-03 -1.54585735e+01] [ 1.60058926e-02 -5.54645578e-04 9.99871744e-01 -4.84985323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14241403699998 meters 0.07064265935497452 Centerline is valid? [True, True] Translation: X:184.27, Y:-15.47, Z:-4.85 [[ 9.88482162e-01 1.50661931e-01 -1.42827545e-02 1.84268185e+02] [-1.50639080e-01 9.88585224e-01 2.66868017e-03 -1.54680680e+01] [ 1.45217886e-02 -4.86401754e-04 9.99894435e-01 -4.84840004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17241403699998 meters 0.07081112989594257 Centerline is valid? [True, True] Translation: X:184.30, Y:-15.48, Z:-4.85 [[ 9.88401559e-01 1.51200373e-01 -1.41705594e-02 1.84295030e+02] [-1.51177935e-01 9.88503021e-01 2.64767300e-03 -1.54766692e+01] [ 1.44079700e-02 -4.74688216e-04 9.99896087e-01 -4.84946605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20241403699998 meters 0.07026921408245726 Centerline is valid? [True, True] Translation: X:184.32, Y:-15.48, Z:-4.85 [[ 9.88186980e-01 1.52490989e-01 -1.52640329e-02 1.84323201e+02] [-1.52465187e-01 9.88304741e-01 2.84689040e-03 -1.54830322e+01] [ 1.55196412e-02 -4.86026387e-04 9.99879445e-01 -4.84870372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23241403699998 meters 0.06979391674664777 Centerline is valid? [True, True] Translation: X:184.35, Y:-15.49, Z:-4.85 [[ 9.87695979e-01 1.55674279e-01 -1.49054126e-02 1.84351363e+02] [-1.55650049e-01 9.87808351e-01 2.77923763e-03 -1.54916109e+01] [ 1.51563468e-02 -4.25013632e-04 9.99885046e-01 -4.84880680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26241403699999 meters 0.06978096405357549 Centerline is valid? [True, True] Translation: X:184.38, Y:-15.50, Z:-4.85 [[ 9.87306900e-01 1.58285153e-01 -1.30726958e-02 1.84378468e+02] [-1.58266758e-01 9.87393385e-01 2.43645978e-03 -1.54990285e+01] [ 1.32935488e-02 -3.36560369e-04 9.99911580e-01 -4.84995811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.292414037 meters 0.06909917653998242 Centerline is valid? [True, True] Translation: X:184.41, Y:-15.50, Z:-4.85 [[ 9.86930803e-01 1.60642315e-01 -1.27136241e-02 1.84407438e+02] [-1.60625168e-01 9.87012645e-01 2.36517752e-03 -1.55026583e+01] [ 1.29284553e-02 -2.92138537e-04 9.99916381e-01 -4.84852045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.322414037 meters 0.06867779639443493 Centerline is valid? [True, True] Translation: X:184.44, Y:-15.51, Z:-4.85 [[ 9.86536235e-01 1.63048767e-01 -1.27026559e-02 1.84436597e+02] [-1.63031887e-01 9.86617977e-01 2.36020571e-03 -1.55062443e+01] [ 1.29174973e-02 -2.57490492e-04 9.99916532e-01 -4.84763717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.352414037 meters 0.0681213007986951 Centerline is valid? [True, True] Translation: X:184.47, Y:-15.51, Z:-4.85 [[ 9.85574521e-01 1.68557700e-01 -1.52041184e-02 1.84465421e+02] [-1.68534222e-01 9.85691764e-01 2.82171564e-03 -1.55111689e+01] [ 1.54621961e-02 -2.18596785e-04 9.99880429e-01 -4.84753130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.382414037 meters 0.06819995908924645 Centerline is valid? [True, True] Translation: X:184.49, Y:-15.52, Z:-4.85 [[ 9.85272496e-01 1.70259895e-01 -1.58011620e-02 1.84493269e+02] [-1.70234821e-01 9.85399173e-01 2.92846423e-03 -1.55171890e+01] [ 1.60690520e-02 -1.95427278e-04 9.99870865e-01 -4.84904643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.412414037 meters 0.06832831997616222 Centerline is valid? [True, True] Translation: X:184.52, Y:-15.52, Z:-4.85 [[ 9.85213392e-01 1.70581717e-01 -1.60140373e-02 1.84520537e+02] [-1.70556084e-01 9.85343515e-01 2.96302889e-03 -1.55244895e+01] [ 1.62847663e-02 -1.87924257e-04 9.99867377e-01 -4.84943813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.442414037 meters 0.06833079785663092 Centerline is valid? [True, True] Translation: X:184.55, Y:-15.53, Z:-4.85 [[ 9.85190271e-01 1.70751744e-01 -1.56195997e-02 1.84547571e+02] [-1.70727379e-01 9.85314066e-01 2.89012341e-03 -1.55326838e+01] [ 1.58837049e-02 -1.80628146e-04 9.99873830e-01 -4.85133390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.472414037 meters 0.06837900869972527 Centerline is valid? [True, True] Translation: X:184.57, Y:-15.54, Z:-4.85 [[ 9.85452982e-01 1.69337758e-01 -1.43924926e-02 1.84574771e+02] [-1.69316989e-01 9.85558060e-01 2.65833302e-03 -1.55424062e+01] [ 1.46347932e-02 -1.82768692e-04 9.99892889e-01 -4.85092213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.502414037 meters 0.06845333414149848 Centerline is valid? [True, True] Translation: X:184.60, Y:-15.55, Z:-4.85 [[ 9.85595495e-01 1.68483931e-01 -1.46521415e-02 1.84601861e+02] [-1.68462312e-01 9.85704380e-01 2.70626742e-03 -1.55506411e+01] [ 1.48986427e-02 -1.98951345e-04 9.99888989e-01 -4.85183896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.532414037 meters 0.06847465077515308 Centerline is valid? [True, True] Translation: X:184.63, Y:-15.56, Z:-4.85 [[ 9.85836089e-01 1.67048000e-01 -1.49053857e-02 1.84629500e+02] [-1.67025538e-01 9.85948740e-01 2.74816120e-03 -1.55589441e+01] [ 1.51550210e-02 -2.19656429e-04 9.99885132e-01 -4.85118630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.562414037 meters 0.06848412956736384 Centerline is valid? [True, True] Translation: X:184.66, Y:-15.57, Z:-4.85 [[ 9.86045022e-01 1.65757409e-01 -1.54821125e-02 1.84656554e+02] [-1.65733032e-01 9.86166528e-01 2.85341776e-03 -1.55687788e+01] [ 1.57409163e-02 -2.47700932e-04 9.99876073e-01 -4.85106866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.592414037 meters 0.06846946339069522 Centerline is valid? [True, True] Translation: X:184.68, Y:-15.58, Z:-4.85 [[ 9.86471593e-01 1.63062739e-01 -1.68623912e-02 1.84683429e+02] [-1.63033448e-01 9.86615651e-01 3.10666867e-03 -1.55799949e+01] [ 1.71432810e-02 -3.15506616e-04 9.99852993e-01 -4.84958455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.622414037 meters 0.06897007550001982 Centerline is valid? [True, True] Translation: X:184.71, Y:-15.59, Z:-4.85 [[ 9.86649162e-01 1.61935486e-01 -1.73300066e-02 1.84710011e+02] [-1.61904401e-01 9.86801287e-01 3.19127451e-03 -1.55895689e+01] [ 1.76180534e-02 -3.42863984e-04 9.99844731e-01 -4.85257330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.652414037 meters 0.06916179016561616 Centerline is valid? [True, True] Translation: X:184.74, Y:-15.60, Z:-4.85 [[ 9.86863742e-01 1.60497662e-01 -1.84514057e-02 1.84737975e+02] [-1.60462192e-01 9.87036143e-01 3.39671659e-03 -1.55968913e+01] [ 1.87573694e-02 -3.91343439e-04 9.99823988e-01 -4.85325391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.682414037 meters 0.06903776488886963 Centerline is valid? [True, True] Translation: X:184.77, Y:-15.60, Z:-4.85 [[ 9.87057937e-01 1.59153940e-01 -1.96634729e-02 1.84766119e+02] [-1.59113418e-01 9.87253679e-01 3.61843229e-03 -1.56043210e+01] [ 1.99887238e-02 -4.42879930e-04 9.99800107e-01 -4.85132798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71241403699997 meters 0.06976868301078488 Centerline is valid? [True, True] Translation: X:184.79, Y:-15.61, Z:-4.85 [[ 9.87129052e-01 1.58596467e-01 -2.05765613e-02 1.84792624e+02] [-1.58552013e-01 9.87343373e-01 3.78449927e-03 -1.56149646e+01] [ 2.09163397e-02 -4.73333958e-04 9.99781117e-01 -4.85490894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74241403699997 meters 0.0700207719695012 Centerline is valid? [True, True] Translation: X:184.82, Y:-15.62, Z:-4.86 [[ 9.87287147e-01 1.57612242e-01 -2.05540669e-02 1.84819173e+02] [-1.57567708e-01 9.87500957e-01 3.77866935e-03 -1.56239294e+01] [ 2.08927253e-02 -4.91974485e-04 9.99781602e-01 -4.85519628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77241403699998 meters 0.06921782914706988 Centerline is valid? [True, True] Translation: X:184.85, Y:-15.63, Z:-4.85 [[ 9.87622905e-01 1.55902275e-01 -1.71894561e-02 1.84846831e+02] [-1.55870891e-01 9.87772386e-01 3.15888451e-03 -1.56320544e+01] [ 1.74717474e-02 -4.40450846e-04 9.99847260e-01 -4.84910702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80241403699998 meters 0.06917905056715538 Centerline is valid? [True, True] Translation: X:184.88, Y:-15.64, Z:-4.85 [[ 9.87946171e-01 1.54016774e-01 -1.55304820e-02 1.84875217e+02] [-1.53990942e-01 9.88068141e-01 2.85284242e-03 -1.56388723e+01] [ 1.57845600e-02 -4.26901203e-04 9.99875325e-01 -4.84771344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83241403699998 meters 0.06937892919456645 Centerline is valid? [True, True] Translation: X:184.90, Y:-15.65, Z:-4.85 [[ 9.88311820e-01 1.51900958e-01 -1.28780922e-02 1.84901049e+02] [-1.51883044e-01 9.88395647e-01 2.36350631e-03 -1.56463306e+01] [ 1.30876691e-02 -3.79917381e-04 9.99914281e-01 -4.84707605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86241403699998 meters 0.06946038260111084 Centerline is valid? [True, True] Translation: X:184.93, Y:-15.65, Z:-4.85 [[ 9.88752542e-01 1.48968345e-01 -1.32982510e-02 1.84929563e+02] [-1.48948976e-01 9.88841871e-01 2.44084862e-03 -1.56538165e+01] [ 1.35134766e-02 -4.32634406e-04 9.99908595e-01 -4.84642090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89241403699998 meters 0.06991509429557403 Centerline is valid? [True, True] Translation: X:184.96, Y:-15.67, Z:-4.85 [[ 9.89445104e-01 1.44119421e-01 -1.50989406e-02 1.84958006e+02] [-1.44093888e-01 9.89560140e-01 2.77125475e-03 -1.56654795e+01] [ 1.53407014e-02 -5.66339386e-04 9.99882164e-01 -4.84732998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92241403699998 meters 0.07090312667837406 Centerline is valid? [True, True] Translation: X:184.99, Y:-15.68, Z:-4.85 [[ 9.89872734e-01 1.40994186e-01 -1.65108931e-02 1.84985108e+02] [-1.40963239e-01 9.90010196e-01 3.02923055e-03 -1.56765160e+01] [ 1.67730564e-02 -6.71123757e-04 9.99859097e-01 -4.84964047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95241403699998 meters 0.07209481240531146 Centerline is valid? [True, True] Translation: X:185.01, Y:-15.69, Z:-4.85 [[ 9.90236462e-01 1.38186879e-01 -1.83340194e-02 1.85013208e+02] [-1.38148239e-01 9.90405851e-01 3.36372094e-03 -1.56875610e+01] [ 1.86229422e-02 -7.98066639e-04 9.99826259e-01 -4.85220171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98241403699998 meters 0.0721408048710949 Centerline is valid? [True, True] Translation: X:185.04, Y:-15.70, Z:-4.85 [[ 9.90896017e-01 1.33506707e-01 -1.73505984e-02 1.85042026e+02] [-1.33471390e-01 9.91047555e-01 3.18296960e-03 -1.56960856e+01] [ 1.76202159e-02 -8.38183408e-04 9.99844401e-01 -4.85057805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01241403699999 meters 0.07325512457189338 Centerline is valid? [True, True] Translation: X:185.07, Y:-15.71, Z:-4.85 [[ 9.91112324e-01 1.31833777e-01 -1.77824495e-02 1.85069729e+02] [-1.31796434e-01 9.91271439e-01 3.26096145e-03 -1.57055500e+01] [ 1.80571392e-02 -8.88315646e-04 9.99836562e-01 -4.85134070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.042414037 meters 0.07267459076969875 Centerline is valid? [True, True] Translation: X:185.10, Y:-15.71, Z:-4.85 [[ 9.91311328e-01 1.30475202e-01 -1.66755093e-02 1.85098345e+02] [-1.30442195e-01 9.91451205e-01 3.05660220e-03 -1.57095187e+01] [ 1.69317646e-02 -8.54854354e-04 9.99856282e-01 -4.84960766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.072414037 meters 0.0734702191491177 Centerline is valid? [True, True] Translation: X:185.13, Y:-15.72, Z:-4.85 [[ 9.91509895e-01 1.28849242e-01 -1.74928810e-02 1.85125822e+02] [-1.28812689e-01 9.91663762e-01 3.20520617e-03 -1.57166723e+01] [ 1.77600446e-02 -9.24688595e-04 9.99841850e-01 -4.85027040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.102414037 meters 0.07403173078428998 Centerline is valid? [True, True] Translation: X:185.16, Y:-15.72, Z:-4.85 [[ 9.91802006e-01 1.26385613e-01 -1.88535636e-02 1.85155627e+02] [-1.26342696e-01 9.91980638e-01 3.45511436e-03 -1.57238189e+01] [ 1.91390468e-02 -1.04477929e-03 9.99816286e-01 -4.85047738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.132414037 meters 0.0748866064449221 Centerline is valid? [True, True] Translation: X:185.18, Y:-15.73, Z:-4.85 [[ 9.92069071e-01 1.24113677e-01 -1.98684070e-02 1.85184704e+02] [-1.24065581e-01 9.92267344e-01 3.64012437e-03 -1.57308684e+01] [ 2.01665607e-02 -1.14626935e-03 9.99795977e-01 -4.85192223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.162414037 meters 0.07580361031492554 Centerline is valid? [True, True] Translation: X:185.21, Y:-15.74, Z:-4.85 [[ 9.92381274e-01 1.21732790e-01 -1.89877528e-02 1.85212149e+02] [-1.21688461e-01 9.92562254e-01 3.47714921e-03 -1.57378563e+01] [ 1.92698098e-02 -1.14006736e-03 9.99813670e-01 -4.85268668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.192414037 meters 0.07651031047057684 Centerline is valid? [True, True] Translation: X:185.24, Y:-15.74, Z:-4.85 [[ 9.92627944e-01 1.19594784e-01 -1.96685871e-02 1.85241192e+02] [-1.19546807e-01 9.92822034e-01 3.60142589e-03 -1.57447112e+01] [ 1.99581184e-02 -1.22355918e-03 9.99800068e-01 -4.85330929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.222414037 meters 0.0760494730891043 Centerline is valid? [True, True] Translation: X:185.27, Y:-15.75, Z:-4.85 [[ 9.93157669e-01 1.15137595e-01 -1.95237801e-02 1.85271825e+02] [-1.15089462e-01 9.93348698e-01 3.57502712e-03 -1.57472595e+01] [ 1.98055416e-02 -1.30358426e-03 9.99803001e-01 -4.85234966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.252414037 meters 0.07866537493402348 Centerline is valid? [True, True] Translation: X:185.30, Y:-15.76, Z:-4.86 [[ 9.93466683e-01 1.12432147e-01 -1.95694019e-02 1.85299566e+02] [-1.12383285e-01 9.93658474e-01 3.58243570e-03 -1.57567294e+01] [ 1.98480830e-02 -1.35975683e-03 9.99802083e-01 -4.85519934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.282414037 meters 0.07864312088915483 Centerline is valid? [True, True] Translation: X:185.33, Y:-15.76, Z:-4.86 [[ 9.93915811e-01 1.08316798e-01 -1.99707691e-02 1.85330190e+02] [-1.08265079e-01 9.94115338e-01 3.65619172e-03 -1.57576129e+01] [ 2.02492748e-02 -1.47180987e-03 9.99793879e-01 -4.85505414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.312414037 meters 0.07727537692501145 Centerline is valid? [True, True] Translation: X:185.36, Y:-15.76, Z:-4.85 [[ 9.94181238e-01 1.05671373e-01 -2.09099888e-02 1.85360644e+02] [-1.05614103e-01 9.94399824e-01 3.82760692e-03 -1.57568704e+01] [ 2.11973577e-02 -1.59694527e-03 9.99774035e-01 -4.85389909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.342414037 meters 0.08131252171535942 Centerline is valid? [True, True] Translation: X:185.39, Y:-15.77, Z:-4.86 [[ 9.94444973e-01 1.03350820e-01 -1.99450061e-02 1.85387260e+02] [-1.03298289e-01 9.94643729e-01 3.64904699e-03 -1.57685413e+01] [ 2.02153073e-02 -1.56849142e-03 9.99794419e-01 -4.85748598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.372414037 meters 0.07791454598552389 Centerline is valid? [True, True] Translation: X:185.42, Y:-15.76, Z:-4.85 [[ 9.94668705e-01 1.01134955e-01 -2.01466916e-02 1.85419205e+02] [-1.01080893e-01 9.94871380e-01 3.68652324e-03 -1.57639944e+01] [ 2.04162032e-02 -1.63042373e-03 9.99790238e-01 -4.85426342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.402414037 meters 0.08481871026177414 Centerline is valid? [True, True] Translation: X:185.45, Y:-15.78, Z:-4.86 [[ 9.95111098e-01 9.72399610e-02 -1.72711476e-02 1.85446168e+02] [-9.71996657e-02 9.95259887e-01 3.15940930e-03 -1.57779994e+01] [ 1.74965012e-02 -1.46521349e-03 9.99845851e-01 -4.85686772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.432414037 meters 0.08002801780813143 Centerline is valid? [True, True] Translation: X:185.48, Y:-15.77, Z:-4.85 [[ 9.95305291e-01 9.52707552e-02 -1.70546377e-02 1.85477316e+02] [-9.52311961e-02 9.95450297e-01 3.11869754e-03 -1.57691773e+01] [ 1.72741649e-02 -1.47992261e-03 9.99849695e-01 -4.85335057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46241403699997 meters 0.08181993966565052 Centerline is valid? [True, True] Translation: X:185.51, Y:-15.77, Z:-4.85 [[ 9.95496027e-01 9.34134081e-02 -1.61739029e-02 1.85505229e+02] [-9.33776087e-02 9.95626377e-01 2.95627615e-03 -1.57727768e+01] [ 1.63793202e-02 -1.43268078e-03 9.99864824e-01 -4.85496187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49241403699997 meters 0.08168988131050188 Centerline is valid? [True, True] Translation: X:185.54, Y:-15.77, Z:-4.85 [[ 9.95630623e-01 9.20245897e-02 -1.58473075e-02 1.85535386e+02] [-9.19900522e-02 9.95755714e-01 2.89626676e-03 -1.57722821e+01] [ 1.60465747e-02 -1.42581724e-03 9.99870229e-01 -4.85496522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52241403699998 meters 0.08560924536699552 Centerline is valid? [True, True] Translation: X:185.56, Y:-15.77, Z:-4.86 [[ 9.95735611e-01 9.09396383e-02 -1.55104772e-02 1.85563752e+02] [-9.09064425e-02 9.95855406e-01 2.83346690e-03 -1.57735952e+01] [ 1.57038670e-02 -1.41138159e-03 9.99875691e-01 -4.85945304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55241403699998 meters 0.08335439531534922 Centerline is valid? [True, True] Translation: X:185.59, Y:-15.77, Z:-4.86 [[ 9.95720586e-01 9.10345533e-02 -1.59130320e-02 1.85593588e+02] [-9.09996433e-02 9.95846686e-01 2.90579354e-03 -1.57686785e+01] [ 1.61114678e-02 -1.44527822e-03 9.99869157e-01 -4.85980564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58241403699998 meters 0.08323569659035052 Centerline is valid? [True, True] Translation: X:185.62, Y:-15.77, Z:-4.86 [[ 9.95721470e-01 9.12520951e-02 -1.45536485e-02 1.85622803e+02] [-9.12229349e-02 9.95826953e-01 2.65644713e-03 -1.57689698e+01] [ 1.47353218e-02 -1.31745492e-03 9.99890561e-01 -4.86040358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61241403699998 meters 0.08323569659035052 Centerline is valid? [True, True] Translation: X:185.65, Y:-15.77, Z:-4.86 [[ 9.95731188e-01 9.11459379e-02 -1.45539815e-02 1.85649979e+02] [-9.11167928e-02 9.95836675e-01 2.65462246e-03 -1.57738288e+01] [ 1.47353466e-02 -1.31717826e-03 9.99890561e-01 -4.86061903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64241403699998 meters 0.08603030488196627 Centerline is valid? [True, True] Translation: X:185.68, Y:-15.78, Z:-4.86 [[ 9.95807977e-01 9.04406655e-02 -1.36732660e-02 1.85677807e+02] [-9.04148913e-02 9.95901066e-01 2.49283098e-03 -1.57759549e+01] [ 1.38426735e-02 -1.24611412e-03 9.99903409e-01 -4.86319849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67241403699998 meters 0.08675315310683256 Centerline is valid? [True, True] Translation: X:185.71, Y:-15.78, Z:-4.86 [[ 9.95849036e-01 8.98313817e-02 -1.46635965e-02 1.85706551e+02] [-8.98016853e-02 9.95956081e-01 2.67254483e-03 -1.57780173e+01] [ 1.48443765e-02 -1.34463551e-03 9.99888912e-01 -4.86481797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70241403699998 meters 0.0851113875278746 Centerline is valid? [True, True] Translation: X:185.74, Y:-15.77, Z:-4.87 [[ 9.95930296e-01 8.85960293e-02 -1.65405549e-02 1.85737120e+02] [-8.85580860e-02 9.96066454e-01 3.01392562e-03 -1.57746052e+01] [ 1.67425137e-02 -1.53685995e-03 9.99858653e-01 -4.86589801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73241403699998 meters 0.0864657759852549 Centerline is valid? [True, True] Translation: X:185.77, Y:-15.78, Z:-4.87 [[ 9.96002883e-01 8.74429743e-02 -1.82203942e-02 1.85765211e+02] [-8.73967663e-02 9.96168054e-01 3.31860736e-03 -1.57763116e+01] [ 1.84407635e-02 -1.71293897e-03 9.99828487e-01 -4.86858756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76241403699999 meters 0.08917278767209788 Centerline is valid? [True, True] Translation: X:185.79, Y:-15.77, Z:-4.87 [[ 9.96103144e-01 8.60726261e-02 -1.92361533e-02 1.85794060e+02] [-8.60208945e-02 9.96287177e-01 3.50227470e-03 -1.57741496e+01] [ 1.94661828e-02 -1.83391572e-03 9.99808834e-01 -4.87203287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.792414037 meters 0.08837456860897093 Centerline is valid? [True, True] Translation: X:185.82, Y:-15.77, Z:-4.87 [[ 9.96132366e-01 8.58253184e-02 -1.88235069e-02 1.85823735e+02] [-8.57757647e-02 9.96308578e-01 3.42579442e-03 -1.57726813e+01] [ 1.90480413e-02 -1.79794400e-03 9.99816953e-01 -4.87144930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.822414037 meters 0.08861287130808652 Centerline is valid? [True, True] Translation: X:185.85, Y:-15.77, Z:-4.87 [[ 9.96167406e-01 8.54350788e-02 -1.87442503e-02 1.85852606e+02] [-8.53858985e-02 9.96342120e-01 3.41003614e-03 -1.57730998e+01] [ 1.89670228e-02 -1.79647221e-03 9.99818496e-01 -4.87217769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.852414037 meters 0.08849570564481815 Centerline is valid? [True, True] Translation: X:185.88, Y:-15.77, Z:-4.87 [[ 9.96135779e-01 8.62169475e-02 -1.67376360e-02 1.85883292e+02] [-8.61778503e-02 9.96275117e-01 3.04460417e-03 -1.57694376e+01] [ 1.69377867e-02 -1.59042566e-03 9.99855280e-01 -4.87045717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.882414037 meters 0.08873691222913924 Centerline is valid? [True, True] Translation: X:185.91, Y:-15.77, Z:-4.87 [[ 9.96143548e-01 8.60851643e-02 -1.69521990e-02 1.85912588e+02] [-8.60450643e-02 9.96286478e-01 3.08216554e-03 -1.57697321e+01] [ 1.71545754e-02 -1.61162626e-03 9.99851551e-01 -4.87023451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.912414037 meters 0.08574825042326696 Centerline is valid? [True, True] Translation: X:185.94, Y:-15.76, Z:-4.87 [[ 9.96160556e-01 8.59617089e-02 -1.65750034e-02 1.85942758e+02] [-8.59233778e-02 9.96297194e-01 3.01233831e-03 -1.57630178e+01] [ 1.67725752e-02 -1.57659233e-03 9.99858087e-01 -4.86904662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.942414037 meters 0.08867344101369669 Centerline is valid? [True, True] Translation: X:185.97, Y:-15.76, Z:-4.87 [[ 9.96271654e-01 8.44791666e-02 -1.74946063e-02 1.85972400e+02] [-8.44362292e-02 9.96423811e-01 3.17992043e-03 -1.57631579e+01] [ 1.77006793e-02 -1.69088600e-03 9.99841901e-01 -4.87151943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.972414037 meters 0.08603498929437751 Centerline is valid? [True, True] Translation: X:186.00, Y:-15.76, Z:-4.87 [[ 9.96317791e-01 8.37726920e-02 -1.82481376e-02 1.86002613e+02] [-8.37258924e-02 9.96483309e-01 3.31503196e-03 -1.57587335e+01] [ 1.84616737e-02 -1.77498371e-03 9.99827993e-01 -4.87008872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.002414037 meters 0.08832059289611478 Centerline is valid? [True, True] Translation: X:186.03, Y:-15.76, Z:-4.87 [[ 9.96367344e-01 8.32474912e-02 -1.79435657e-02 1.86030419e+02] [-8.32021891e-02 9.96527361e-01 3.25791264e-03 -1.57633550e+01] [ 1.81524672e-02 -1.75313382e-03 9.99833693e-01 -4.87141027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.032414037 meters 0.08725757419353286 Centerline is valid? [True, True] Translation: X:186.06, Y:-15.76, Z:-4.87 [[ 9.96334909e-01 8.34001937e-02 -1.90041136e-02 1.86061290e+02] [-8.33494280e-02 9.96514413e-01 3.44927096e-03 -1.57565601e+01] [ 1.92255429e-02 -1.85264708e-03 9.99813456e-01 -4.87058401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.062414037 meters 0.08717055558928989 Centerline is valid? [True, True] Translation: X:186.09, Y:-15.76, Z:-4.87 [[ 9.96276888e-01 8.39682360e-02 -1.95370793e-02 1.86090306e+02] [-8.39147183e-02 9.96466636e-01 3.54460336e-03 -1.57559518e+01] [ 1.97656818e-02 -1.89195790e-03 9.99802850e-01 -4.87223821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.092414037 meters 0.08499166189501035 Centerline is valid? [True, True] Translation: X:186.12, Y:-15.75, Z:-4.87 [[ 9.96178176e-01 8.50163971e-02 -2.00313410e-02 1.86120397e+02] [-8.49603768e-02 9.96377708e-01 3.63279432e-03 -1.57518773e+01] [ 2.02676288e-02 -1.91704014e-03 9.99792753e-01 -4.87056818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.122414037 meters 0.08739117462213872 Centerline is valid? [True, True] Translation: X:186.15, Y:-15.75, Z:-4.87 [[ 9.95968912e-01 8.74866299e-02 -1.97994170e-02 1.86149604e+02] [-8.74323866e-02 9.96163985e-01 3.59056035e-03 -1.57527295e+01] [ 2.00375922e-02 -1.84497620e-03 9.99797525e-01 -4.87211258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.152414037 meters 0.08696643867283121 Centerline is valid? [True, True] Translation: X:186.18, Y:-15.75, Z:-4.87 [[ 9.95845138e-01 8.89222861e-02 -1.96287456e-02 1.86180213e+02] [-8.88692560e-02 9.96036940e-01 3.55932849e-03 -1.57535870e+01] [ 1.98674594e-02 -1.80014795e-03 9.99801002e-01 -4.87185309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.182414037 meters 0.08724933727144527 Centerline is valid? [True, True] Translation: X:186.21, Y:-15.75, Z:-4.87 [[ 9.95721061e-01 9.01622643e-02 -2.02567449e-02 1.86207992e+02] [-9.01061089e-02 9.95925409e-01 3.66987258e-03 -1.57545155e+01] [ 2.05050909e-02 -1.82891295e-03 9.99788076e-01 -4.87270582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21241403699997 meters 0.08316219679614588 Centerline is valid? [True, True] Translation: X:186.24, Y:-15.74, Z:-4.87 [[ 9.95346133e-01 9.38269648e-02 -2.19676192e-02 1.86240913e+02] [-9.37617867e-02 9.95586702e-01 3.98070326e-03 -1.57433873e+01] [ 2.22441668e-02 -1.90245437e-03 9.99750758e-01 -4.87061710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24241403699997 meters 0.08324749159901713 Centerline is valid? [True, True] Translation: X:186.27, Y:-15.74, Z:-4.87 [[ 9.95147126e-01 9.57229593e-02 -2.27884308e-02 1.86269820e+02] [-9.56533490e-02 9.95406147e-01 4.12783212e-03 -1.57449035e+01] [ 2.30788725e-02 -1.92801054e-03 9.99731788e-01 -4.87202575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27241403699998 meters 0.08344345582571462 Centerline is valid? [True, True] Translation: X:186.30, Y:-15.75, Z:-4.87 [[ 9.94988589e-01 9.72658418e-02 -2.31746202e-02 1.86298286e+02] [-9.71942879e-02 9.95256578e-01 4.19689531e-03 -1.57469262e+01] [ 2.34729078e-02 -1.92342224e-03 9.99722623e-01 -4.87306647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30241403699998 meters 0.0822538946930952 Centerline is valid? [True, True] Translation: X:186.33, Y:-15.75, Z:-4.87 [[ 9.94808798e-01 9.90514632e-02 -2.33294585e-02 1.86329191e+02] [-9.89794427e-02 9.95080510e-01 4.22470759e-03 -1.57466377e+01] [ 2.36331529e-02 -1.89363948e-03 9.99718905e-01 -4.87307757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33241403699998 meters 0.08185664685880524 Centerline is valid? [True, True] Translation: X:186.36, Y:-15.74, Z:-4.87 [[ 9.94617668e-01 1.01052313e-01 -2.28937500e-02 1.86359846e+02] [-1.00983507e-01 9.94879466e-01 4.14484648e-03 -1.57435586e+01] [ 2.31953681e-02 -1.81064638e-03 9.99729312e-01 -4.87330139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36241403699998 meters 0.08174909132702182 Centerline is valid? [True, True] Translation: X:186.39, Y:-15.75, Z:-4.87 [[ 9.94658896e-01 1.00693729e-01 -2.26815701e-02 1.86388287e+02] [-1.00626294e-01 9.94915853e-01 4.09800210e-03 -1.57451090e+01] [ 2.29788968e-02 -1.79375190e-03 9.99734341e-01 -4.87310556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39241403699998 meters 0.08230598633114185 Centerline is valid? [True, True] Translation: X:186.42, Y:-15.75, Z:-4.87 [[ 9.94718178e-01 1.00040268e-01 -2.29715069e-02 1.86416606e+02] [-9.99709362e-02 9.94981704e-01 4.14988610e-03 -1.57473802e+01] [ 2.32713848e-02 -1.83148409e-03 9.99727507e-01 -4.87304321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42241403699998 meters 0.08119370768476486 Centerline is valid? [True, True] Translation: X:186.45, Y:-15.74, Z:-4.87 [[ 9.94921516e-01 9.79804030e-02 -2.30438011e-02 1.86446935e+02] [-9.79101257e-02 9.95186561e-01 4.16118919e-03 -1.57448529e+01] [ 2.33405962e-02 -1.88383520e-03 9.99725796e-01 -4.87168884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45241403699998 meters 0.0829360136690623 Centerline is valid? [True, True] Translation: X:186.48, Y:-15.75, Z:-4.87 [[ 9.95117352e-01 9.59520880e-02 -2.31225388e-02 1.86475375e+02] [-9.58807769e-02 9.95384066e-01 4.17578301e-03 -1.57519580e+01] [ 2.34164818e-02 -1.93838715e-03 9.99723917e-01 -4.87337278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48241403699998 meters 0.08336685524697832 Centerline is valid? [True, True] Translation: X:186.51, Y:-15.76, Z:-4.87 [[ 9.95333169e-01 9.34029751e-02 -2.42438940e-02 1.86505396e+02] [-9.33238334e-02 9.95626182e-01 4.37803578e-03 -1.57565857e+01] [ 2.45467772e-02 -2.09507111e-03 9.99696487e-01 -4.87303949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51241403699999 meters 0.08457315348006797 Centerline is valid? [True, True] Translation: X:186.53, Y:-15.76, Z:-4.87 [[ 9.95793667e-01 8.81311747e-02 -2.50573137e-02 1.86534879e+02] [-8.80449891e-02 9.96106224e-01 4.52439188e-03 -1.57606592e+01] [ 2.53584861e-02 -2.29918986e-03 9.99675778e-01 -4.87226900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.542414037 meters 0.08514327871019763 Centerline is valid? [True, True] Translation: X:186.56, Y:-15.76, Z:-4.87 [[ 9.96003954e-01 8.58504166e-02 -2.46135874e-02 1.86564973e+02] [-8.57665779e-02 9.96305348e-01 4.44382411e-03 -1.57649639e+01] [ 2.49041529e-02 -2.31504323e-03 9.99687163e-01 -4.87237895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.572414037 meters 0.0874524752256059 Centerline is valid? [True, True] Translation: X:186.59, Y:-15.77, Z:-4.87 [[ 9.96229574e-01 8.28357538e-02 -2.57851631e-02 1.86594620e+02] [-8.27427533e-02 9.96560068e-01 4.65487081e-03 -1.57682368e+01] [ 2.60820536e-02 -2.50378457e-03 9.99656670e-01 -4.87256437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.602414037 meters 0.0874524752256059 Centerline is valid? [True, True] Translation: X:186.62, Y:-15.77, Z:-4.87 [[ 9.96252631e-01 8.25574641e-02 -2.57868238e-02 1.86621768e+02] [-8.24646074e-02 9.96583166e-01 4.64566426e-03 -1.57730292e+01] [ 2.60822488e-02 -2.50175494e-03 9.99656670e-01 -4.87277952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.632414037 meters 0.0866739234216564 Centerline is valid? [True, True] Translation: X:186.65, Y:-15.77, Z:-4.87 [[ 9.96223263e-01 8.26521580e-02 -2.66051059e-02 1.86650175e+02] [-8.25535531e-02 9.96575141e-01 4.78539447e-03 -1.57708227e+01] [ 2.69095103e-02 -2.57097527e-03 9.99634567e-01 -4.87336845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.662414037 meters 0.0866948890219437 Centerline is valid? [True, True] Translation: X:186.68, Y:-15.77, Z:-4.87 [[ 9.96111760e-01 8.39630316e-02 -2.66752743e-02 1.86680243e+02] [-8.38643599e-02 9.96465626e-01 4.79844118e-03 -1.57734954e+01] [ 2.69838856e-02 -2.54267888e-03 9.99632635e-01 -4.87456544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.692414037 meters 0.08605257672145818 Centerline is valid? [True, True] Translation: X:186.71, Y:-15.77, Z:-4.87 [[ 9.96040131e-01 8.47147684e-02 -2.69715734e-02 1.86709756e+02] [-8.46143769e-02 9.96401999e-01 4.84396919e-03 -1.57744049e+01] [ 2.72848854e-02 -2.54260482e-03 9.99624465e-01 -4.87445177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.722414037 meters 0.08571183501023115 Centerline is valid? [True, True] Translation: X:186.74, Y:-15.78, Z:-4.87 [[ 9.95950403e-01 8.61817018e-02 -2.56029190e-02 1.86740319e+02] [-8.60916946e-02 9.96276602e-01 4.59928406e-03 -1.57758687e+01] [ 2.59039633e-02 -2.37646013e-03 9.99661611e-01 -4.87424327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.752414037 meters 0.08529572194206743 Centerline is valid? [True, True] Translation: X:186.77, Y:-15.77, Z:-4.87 [[ 9.95601886e-01 9.07520652e-02 -2.32582859e-02 1.86770742e+02] [-9.06790433e-02 9.95871407e-01 4.17745511e-03 -1.57733281e+01] [ 2.35413746e-02 -2.05004308e-03 9.99720762e-01 -4.87277214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.782414037 meters 0.08375373838204284 Centerline is valid? [True, True] Translation: X:186.80, Y:-15.77, Z:-4.87 [[ 9.95415015e-01 9.27871766e-02 -2.32268805e-02 1.86801721e+02] [-9.27149100e-02 9.95683958e-01 4.17144825e-03 -1.57721892e+01] [ 2.35136892e-02 -1.99884408e-03 9.99721517e-01 -4.87255878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.812414037 meters 0.08225458981581145 Centerline is valid? [True, True] Translation: X:186.83, Y:-15.77, Z:-4.87 [[ 9.95231961e-01 9.45776357e-02 -2.38414422e-02 1.86831951e+02] [-9.45020276e-02 9.95515465e-01 4.28081083e-03 -1.57709167e+01] [ 2.41393934e-02 -2.00733512e-03 9.99706587e-01 -4.87265710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.842414037 meters 0.08323013402061955 Centerline is valid? [True, True] Translation: X:186.86, Y:-15.77, Z:-4.88 [[ 9.94841997e-01 9.82403409e-02 -2.52633484e-02 1.86861405e+02] [-9.81566300e-02 9.95160643e-01 4.53554265e-03 -1.57731981e+01] [ 2.55866633e-02 -2.03238317e-03 9.99670542e-01 -4.87568996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.872414037 meters 0.08060072618546571 Centerline is valid? [True, True] Translation: X:186.89, Y:-15.77, Z:-4.87 [[ 9.94760527e-01 9.90660721e-02 -2.52469382e-02 1.86891730e+02] [-9.89829308e-02 9.95078843e-01 4.52491042e-03 -1.57705579e+01] [ 2.55709591e-02 -2.00218634e-03 9.99671005e-01 -4.87376635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.902414037 meters 0.08222771630970387 Centerline is valid? [True, True] Translation: X:186.92, Y:-15.78, Z:-4.88 [[ 9.94719555e-01 9.97369729e-02 -2.41980000e-02 1.86918589e+02] [-9.96608236e-02 9.95012021e-01 4.33576699e-03 -1.57772933e+01] [ 2.45097371e-02 -1.90127961e-03 9.99697783e-01 -4.87543981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.932414037 meters 0.08347209234406834 Centerline is valid? [True, True] Translation: X:186.95, Y:-15.78, Z:-4.88 [[ 9.94717837e-01 9.97818065e-02 -2.40835093e-02 1.86945970e+02] [-9.97064410e-02 9.95007549e-01 4.31313236e-03 -1.57827221e+01] [ 2.43936457e-02 -1.88906870e-03 9.99700646e-01 -4.87703762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96241403699997 meters 0.08124968235353751 Centerline is valid? [True, True] Translation: X:186.98, Y:-15.78, Z:-4.88 [[ 9.94758092e-01 9.89199942e-02 -2.59070086e-02 1.86976897e+02] [-9.88325032e-02 9.95093269e-01 4.63921020e-03 -1.57787916e+01] [ 2.62388005e-02 -2.05443738e-03 9.99653592e-01 -4.87605464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99241403699997 meters 0.08578003622146808 Centerline is valid? [True, True] Translation: X:187.00, Y:-15.79, Z:-4.88 [[ 9.94864520e-01 9.77161730e-02 -2.63843989e-02 1.87003241e+02] [-9.76250482e-02 9.95212059e-01 4.72313170e-03 -1.57930780e+01] [ 2.67195983e-02 -2.12309793e-03 9.99640713e-01 -4.88145178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02241403699998 meters 0.08232567480005175 Centerline is valid? [True, True] Translation: X:187.03, Y:-15.79, Z:-4.88 [[ 9.94970766e-01 9.65092913e-02 -2.68166406e-02 1.87033999e+02] [-9.64147425e-02 9.95329674e-01 4.79967882e-03 -1.57890638e+01] [ 2.71546118e-02 -2.19002061e-03 9.99628847e-01 -4.87929736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05241403699998 meters 0.08325185777006792 Centerline is valid? [True, True] Translation: X:187.06, Y:-15.80, Z:-4.88 [[ 9.95038170e-01 9.56369113e-02 -2.74339508e-02 1.87060581e+02] [-9.55377756e-02 9.95413721e-01 4.90488045e-03 -1.57952531e+01] [ 2.77772187e-02 -2.25956463e-03 9.99611585e-01 -4.88046183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08241403699998 meters 0.08634367879521522 Centerline is valid? [True, True] Translation: X:187.09, Y:-15.81, Z:-4.88 [[ 9.95149173e-01 9.44469747e-02 -2.75298487e-02 1.87087379e+02] [-9.43467296e-02 9.95527238e-01 4.92069171e-03 -1.58050078e+01] [ 2.78714587e-02 -2.29947110e-03 9.99608871e-01 -4.88284753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11241403699998 meters 0.08463572424965103 Centerline is valid? [True, True] Translation: X:187.12, Y:-15.80, Z:-4.88 [[ 9.95319265e-01 9.27758212e-02 -2.70593376e-02 1.87117881e+02] [-9.26783803e-02 9.95684354e-01 4.83590032e-03 -1.58024837e+01] [ 2.73912137e-02 -2.30544918e-03 9.99622132e-01 -4.88093302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14241403699998 meters 0.08675031314943356 Centerline is valid? [True, True] Translation: X:187.14, Y:-15.81, Z:-4.88 [[ 9.95329866e-01 9.24756177e-02 -2.76896671e-02 1.87144309e+02] [-9.23735649e-02 9.95712143e-01 4.94507355e-03 -1.58094086e+01] [ 2.80282365e-02 -2.36418613e-03 9.99604336e-01 -4.88281991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17241403699998 meters 0.08384244138519943 Centerline is valid? [True, True] Translation: X:187.17, Y:-15.81, Z:-4.88 [[ 9.95337312e-01 9.21973462e-02 -2.83422809e-02 1.87173699e+02] [-9.20904284e-02 9.95737804e-01 5.05758834e-03 -1.58058988e+01] [ 2.86877768e-02 -2.42395359e-03 9.99585482e-01 -4.88080036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20241403699998 meters 0.08500833866921727 Centerline is valid? [True, True] Translation: X:187.20, Y:-15.81, Z:-4.88 [[ 9.95446873e-01 9.13034145e-02 -2.73716879e-02 1.87201760e+02] [-9.12034634e-02 9.95820319e-01 4.88069510e-03 -1.58085284e+01] [ 2.77029071e-02 -2.36207994e-03 9.99613410e-01 -4.88222281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23241403699998 meters 0.08456486433342254 Centerline is valid? [True, True] Translation: X:187.23, Y:-15.81, Z:-4.88 [[ 9.95507617e-01 9.10605651e-02 -2.59337151e-02 1.87231145e+02] [-9.09709419e-02 9.95842843e-01 4.61740246e-03 -1.58108370e+01] [ 2.62463679e-02 -2.23744482e-03 9.99653001e-01 -4.88129424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26241403699999 meters 0.08586403745555685 Centerline is valid? [True, True] Translation: X:187.26, Y:-15.82, Z:-4.88 [[ 9.95525482e-01 9.11185182e-02 -2.50286082e-02 1.87258157e+02] [-9.10350914e-02 9.95837720e-01 4.45507095e-03 -1.58170873e+01] [ 2.53303716e-02 -2.15665502e-03 9.99676808e-01 -4.88204982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.292414037 meters 0.08399465235019082 Centerline is valid? [True, True] Translation: X:187.29, Y:-15.81, Z:-4.88 [[ 9.95534286e-01 9.14873887e-02 -2.32710638e-02 1.87288221e+02] [-9.14154074e-02 9.95804237e-01 4.14063150e-03 -1.58140141e+01] [ 2.35522395e-02 -1.99480684e-03 9.99720617e-01 -4.88001684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.322414037 meters 0.08690789559106665 Centerline is valid? [True, True] Translation: X:187.31, Y:-15.82, Z:-4.88 [[ 9.95496765e-01 9.17057794e-02 -2.40049998e-02 1.87314313e+02] [-9.16293306e-02 9.95784039e-01 4.26782626e-03 -1.58224721e+01] [ 2.42951800e-02 -2.04904517e-03 9.99702729e-01 -4.88222701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.352414037 meters 0.0839318245263072 Centerline is valid? [True, True] Translation: X:187.34, Y:-15.82, Z:-4.88 [[ 9.95450548e-01 9.22965699e-02 -2.36547978e-02 1.87344635e+02] [-9.22226540e-02 9.95729556e-01 4.19919535e-03 -1.58190563e+01] [ 2.39413526e-02 -1.99858309e-03 9.99711367e-01 -4.88046242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.382414037 meters 0.08656052580161044 Centerline is valid? [True, True] Translation: X:187.37, Y:-15.83, Z:-4.88 [[ 9.95416463e-01 9.27551356e-02 -2.32927204e-02 1.87371089e+02] [-9.26836138e-02 9.95687028e-01 4.13392784e-03 -1.58280705e+01] [ 2.35757026e-02 -1.95612633e-03 9.99720141e-01 -4.88330769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.412414037 meters 0.0829880798659538 Centerline is valid? [True, True] Translation: X:187.40, Y:-15.82, Z:-4.88 [[ 9.95375817e-01 9.30810514e-02 -2.37255341e-02 1.87401624e+02] [-9.30071131e-02 9.95656571e-01 4.20346051e-03 -1.58228518e+01] [ 2.40137464e-02 -1.97737952e-03 9.99709673e-01 -4.88103286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.442414037 meters 0.0867385563371133 Centerline is valid? [True, True] Translation: X:187.43, Y:-15.83, Z:-4.88 [[ 9.95385602e-01 9.28659972e-02 -2.41538844e-02 1.87427309e+02] [-9.27893574e-02 9.95676575e-01 4.27706261e-03 -1.58344821e+01] [ 2.44466506e-02 -2.01610312e-03 9.99699103e-01 -4.88489785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.472414037 meters 0.08487696583531348 Centerline is valid? [True, True] Translation: X:187.46, Y:-15.83, Z:-4.88 [[ 9.95412907e-01 9.23311655e-02 -2.50619429e-02 1.87456245e+02] [-9.22485313e-02 9.95726132e-01 4.43603377e-03 -1.58340557e+01] [ 2.53644157e-02 -2.10375784e-03 9.99676058e-01 -4.88448522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.502414037 meters 0.08422021293186531 Centerline is valid? [True, True] Translation: X:187.49, Y:-15.84, Z:-4.88 [[ 9.95494243e-01 9.15821872e-02 -2.45746667e-02 1.87485057e+02] [-9.15026941e-02 9.95795361e-01 4.34235530e-03 -1.58352952e+01] [ 2.48690214e-02 -2.07414150e-03 9.99688566e-01 -4.88450045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.532414037 meters 0.08422021293186531 Centerline is valid? [True, True] Translation: X:187.51, Y:-15.84, Z:-4.88 [[ 9.95519695e-01 9.13047683e-02 -2.45759235e-02 1.87512166e+02] [-9.12253657e-02 9.95820836e-01 4.33523831e-03 -1.58399838e+01] [ 2.48690446e-02 -2.07386751e-03 9.99688566e-01 -4.88471569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.562414037 meters 0.08507315794454852 Centerline is valid? [True, True] Translation: X:187.54, Y:-15.84, Z:-4.89 [[ 9.95573736e-01 9.06787159e-02 -2.47043702e-02 1.87539123e+02] [-9.05983421e-02 9.95877988e-01 4.35579703e-03 -1.58447837e+01] [ 2.49975166e-02 -2.09834213e-03 9.99685311e-01 -4.88584070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.592414037 meters 0.08508023530883939 Centerline is valid? [True, True] Translation: X:187.57, Y:-15.85, Z:-4.89 [[ 9.95625427e-01 9.04835641e-02 -2.32966414e-02 1.87567575e+02] [-9.04121969e-02 9.95895987e-01 4.10086039e-03 -1.58484922e+01] [ 2.35720922e-02 -1.97662035e-03 9.99720186e-01 -4.88560546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.622414037 meters 0.08548826977496302 Centerline is valid? [True, True] Translation: X:187.60, Y:-15.85, Z:-4.89 [[ 9.95638200e-01 9.03678350e-02 -2.31997557e-02 1.87596380e+02] [-9.02971637e-02 9.95906517e-01 4.07807661e-03 -1.58529476e+01] [ 2.34733149e-02 -1.96541671e-03 9.99722532e-01 -4.88616762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.652414037 meters 0.08670724801365899 Centerline is valid? [True, True] Translation: X:187.62, Y:-15.86, Z:-4.89 [[ 9.95615426e-01 9.07360219e-02 -2.27353992e-02 1.87624206e+02] [-9.06682656e-02 9.95873135e-01 3.99565293e-03 -1.58570087e+01] [ 2.30041229e-02 -1.91675448e-03 9.99733533e-01 -4.88765550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.682414037 meters 0.08626574672643617 Centerline is valid? [True, True] Translation: X:187.65, Y:-15.86, Z:-4.89 [[ 9.95619934e-01 9.07896435e-02 -2.23200959e-02 1.87652971e+02] [-9.07245041e-02 9.95868329e-01 3.91600996e-03 -1.58588758e+01] [ 2.25834097e-02 -1.87387795e-03 9.99743206e-01 -4.88749672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71241403699997 meters 0.0876413009335189 Centerline is valid? [True, True] Translation: X:187.68, Y:-15.86, Z:-4.89 [[ 9.95639694e-01 9.04923276e-02 -2.26437391e-02 1.87679744e+02] [-9.04252252e-02 9.95895326e-01 3.97207511e-03 -1.58645439e+01] [ 2.29102362e-02 -1.90719044e-03 9.99735707e-01 -4.88891617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74241403699997 meters 0.0893641831654537 Centerline is valid? [True, True] Translation: X:187.71, Y:-15.87, Z:-4.89 [[ 9.95851088e-01 8.82703522e-02 -2.21123508e-02 1.87708133e+02] [-8.82058108e-02 9.96094718e-01 3.87923131e-03 -1.58698872e+01] [ 2.23684169e-02 -1.91269889e-03 9.99747966e-01 -4.89063544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77241403699998 meters 0.08436468931960611 Centerline is valid? [True, True] Translation: X:187.74, Y:-15.86, Z:-4.89 [[ 9.95997891e-01 8.65050908e-02 -2.24737578e-02 1.87738966e+02] [-8.64380289e-02 9.96249437e-01 3.94030902e-03 -1.58631461e+01] [ 2.27303253e-02 -1.98195215e-03 9.99739668e-01 -4.88683661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80241403699998 meters 0.08888864834965489 Centerline is valid? [True, True] Translation: X:187.77, Y:-15.88, Z:-4.89 [[ 9.96184673e-01 8.43908232e-02 -2.22325538e-02 1.87766196e+02] [-8.43246817e-02 9.96430709e-01 3.89754064e-03 -1.58765706e+01] [ 2.24821160e-02 -2.00791723e-03 9.99745229e-01 -4.89051529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83241403699998 meters 0.08805328035804973 Centerline is valid? [True, True] Translation: X:187.80, Y:-15.88, Z:-4.89 [[ 9.96518743e-01 8.08830334e-02 -2.02071737e-02 1.87796264e+02] [-8.08276804e-02 9.96721795e-01 3.54249452e-03 -1.58788217e+01] [ 2.04274581e-02 -1.89686321e-03 9.99789538e-01 -4.89009782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86241403699998 meters 0.08841040439617705 Centerline is valid? [True, True] Translation: X:187.82, Y:-15.88, Z:-4.89 [[ 9.96654926e-01 7.92770260e-02 -1.98522413e-02 1.87824767e+02] [-7.92233263e-02 9.96850825e-01 3.47821556e-03 -1.58839658e+01] [ 2.00654657e-02 -1.89382009e-03 9.99796875e-01 -4.88987005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89241403699998 meters 0.0901315786350659 Centerline is valid? [True, True] Translation: X:187.85, Y:-15.89, Z:-4.89 [[ 9.96770398e-01 7.80164449e-02 -1.90317442e-02 1.87852809e+02] [-7.79668817e-02 9.96950376e-01 3.33360650e-03 -1.58907666e+01] [ 1.92337806e-02 -1.83899453e-03 9.99813322e-01 -4.89074984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92241403699998 meters 0.09230762396411135 Centerline is valid? [True, True] Translation: X:187.88, Y:-15.90, Z:-4.89 [[ 9.96827669e-01 7.71859500e-02 -1.94146051e-02 1.87880430e+02] [-7.71342360e-02 9.97014921e-01 3.39966291e-03 -1.58977503e+01] [ 1.96190572e-02 -1.89134733e-03 9.99805739e-01 -4.89238472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95241403699998 meters 0.0934953867791438 Centerline is valid? [True, True] Translation: X:187.91, Y:-15.90, Z:-4.89 [[ 9.96757896e-01 7.77085678e-02 -2.08584380e-02 1.87908641e+02] [-7.76491231e-02 9.96974082e-01 3.64607170e-03 -1.59001045e+01] [ 2.10786531e-02 -2.01461133e-03 9.99775791e-01 -4.89443353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98241403699998 meters 0.09348471626216878 Centerline is valid? [True, True] Translation: X:187.94, Y:-15.90, Z:-4.89 [[ 9.96706440e-01 7.85030059e-02 -2.03359178e-02 1.87937604e+02] [-7.84467565e-02 9.96911983e-01 3.55036017e-03 -1.59036387e+01] [ 2.05518341e-02 -1.94338006e-03 9.99786900e-01 -4.89454746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01241403699999 meters 0.0932845631122849 Centerline is valid? [True, True] Translation: X:187.97, Y:-15.91, Z:-4.90 [[ 9.96681328e-01 7.88983526e-02 -2.00344651e-02 1.87966165e+02] [-7.88439367e-02 9.96880852e-01 3.49285349e-03 -1.59070695e+01] [ 2.02475550e-02 -1.90166576e-03 9.99793189e-01 -4.89512815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.042414037 meters 0.08903261179336643 Centerline is valid? [True, True] Translation: X:188.00, Y:-15.90, Z:-4.89 [[ 9.96588117e-01 8.04548194e-02 -1.84159589e-02 1.87997946e+02] [-8.04090825e-02 9.96756772e-01 3.21188925e-03 -1.59019695e+01] [ 1.86146438e-02 -1.72012030e-03 9.99825253e-01 -4.89249627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.072414037 meters 0.08941188273778577 Centerline is valid? [True, True] Translation: X:188.03, Y:-15.91, Z:-4.89 [[ 9.96516711e-01 8.16087519e-02 -1.71597014e-02 1.88026097e+02] [-8.15692256e-02 9.96663187e-01 2.99203135e-03 -1.59063263e+01] [ 1.73466187e-02 -1.58190569e-03 9.99848285e-01 -4.89190079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.102414037 meters 0.08658521755805039 Centerline is valid? [True, True] Translation: X:188.06, Y:-15.90, Z:-4.89 [[ 9.96450119e-01 8.26155274e-02 -1.61813410e-02 1.88056643e+02] [-8.25805216e-02 9.96580403e-01 2.82084506e-03 -1.59039723e+01] [ 1.63590529e-02 -1.47456782e-03 9.99865094e-01 -4.89025835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.132414037 meters 0.08812468328949807 Centerline is valid? [True, True] Translation: X:188.08, Y:-15.91, Z:-4.89 [[ 9.96398730e-01 8.32905741e-02 -1.58824167e-02 1.88083958e+02] [-8.32569641e-02 9.96524271e-01 2.76691668e-03 -1.59096472e+01] [ 1.60576718e-02 -1.43463047e-03 9.99870038e-01 -4.89120075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.162414037 meters 0.0905806350177198 Centerline is valid? [True, True] Translation: X:188.11, Y:-15.92, Z:-4.90 [[ 9.96299219e-01 8.42131116e-02 -1.72051955e-02 1.88110950e+02] [-8.41738479e-02 9.96446583e-01 2.99493476e-03 -1.59166459e+01] [ 1.73962711e-02 -1.53562364e-03 9.99847494e-01 -4.89510080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.192414037 meters 0.08799195263167343 Centerline is valid? [True, True] Translation: X:188.14, Y:-15.92, Z:-4.89 [[ 9.96279575e-01 8.43409881e-02 -1.77089492e-02 1.88140354e+02] [-8.42995047e-02 9.96435709e-01 3.07740997e-03 -1.59155706e+01] [ 1.79053812e-02 -1.57310505e-03 9.99838448e-01 -4.89446141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.222414037 meters 0.08785809487551835 Centerline is valid? [True, True] Translation: X:188.17, Y:-15.92, Z:-4.90 [[ 9.96276391e-01 8.41771771e-02 -1.86428503e-02 1.88168724e+02] [-8.41312580e-02 9.96449429e-01 3.23523299e-03 -1.59191143e+01] [ 1.88489903e-02 -1.65473980e-03 9.99820973e-01 -4.89571127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.252414037 meters 0.08668024779800997 Centerline is valid? [True, True] Translation: X:188.20, Y:-15.92, Z:-4.90 [[ 9.96322206e-01 8.36890639e-02 -1.83902585e-02 1.88197394e+02] [-8.36443844e-02 9.96490573e-01 3.18677087e-03 -1.59203293e+01] [ 1.85924171e-02 -1.63680874e-03 9.99825806e-01 -4.89500693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.282414037 meters 0.08832182042314052 Centerline is valid? [True, True] Translation: X:188.23, Y:-15.92, Z:-4.90 [[ 9.96388681e-01 8.27902190e-02 -1.88514124e-02 1.88225182e+02] [-8.27431090e-02 9.96565555e-01 3.26677245e-03 -1.59245237e+01] [ 1.90571251e-02 -1.69515062e-03 9.99816959e-01 -4.89675841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.312414037 meters 0.08824260807440022 Centerline is valid? [True, True] Translation: X:188.25, Y:-15.93, Z:-4.90 [[ 9.96434855e-01 8.20948743e-02 -1.94425200e-02 1.88253551e+02] [-8.20447518e-02 9.96622972e-01 3.36310591e-03 -1.59270370e+01] [ 1.96529558e-02 -1.75595922e-03 9.99805320e-01 -4.89680627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.342414037 meters 0.08904372291269869 Centerline is valid? [True, True] Translation: X:188.28, Y:-15.93, Z:-4.90 [[ 9.96509996e-01 8.10795938e-02 -1.98476065e-02 1.88282856e+02] [-8.10271415e-02 9.96705979e-01 3.43414186e-03 -1.59311758e+01] [ 2.00606669e-02 -1.81396187e-03 9.99797119e-01 -4.89764443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.372414037 meters 0.09131680660641789 Centerline is valid? [True, True] Translation: X:188.31, Y:-15.94, Z:-4.90 [[ 9.96802686e-01 7.76949841e-02 -1.86519470e-02 1.88311488e+02] [-7.76480722e-02 9.96975607e-01 3.22738490e-03 -1.59377139e+01] [ 1.88462878e-02 -1.76877821e-03 9.99820828e-01 -4.89880242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.402414037 meters 0.09411628485143156 Centerline is valid? [True, True] Translation: X:188.34, Y:-15.95, Z:-4.90 [[ 9.96961989e-01 7.57320692e-02 -1.82056900e-02 1.88339748e+02] [-7.56870601e-02 9.97126646e-01 3.14969117e-03 -1.59467244e+01] [ 1.83919112e-02 -1.76218722e-03 9.99829302e-01 -4.90016001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.432414037 meters 0.0925011493192206 Centerline is valid? [True, True] Translation: X:188.37, Y:-15.95, Z:-4.90 [[ 9.97077702e-01 7.45111415e-02 -1.68566325e-02 1.88368550e+02] [-7.44724829e-02 9.97218822e-01 2.91045971e-03 -1.59469909e+01] [ 1.70266129e-02 -1.64659920e-03 9.99853681e-01 -4.89932868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46241403699997 meters 0.09034034323646505 Centerline is valid? [True, True] Translation: X:188.40, Y:-15.95, Z:-4.90 [[ 9.97169929e-01 7.34091455e-02 -1.62243649e-02 1.88399036e+02] [-7.33731729e-02 9.97300619e-01 2.80224161e-03 -1.59452972e+01] [ 1.63862793e-02 -1.60387793e-03 9.99864450e-01 -4.89703157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49241403699997 meters 0.09180103268488621 Centerline is valid? [True, True] Translation: X:188.43, Y:-15.95, Z:-4.90 [[ 9.97203796e-01 7.32085389e-02 -1.50032781e-02 1.88426782e+02] [-7.31777819e-02 9.97315550e-01 2.58958438e-03 -1.59461239e+01] [ 1.51525822e-02 -1.48443677e-03 9.99884091e-01 -4.89559939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52241403699998 meters 0.09425955177881666 Centerline is valid? [True, True] Translation: X:188.45, Y:-15.95, Z:-4.90 [[ 9.97183001e-01 7.34168240e-02 -1.53633545e-02 1.88454278e+02] [-7.33846176e-02 9.97300192e-01 2.65043006e-03 -1.59519137e+01] [ 1.55164625e-02 -1.51552991e-03 9.99878464e-01 -4.89671642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55241403699998 meters 0.09254016028210499 Centerline is valid? [True, True] Translation: X:188.48, Y:-15.95, Z:-4.90 [[ 9.97137395e-01 7.38678255e-02 -1.61418851e-02 1.88483448e+02] [-7.38324134e-02 9.97266789e-01 2.77965088e-03 -1.59507852e+01] [ 1.63030927e-02 -1.57989950e-03 9.99865848e-01 -4.89622502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58241403699998 meters 0.09276329168654783 Centerline is valid? [True, True] Translation: X:188.51, Y:-15.95, Z:-4.90 [[ 9.97032555e-01 7.51889098e-02 -1.65140266e-02 1.88513512e+02] [-7.51520004e-02 9.97168031e-01 2.84522903e-03 -1.59523456e+01] [ 1.66811891e-02 -1.59572383e-03 9.99859586e-01 -4.89776486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61241403699998 meters 0.0926443469184982 Centerline is valid? [True, True] Translation: X:188.54, Y:-15.96, Z:-4.90 [[ 9.97004527e-01 7.54821890e-02 -1.68645387e-02 1.88541942e+02] [-7.54438360e-02 9.97145836e-01 2.89984178e-03 -1.59555260e+01] [ 1.70352909e-02 -1.61882989e-03 9.99853578e-01 -4.89851401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64241403699998 meters 0.08994720641215874 Centerline is valid? [True, True] Translation: X:188.57, Y:-15.95, Z:-4.90 [[ 9.96932473e-01 7.65256414e-02 -1.64155688e-02 1.88572027e+02] [-7.64894278e-02 9.97066394e-01 2.82359540e-03 -1.59539976e+01] [ 1.65834895e-02 -1.55931647e-03 9.99861269e-01 -4.89824667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67241403699998 meters 0.09082302739382983 Centerline is valid? [True, True] Translation: X:188.60, Y:-15.96, Z:-4.90 [[ 9.96937223e-01 7.64348056e-02 -1.65497312e-02 1.88599480e+02] [-7.63980160e-02 9.97073342e-01 2.84483143e-03 -1.59577539e+01] [ 1.67187399e-02 -1.57175172e-03 9.99858997e-01 -4.89799240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70241403699998 meters 0.09043407277523532 Centerline is valid? [True, True] Translation: X:188.63, Y:-15.96, Z:-4.90 [[ 9.96841587e-01 7.77553286e-02 -1.61542483e-02 1.88629667e+02] [-7.77204511e-02 9.96971324e-01 2.77667493e-03 -1.59575259e+01] [ 1.63212236e-02 -1.51238958e-03 9.99865656e-01 -4.89776570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73241403699998 meters 0.09032119380530218 Centerline is valid? [True, True] Translation: X:188.66, Y:-15.96, Z:-4.90 [[ 9.96818632e-01 7.79279931e-02 -1.67284775e-02 1.88658073e+02] [-7.78907118e-02 9.96957773e-01 2.86969694e-03 -1.59602080e+01] [ 1.69012154e-02 -1.55757436e-03 9.99855951e-01 -4.89821130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76241403699999 meters 0.09112761670804417 Centerline is valid? [True, True] Translation: X:188.69, Y:-15.96, Z:-4.90 [[ 9.96762769e-01 7.84824972e-02 -1.74493716e-02 1.88685883e+02] [-7.84420901e-02 9.96914190e-01 2.98923234e-03 -1.59645564e+01] [ 1.76301285e-02 -1.61079032e-03 9.99843280e-01 -4.89864604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.792414037 meters 0.09120665164194022 Centerline is valid? [True, True] Translation: X:188.71, Y:-15.97, Z:-4.90 [[ 9.96717120e-01 7.89872064e-02 -1.77764954e-02 1.88714389e+02] [-7.89454249e-02 9.96874301e-01 3.04107272e-03 -1.59685547e+01] [ 1.79611373e-02 -1.62771626e-03 9.99837361e-01 -4.89934041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.822414037 meters 0.09089242863789702 Centerline is valid? [True, True] Translation: X:188.74, Y:-15.97, Z:-4.90 [[ 9.96713919e-01 7.88628178e-02 -1.84937571e-02 1.88742795e+02] [-7.88176565e-02 9.96884043e-01 3.15940727e-03 -1.59701934e+01] [ 1.86852911e-02 -1.69139060e-03 9.99823984e-01 -4.90051219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.852414037 meters 0.09093286795216625 Centerline is valid? [True, True] Translation: X:188.77, Y:-15.97, Z:-4.90 [[ 9.96740179e-01 7.83331553e-02 -1.93114677e-02 1.88770972e+02] [-7.82838204e-02 9.96925655e-01 3.29871235e-03 -1.59732864e+01] [ 1.95104962e-02 -1.77618366e-03 9.99808074e-01 -4.90069413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.882414037 meters 0.09166300781235108 Centerline is valid? [True, True] Translation: X:188.80, Y:-15.98, Z:-4.90 [[ 9.96742889e-01 7.80930175e-02 -2.01269481e-02 1.88799543e+02] [-7.80394999e-02 9.96944360e-01 3.43205297e-03 -1.59786939e+01] [ 2.03334668e-02 -1.85017743e-03 9.99791542e-01 -4.90128445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.912414037 meters 0.09093688529264461 Centerline is valid? [True, True] Translation: X:188.83, Y:-15.98, Z:-4.90 [[ 9.96873931e-01 7.69215415e-02 -1.80400292e-02 1.88828536e+02] [-7.68784420e-02 9.97035742e-01 3.07158749e-03 -1.59802918e+01] [ 1.82228252e-02 -1.67509615e-03 9.99832547e-01 -4.89975692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.942414037 meters 0.09017947140037451 Centerline is valid? [True, True] Translation: X:188.86, Y:-15.98, Z:-4.90 [[ 9.96904028e-01 7.67090513e-02 -1.72650083e-02 1.88856972e+02] [-7.66696194e-02 9.97052232e-01 2.93532621e-03 -1.59820654e+01] [ 1.74392811e-02 -1.60253691e-03 9.99846640e-01 -4.89904508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.972414037 meters 0.09097676442652329 Centerline is valid? [True, True] Translation: X:188.88, Y:-15.99, Z:-4.90 [[ 9.96831926e-01 7.77078269e-02 -1.69589385e-02 1.88884826e+02] [-7.76699215e-02 9.96974959e-01 2.88344360e-03 -1.59870986e+01] [ 1.71317032e-02 -1.55710922e-03 9.99852029e-01 -4.89927862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.002414037 meters 0.09065718084910657 Centerline is valid? [True, True] Translation: X:188.91, Y:-15.99, Z:-4.90 [[ 9.96753073e-01 7.85381909e-02 -1.77500434e-02 1.88914001e+02] [-7.84968420e-02 9.96909802e-01 3.01542019e-03 -1.59900620e+01] [ 1.79320179e-02 -1.61230699e-03 9.99837908e-01 -4.89991561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.032414037 meters 0.09220564949798943 Centerline is valid? [True, True] Translation: X:188.94, Y:-15.99, Z:-4.90 [[ 9.96612724e-01 7.96932002e-02 -2.02995398e-02 1.88941288e+02] [-7.96393822e-02 9.96817779e-01 3.44722700e-03 -1.59943124e+01] [ 2.05096627e-02 -1.81890748e-03 9.99788000e-01 -4.90357289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.062414037 meters 0.09314747393156816 Centerline is valid? [True, True] Translation: X:188.97, Y:-16.00, Z:-4.91 [[ 9.96602023e-01 7.97074072e-02 -2.07638349e-02 1.88967882e+02] [-7.96511579e-02 9.96816572e-01 3.52340371e-03 -1.59992301e+01] [ 2.09785761e-02 -1.85756777e-03 9.99778200e-01 -4.90517564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.092414037 meters 0.09064451218382621 Centerline is valid? [True, True] Translation: X:189.00, Y:-16.00, Z:-4.90 [[ 9.96601522e-01 7.95069379e-02 -2.15418936e-02 1.88996796e+02] [-7.94463811e-02 9.96832444e-01 3.65385172e-03 -1.59977234e+01] [ 2.17641650e-02 -1.93000870e-03 9.99761270e-01 -4.90400588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.122414037 meters 0.09294580209665856 Centerline is valid? [True, True] Translation: X:189.02, Y:-16.00, Z:-4.91 [[ 9.96572201e-01 8.02148372e-02 -2.02343078e-02 1.89023631e+02] [-8.01615908e-02 9.96775979e-01 3.43030429e-03 -1.60048034e+01] [ 2.04442333e-02 -1.79653160e-03 9.99789381e-01 -4.90508568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.152414037 meters 0.09423084086806388 Centerline is valid? [True, True] Translation: X:189.05, Y:-16.01, Z:-4.91 [[ 9.96561368e-01 8.04112158e-02 -1.99868829e-02 1.89051142e+02] [-8.03594192e-02 9.96760213e-01 3.38261002e-03 -1.60108896e+01] [ 2.01941294e-02 -1.76484417e-03 9.99794520e-01 -4.90550074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.182414037 meters 0.0905495590059052 Centerline is valid? [True, True] Translation: X:189.08, Y:-16.01, Z:-4.90 [[ 9.96544022e-01 8.05321059e-02 -2.03615169e-02 1.89081023e+02] [-8.04784747e-02 9.96750407e-01 3.44111982e-03 -1.60073117e+01] [ 2.05724708e-02 -1.79056357e-03 9.99786761e-01 -4.90281664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21241403699997 meters 0.08928608079826518 Centerline is valid? [True, True] Translation: X:189.11, Y:-16.01, Z:-4.90 [[ 9.96500779e-01 8.09891453e-02 -2.06628926e-02 1.89109685e+02] [-8.09341168e-02 9.96713354e-01 3.48703134e-03 -1.60075904e+01] [ 2.08773927e-02 -1.80249649e-03 9.99780419e-01 -4.90295907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24241403699997 meters 0.09040617011854515 Centerline is valid? [True, True] Translation: X:189.14, Y:-16.01, Z:-4.90 [[ 9.96566398e-01 8.01031427e-02 -2.09499725e-02 1.89136423e+02] [-8.00464026e-02 9.96784872e-01 3.53440719e-03 -1.60139762e+01] [ 2.11657328e-02 -1.84530151e-03 9.99774278e-01 -4.90405329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27241403699998 meters 0.09091550229156503 Centerline is valid? [True, True] Translation: X:189.16, Y:-16.02, Z:-4.90 [[ 9.96619906e-01 7.95730588e-02 -2.04179251e-02 1.89164654e+02] [-7.95191775e-02 9.96827405e-01 3.43867207e-03 -1.60197495e+01] [ 2.06267730e-02 -1.80343242e-03 9.99785619e-01 -4.90480359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30241403699998 meters 0.08931518101217745 Centerline is valid? [True, True] Translation: X:189.19, Y:-16.02, Z:-4.90 [[ 9.96700567e-01 7.87104948e-02 -1.98150760e-02 1.89193556e+02] [-7.86596790e-02 9.96895958e-01 3.33218277e-03 -1.60214861e+01] [ 2.00158470e-02 -1.76254093e-03 9.99798109e-01 -4.90356536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33241403699998 meters 0.09005489868007834 Centerline is valid? [True, True] Translation: X:189.22, Y:-16.03, Z:-4.90 [[ 9.96755451e-01 7.81745450e-02 -1.91653565e-02 1.89221507e+02] [-7.81270006e-02 9.96938220e-01 3.21820745e-03 -1.60276694e+01] [ 1.93582583e-02 -1.71043399e-03 9.99811148e-01 -4.90370260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36241403699998 meters 0.09079229666956656 Centerline is valid? [True, True] Translation: X:189.25, Y:-16.03, Z:-4.90 [[ 9.96796832e-01 7.79656472e-02 -1.78166649e-02 1.89249057e+02] [-7.79245349e-02 9.96954773e-01 2.99127251e-03 -1.60331507e+01] [ 1.79956256e-02 -1.59333564e-03 9.99836796e-01 -4.90293139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39241403699998 meters 0.0911499886436393 Centerline is valid? [True, True] Translation: X:189.28, Y:-16.04, Z:-4.90 [[ 9.96824487e-01 7.75173099e-02 -1.82211164e-02 1.89277003e+02] [-7.74742635e-02 9.96989664e-01 3.05764724e-03 -1.60378417e+01] [ 1.84032853e-02 -1.63627007e-03 9.99829306e-01 -4.90282947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42241403699998 meters 0.0911499886436393 Centerline is valid? [True, True] Translation: X:189.30, Y:-16.04, Z:-4.90 [[ 9.96845091e-01 7.72516486e-02 -1.82221673e-02 1.89304139e+02] [-7.72086718e-02 9.97010286e-01 3.05137986e-03 -1.60422718e+01] [ 1.84034124e-02 -1.63484370e-03 9.99829306e-01 -4.90304428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45241403699998 meters 0.09234375389690157 Centerline is valid? [True, True] Translation: X:189.33, Y:-16.05, Z:-4.90 [[ 9.96973652e-01 7.53289344e-02 -1.92116995e-02 1.89333653e+02] [-7.52807742e-02 9.97157181e-01 3.21884392e-03 -1.60480414e+01] [ 1.93995562e-02 -1.76283096e-03 9.99810257e-01 -4.90373152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48241403699998 meters 0.09043826073694687 Centerline is valid? [True, True] Translation: X:189.36, Y:-16.05, Z:-4.90 [[ 9.97066609e-01 7.40736029e-02 -1.92685818e-02 1.89363160e+02] [-7.40249499e-02 9.97251168e-01 3.22708028e-03 -1.60496651e+01] [ 1.94546572e-02 -1.79125819e-03 9.99809136e-01 -4.90262966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51241403699999 meters 0.0947520923121945 Centerline is valid? [True, True] Translation: X:189.39, Y:-16.06, Z:-4.91 [[ 9.97159509e-01 7.28960615e-02 -1.89493755e-02 1.89390007e+02] [-7.28488157e-02 9.97337949e-01 3.17261780e-03 -1.60626869e+01] [ 1.91302026e-02 -1.78316645e-03 9.99815411e-01 -4.90548108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.542414037 meters 0.0943842940033247 Centerline is valid? [True, True] Translation: X:189.42, Y:-16.07, Z:-4.91 [[ 9.97269400e-01 7.12460671e-02 -1.94355688e-02 1.89420115e+02] [-7.11960468e-02 9.97457032e-01 3.25443450e-03 -1.60673110e+01] [ 1.96180104e-02 -1.86181227e-03 9.99805815e-01 -4.90569662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.572414037 meters 0.09875880058352748 Centerline is valid? [True, True] Translation: X:189.45, Y:-16.08, Z:-4.91 [[ 9.97481519e-01 6.78283646e-02 -2.07348186e-02 1.89447670e+02] [-6.77707198e-02 9.97694884e-01 3.47106108e-03 -1.60794684e+01] [ 2.09224589e-02 -2.05710569e-03 9.99778985e-01 -4.90762585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.602414037 meters 0.09894852519101478 Centerline is valid? [True, True] Translation: X:189.48, Y:-16.08, Z:-4.91 [[ 9.97549094e-01 6.68034343e-02 -2.08112003e-02 1.89477090e+02] [-6.67451580e-02 9.97763976e-01 3.48313804e-03 -1.60838382e+01] [ 2.09973515e-02 -2.08555435e-03 9.99777356e-01 -4.90827653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.632414037 meters 0.09895607731771007 Centerline is valid? [True, True] Translation: X:189.51, Y:-16.09, Z:-4.91 [[ 9.97574055e-01 6.61665550e-02 -2.16331043e-02 1.89506460e+02] [-6.61034515e-02 9.97806208e-01 3.61997240e-03 -1.60882013e+01] [ 2.18251668e-02 -2.18116769e-03 9.99759423e-01 -4.90879759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.662414037 meters 0.09559506111350345 Centerline is valid? [True, True] Translation: X:189.54, Y:-16.09, Z:-4.91 [[ 9.97606261e-01 6.54365794e-02 -2.23562468e-02 1.89536205e+02] [-6.53691639e-02 9.97854163e-01 3.73389846e-03 -1.60865862e+01] [ 2.25526074e-02 -2.26355133e-03 9.99743095e-01 -4.90735148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.692414037 meters 0.09658297958086091 Centerline is valid? [True, True] Translation: X:189.56, Y:-16.09, Z:-4.91 [[ 9.97621209e-01 6.54149831e-02 -2.17440498e-02 1.89563795e+02] [-6.53512206e-02 9.97855718e-01 3.63093889e-03 -1.60913345e+01] [ 2.19349422e-02 -2.20130145e-03 9.99756977e-01 -4.90810609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.722414037 meters 0.09575233583508343 Centerline is valid? [True, True] Translation: X:189.59, Y:-16.09, Z:-4.91 [[ 9.97566942e-01 6.63315226e-02 -2.14551793e-02 1.89592655e+02] [-6.62696825e-02 9.97795321e-01 3.58134720e-03 -1.60935192e+01] [ 2.16454337e-02 -2.15080566e-03 9.99763397e-01 -4.90708970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.752414037 meters 0.09776651980927792 Centerline is valid? [True, True] Translation: X:189.62, Y:-16.10, Z:-4.91 [[ 9.97524061e-01 6.70935783e-02 -2.10760266e-02 1.89619695e+02] [-6.70341363e-02 9.97744491e-01 3.51509383e-03 -1.61001885e+01] [ 2.12643296e-02 -2.09357743e-03 9.99771697e-01 -4.90749513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.782414037 meters 0.09674628482212023 Centerline is valid? [True, True] Translation: X:189.65, Y:-16.10, Z:-4.91 [[ 9.97337457e-01 6.98428787e-02 -2.09754555e-02 1.89650554e+02] [-6.97845897e-02 9.97555947e-01 3.49903365e-03 -1.61014652e+01] [ 2.11685730e-02 -2.02595376e-03 9.99773868e-01 -4.90734603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.812414037 meters 0.09473762761346172 Centerline is valid? [True, True] Translation: X:189.68, Y:-16.10, Z:-4.91 [[ 9.97260752e-01 7.12962919e-02 -1.96934341e-02 1.89680253e+02] [-7.12452098e-02 9.97453424e-01 3.28428938e-03 -1.61025282e+01] [ 1.98774409e-02 -1.87223006e-03 9.99800671e-01 -4.90633054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.842414037 meters 0.09744790006706344 Centerline is valid? [True, True] Translation: X:189.71, Y:-16.11, Z:-4.91 [[ 9.97226439e-01 7.17925222e-02 -1.96281216e-02 1.89707194e+02] [-7.17419956e-02 9.97417872e-01 3.26724841e-03 -1.61123683e+01] [ 1.98120032e-02 -1.85002588e-03 9.99802011e-01 -4.90820444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.872414037 meters 0.09210454765225679 Centerline is valid? [True, True] Translation: X:189.74, Y:-16.11, Z:-4.91 [[ 9.97146147e-01 7.30130830e-02 -1.92002912e-02 1.89738696e+02] [-7.29649344e-02 9.97329382e-01 3.19733062e-03 -1.61076831e+01] [ 1.93824615e-02 -1.78725792e-03 9.99810545e-01 -4.90585586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.902414037 meters 0.0924282017936729 Centerline is valid? [True, True] Translation: X:189.77, Y:-16.11, Z:-4.91 [[ 9.97015028e-01 7.49327790e-02 -1.86041143e-02 1.89767019e+02] [-7.48879291e-02 9.97187148e-01 3.09681555e-03 -1.61121694e+01] [ 1.87838366e-02 -1.69434805e-03 9.99822133e-01 -4.90560043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.932414037 meters 0.0932991530629883 Centerline is valid? [True, True] Translation: X:189.79, Y:-16.12, Z:-4.91 [[ 9.96920763e-01 7.59901804e-02 -1.93515852e-02 1.89794298e+02] [-7.59418877e-02 9.97107048e-01 3.21936532e-03 -1.61172352e+01] [ 1.95402422e-02 -1.73985622e-03 9.99807557e-01 -4.90592436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96241403699997 meters 0.08807286911697573 Centerline is valid? [True, True] Translation: X:189.83, Y:-16.11, Z:-4.90 [[ 9.96785235e-01 7.75431894e-02 -2.01556008e-02 1.89825497e+02] [-7.74911208e-02 9.96987405e-01 3.35281545e-03 -1.61108482e+01] [ 2.03548681e-02 -1.78015684e-03 9.99791233e-01 -4.90342282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99241403699997 meters 0.09225450557144384 Centerline is valid? [True, True] Translation: X:189.85, Y:-16.12, Z:-4.91 [[ 9.96682191e-01 7.88051499e-02 -2.03557950e-02 1.89851492e+02] [-7.87523470e-02 9.96888467e-01 3.38396525e-03 -1.61229282e+01] [ 2.05591311e-02 -1.76967127e-03 9.99787073e-01 -4.90776505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02241403699998 meters 0.0930624899792367 Centerline is valid? [True, True] Translation: X:189.88, Y:-16.13, Z:-4.91 [[ 9.96522577e-01 8.04457091e-02 -2.17081004e-02 1.89879222e+02] [-8.03860690e-02 9.96757275e-01 3.60755423e-03 -1.61285955e+01] [ 2.19279193e-02 -1.84998038e-03 9.99757843e-01 -4.91127517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05241403699998 meters 0.08726926909636898 Centerline is valid? [True, True] Translation: X:189.91, Y:-16.12, Z:-4.91 [[ 9.96496801e-01 8.05844088e-02 -2.23668884e-02 1.89909780e+02] [-8.05212834e-02 9.96745985e-01 3.71015088e-03 -1.61216541e+01] [ 2.25930865e-02 -1.89614293e-03 9.99742946e-01 -4.90840080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08241403699998 meters 0.09238341484363076 Centerline is valid? [True, True] Translation: X:189.94, Y:-16.14, Z:-4.91 [[ 9.96497755e-01 8.06305255e-02 -2.21572351e-02 1.89935948e+02] [-8.05687110e-02 9.96742301e-01 3.66994894e-03 -1.61362847e+01] [ 2.23809634e-02 -1.87191601e-03 9.99747762e-01 -4.91303571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11241403699998 meters 0.08756867010569898 Centerline is valid? [True, True] Translation: X:189.97, Y:-16.13, Z:-4.91 [[ 9.96437630e-01 8.18585631e-02 -2.02786799e-02 1.89966752e+02] [-8.18070247e-02 9.96642526e-01 3.35955070e-03 -1.61310136e+01] [ 2.04856028e-02 -1.68864427e-03 9.99788722e-01 -4.90808631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14241403699998 meters 0.08650958743878291 Centerline is valid? [True, True] Translation: X:190.00, Y:-16.13, Z:-4.91 [[ 9.96335640e-01 8.32838042e-02 -1.94705170e-02 1.89996861e+02] [-8.32365671e-02 9.96524596e-01 3.22544326e-03 -1.61328339e+01] [ 1.96714763e-02 -1.59296507e-03 9.99805229e-01 -4.90619980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17241403699998 meters 0.08582373310238932 Centerline is valid? [True, True] Translation: X:190.03, Y:-16.13, Z:-4.90 [[ 9.96279188e-01 8.39461743e-02 -1.95146102e-02 1.90025490e+02] [-8.38989770e-02 9.96469043e-01 3.22626267e-03 -1.61347141e+01] [ 1.97165374e-02 -1.57700252e-03 9.99804366e-01 -4.90447589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20241403699998 meters 0.0871886234424906 Centerline is valid? [True, True] Translation: X:190.05, Y:-16.14, Z:-4.91 [[ 9.96152114e-01 8.56017714e-02 -1.87963568e-02 1.90053304e+02] [-8.55582696e-02 9.96328321e-01 3.10794622e-03 -1.61412118e+01] [ 1.89933883e-02 -1.48780344e-03 9.99818502e-01 -4.90579658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23241403699998 meters 0.08757509910683166 Centerline is valid? [True, True] Translation: X:190.08, Y:-16.15, Z:-4.91 [[ 9.96045713e-01 8.65414902e-02 -2.00874863e-02 1.90082058e+02] [-8.64921101e-02 9.96247018e-01 3.31579404e-03 -1.61462659e+01] [ 2.02990521e-02 -1.56527336e-03 9.99792728e-01 -4.90837761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26241403699999 meters 0.08718175597036484 Centerline is valid? [True, True] Translation: X:190.11, Y:-16.15, Z:-4.91 [[ 9.96068825e-01 8.60144405e-02 -2.11757406e-02 1.90110030e+02] [-8.59594603e-02 9.96292506e-01 3.49474564e-03 -1.61499666e+01] [ 2.13978302e-02 -1.66075195e-03 9.99769661e-01 -4.90967904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.292414037 meters 0.08804306412867269 Centerline is valid? [True, True] Translation: X:190.14, Y:-16.16, Z:-4.91 [[ 9.96198795e-01 8.45203185e-02 -2.10778770e-02 1.90138980e+02] [-8.44655200e-02 9.96420332e-01 3.47827168e-03 -1.61574504e+01] [ 2.12964098e-02 -1.68469621e-03 9.99771786e-01 -4.91076659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.322414037 meters 0.09072338772624215 Centerline is valid? [True, True] Translation: X:190.17, Y:-16.17, Z:-4.91 [[ 9.96371579e-01 8.26157124e-02 -2.04528931e-02 1.90165606e+02] [-8.25637513e-02 9.96580075e-01 3.37348866e-03 -1.61679744e+01] [ 2.06616489e-02 -1.67258064e-03 9.99785126e-01 -4.91304031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.352414037 meters 0.08926529050437956 Centerline is valid? [True, True] Translation: X:190.19, Y:-16.17, Z:-4.91 [[ 9.96454526e-01 8.16246151e-02 -2.03911537e-02 1.90194787e+02] [-8.15728887e-02 9.96661725e-01 3.35711889e-03 -1.61694074e+01] [ 2.05971060e-02 -1.68185100e-03 9.99786442e-01 -4.91157005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.382414037 meters 0.08785640120454503 Centerline is valid? [True, True] Translation: X:190.22, Y:-16.17, Z:-4.91 [[ 9.96494042e-01 8.12436856e-02 -1.99771745e-02 1.90222931e+02] [-8.11940806e-02 9.96692903e-01 3.28310911e-03 -1.61704224e+01] [ 2.01778399e-02 -1.64957035e-03 9.99795046e-01 -4.91000270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.412414037 meters 0.08726855657434551 Centerline is valid? [True, True] Translation: X:190.25, Y:-16.17, Z:-4.91 [[ 9.96551153e-01 8.04469698e-02 -2.03490617e-02 1.90252073e+02] [-8.03954315e-02 9.96757454e-01 3.33955324e-03 -1.61719672e+01] [ 2.05517359e-02 -1.69206403e-03 9.99787359e-01 -4.90972374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.442414037 meters 0.08792975351642582 Centerline is valid? [True, True] Translation: X:190.28, Y:-16.18, Z:-4.91 [[ 9.96585757e-01 8.02654834e-02 -1.93463590e-02 1.90280044e+02] [-8.02189591e-02 9.96772225e-01 3.17022611e-03 -1.61780408e+01] [ 1.95383730e-02 -1.60745741e-03 9.99807816e-01 -4.91107231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.472414037 meters 0.08798560717316055 Centerline is valid? [True, True] Translation: X:190.31, Y:-16.18, Z:-4.91 [[ 9.96613910e-01 8.00283059e-02 -1.88728457e-02 1.90308140e+02] [-7.99840770e-02 9.96791358e-01 3.08803104e-03 -1.61830761e+01] [ 1.90594194e-02 -1.56804755e-03 9.99817123e-01 -4.91072729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.502414037 meters 0.08817451731524156 Centerline is valid? [True, True] Translation: X:190.34, Y:-16.19, Z:-4.91 [[ 9.96669757e-01 7.97450537e-02 -1.70329628e-02 1.90336308e+02] [-7.97090619e-02 9.96814287e-01 2.78268984e-03 -1.61884984e+01] [ 1.72006064e-02 -1.41574132e-03 9.99851056e-01 -4.90981643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.532414037 meters 0.09107117807171548 Centerline is valid? [True, True] Translation: X:190.36, Y:-16.20, Z:-4.91 [[ 9.96687467e-01 8.02067290e-02 -1.34526663e-02 1.90363515e+02] [-8.01843154e-02 9.96777630e-01 2.19815130e-03 -1.62000499e+01] [ 1.35856234e-02 -1.11217701e-03 9.99907093e-01 -4.90836100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.562414037 meters 0.08662521313325472 Centerline is valid? [True, True] Translation: X:190.39, Y:-16.20, Z:-4.91 [[ 9.96743163e-01 7.96246702e-02 -1.27663286e-02 1.90393562e+02] [-7.96044982e-02 9.96824354e-01 2.08134171e-03 -1.61952913e+01] [ 1.28915134e-02 -1.05830594e-03 9.99916341e-01 -4.90542443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.592414037 meters 0.08740396293173988 Centerline is valid? [True, True] Translation: X:190.42, Y:-16.20, Z:-4.91 [[ 9.96774529e-01 7.91141677e-02 -1.34717163e-02 1.90421886e+02] [-7.90917016e-02 9.96864932e-01 2.19317209e-03 -1.62020083e+01] [ 1.36029926e-02 -1.12059711e-03 9.99906847e-01 -4.90696449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.622414037 meters 0.08794678158165851 Centerline is valid? [True, True] Translation: X:190.45, Y:-16.21, Z:-4.91 [[ 9.96817271e-01 7.82366141e-02 -1.53088066e-02 1.90450682e+02] [-7.82074789e-02 9.96933986e-01 2.49358607e-03 -1.62088965e+01] [ 1.54569593e-02 -1.28838650e-03 9.99879704e-01 -4.90883243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.652414037 meters 0.08963030541370212 Centerline is valid? [True, True] Translation: X:190.48, Y:-16.22, Z:-4.91 [[ 9.96860695e-01 7.73579815e-02 -1.68670723e-02 1.90478181e+02] [-7.73225041e-02 9.97002351e-01 2.74643413e-03 -1.62191428e+01] [ 1.70289694e-02 -1.43360797e-03 9.99853969e-01 -4.91088815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.682414037 meters 0.0897549960300478 Centerline is valid? [True, True] Translation: X:190.51, Y:-16.22, Z:-4.91 [[ 9.96858676e-01 7.73845441e-02 -1.68645205e-02 1.90506702e+02] [-7.73491748e-02 9.97000298e-01 2.74051940e-03 -1.62247576e+01] [ 1.70260058e-02 -1.42745379e-03 9.99854028e-01 -4.91180434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71241403699997 meters 0.08730188301963766 Centerline is valid? [True, True] Translation: X:190.54, Y:-16.22, Z:-4.91 [[ 9.96606234e-01 8.02923889e-02 -1.81423883e-02 1.90537529e+02] [-8.02519058e-02 9.96770250e-01 2.94971961e-03 -1.62247756e+01] [ 1.83206329e-02 -1.48374772e-03 9.99831062e-01 -4.91122149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74241403699997 meters 0.08636228478463069 Centerline is valid? [True, True] Translation: X:190.57, Y:-16.23, Z:-4.91 [[ 9.96451413e-01 8.21081326e-02 -1.85158418e-02 1.90567305e+02] [-8.20662911e-02 9.96622329e-01 3.00967186e-03 -1.62269279e+01] [ 1.87004199e-02 -1.47946532e-03 9.99824037e-01 -4.91137073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77241403699998 meters 0.085777056547774 Centerline is valid? [True, True] Translation: X:190.60, Y:-16.23, Z:-4.91 [[ 9.96305351e-01 8.39904937e-02 -1.79232687e-02 1.90597354e+02] [-8.39516051e-02 9.96465576e-01 2.91253914e-03 -1.62300785e+01] [ 1.81045458e-02 -1.39709115e-03 9.99835123e-01 -4.91137953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80241403699998 meters 0.0845112273996611 Centerline is valid? [True, True] Translation: X:190.63, Y:-16.23, Z:-4.91 [[ 9.95975833e-01 8.78761484e-02 -1.76046110e-02 1.90627913e+02] [-8.78392276e-02 9.96130556e-01 2.86110567e-03 -1.62327792e+01] [ 1.77879139e-02 -1.30321667e-03 9.99840933e-01 -4.91291362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83241403699998 meters 0.08576738363436963 Centerline is valid? [True, True] Translation: X:190.66, Y:-16.24, Z:-4.91 [[ 9.95891046e-01 8.89611603e-02 -1.69391801e-02 1.90655056e+02] [-8.89271701e-02 9.96034332e-01 2.75086383e-03 -1.62404722e+01] [ 1.71167250e-02 -1.23320731e-03 9.99852738e-01 -4.91380425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86241403699998 meters 0.08256244039505267 Centerline is valid? [True, True] Translation: X:190.69, Y:-16.24, Z:-4.91 [[ 9.95796205e-01 9.01833463e-02 -1.60275506e-02 1.90685481e+02] [-9.01530774e-02 9.95924520e-01 2.60260947e-03 -1.62388902e+01] [ 1.61969426e-02 -1.14673563e-03 9.99868163e-01 -4.91168733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89241403699998 meters 0.08228933025776208 Centerline is valid? [True, True] Translation: X:190.72, Y:-16.24, Z:-4.91 [[ 9.95681660e-01 9.18418999e-02 -1.35313108e-02 1.90715304e+02] [-9.18204804e-02 9.95773153e-01 2.19711982e-03 -1.62433272e+01] [ 1.36759036e-02 -9.45180455e-04 9.99906034e-01 -4.91043751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92241403699998 meters 0.08337289892009964 Centerline is valid? [True, True] Translation: X:190.74, Y:-16.25, Z:-4.91 [[ 9.95659655e-01 9.21370264e-02 -1.31384962e-02 1.90741934e+02] [-9.21168802e-02 9.95745920e-01 2.13167381e-03 -1.62501490e+01] [ 1.32790101e-02 -9.12144329e-04 9.99911414e-01 -4.91081638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95241403699998 meters 0.08297164800400753 Centerline is valid? [True, True] Translation: X:190.77, Y:-16.25, Z:-4.91 [[ 9.95629082e-01 9.25175835e-02 -1.27760777e-02 1.90770968e+02] [-9.24986145e-02 9.95710664e-01 2.06900631e-03 -1.62536781e+01] [ 1.29126962e-02 -8.78193372e-04 9.99916242e-01 -4.90989803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98241403699998 meters 0.0826311659919619 Centerline is valid? [True, True] Translation: X:190.80, Y:-16.26, Z:-4.91 [[ 9.95562615e-01 9.32945000e-02 -1.22969805e-02 1.90799839e+02] [-9.32770205e-02 9.95638209e-01 1.98865458e-03 -1.62575157e+01] [ 1.24288741e-02 -8.32804450e-04 9.99922412e-01 -4.90965800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01241403699999 meters 0.0820011176962963 Centerline is valid? [True, True] Translation: X:190.83, Y:-16.26, Z:-4.91 [[ 9.95520130e-01 9.37515292e-02 -1.22605357e-02 1.90828277e+02] [-9.37342259e-02 9.95595287e-01 1.97967675e-03 -1.62602020e+01] [ 1.23921293e-02 -8.21576233e-04 9.99922877e-01 -4.90897463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.042414037 meters 0.08223293903015344 Centerline is valid? [True, True] Translation: X:190.86, Y:-16.27, Z:-4.91 [[ 9.95426441e-01 9.46634395e-02 -1.28465435e-02 1.90855643e+02] [-9.46445261e-02 9.95508972e-01 2.07367275e-03 -1.62653412e+01] [ 1.29851504e-02 -8.48333654e-04 9.99915330e-01 -4.90985313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.072414037 meters 0.08258863782931153 Centerline is valid? [True, True] Translation: X:190.88, Y:-16.27, Z:-4.91 [[ 9.95366050e-01 9.54060055e-02 -1.20050610e-02 1.90882996e+02] [-9.53895519e-02 9.95438135e-01 1.93708424e-03 -1.62722434e+01] [ 1.21351050e-02 -7.82950499e-04 9.99926060e-01 -4.91141047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.102414037 meters 0.08293141490922046 Centerline is valid? [True, True] Translation: X:190.91, Y:-16.28, Z:-4.91 [[ 9.95399473e-01 9.50710740e-02 -1.18903316e-02 1.90910122e+02] [-9.50549216e-02 9.95470183e-01 1.91757592e-03 -1.62782623e+01] [ 1.20187765e-02 -7.78519526e-04 9.99927469e-01 -4.91189857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.132414037 meters 0.08161733425476045 Centerline is valid? [True, True] Translation: X:190.94, Y:-16.28, Z:-4.91 [[ 9.95428425e-01 9.48928989e-02 -1.08438583e-02 1.90938627e+02] [-9.48794963e-02 9.95487236e-01 1.74495951e-03 -1.62805696e+01] [ 1.09605068e-02 -7.08122480e-04 9.99939681e-01 -4.91118012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.162414037 meters 0.08415873930829235 Centerline is valid? [True, True] Translation: X:190.97, Y:-16.29, Z:-4.91 [[ 9.95543440e-01 9.35701729e-02 -1.17423188e-02 1.90965288e+02] [-9.35543576e-02 9.95612379e-01 1.89021156e-03 -1.62923638e+01] [ 1.18676653e-02 -7.83242627e-04 9.99929270e-01 -4.91384302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.192414037 meters 0.0840106049668566 Centerline is valid? [True, True] Translation: X:190.99, Y:-16.30, Z:-4.91 [[ 9.95569945e-01 9.32559256e-02 -1.19923984e-02 1.90993776e+02] [-9.32394551e-02 9.95641850e-01 1.92647502e-03 -1.62974177e+01] [ 1.21197889e-02 -7.99775938e-04 9.99926233e-01 -4.91421911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.222414037 meters 0.08185428194119491 Centerline is valid? [True, True] Translation: X:191.02, Y:-16.30, Z:-4.91 [[ 9.95597649e-01 9.26949542e-02 -1.38912369e-02 1.91023232e+02] [-9.26728444e-02 9.95694119e-01 2.22836503e-03 -1.62969617e+01] [ 1.40379811e-02 -9.31214545e-04 9.99901029e-01 -4.91324903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.252414037 meters 0.08603558473463561 Centerline is valid? [True, True] Translation: X:191.05, Y:-16.31, Z:-4.92 [[ 9.95651675e-01 9.17974843e-02 -1.58418619e-02 1.91049775e+02] [-9.17686008e-02 9.95777114e-01 2.54218527e-03 -1.63122084e+01] [ 1.60083298e-02 -1.07734552e-03 9.99871278e-01 -4.91870068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.282414037 meters 0.08218038524875779 Centerline is valid? [True, True] Translation: X:191.08, Y:-16.31, Z:-4.92 [[ 9.95732887e-01 9.10042682e-02 -1.53049101e-02 1.91079799e+02] [-9.09772966e-02 9.95849951e-01 2.45083598e-03 -1.63078685e+01] [ 1.54644305e-02 -1.04797864e-03 9.99879869e-01 -4.91502381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.312414037 meters 0.08266821777788899 Centerline is valid? [True, True] Translation: X:191.11, Y:-16.31, Z:-4.92 [[ 9.95779771e-01 9.06930205e-02 -1.40507627e-02 1.91106984e+02] [-9.06702597e-02 9.95878427e-01 2.24985653e-03 -1.63135918e+01] [ 1.41968978e-02 -9.66375316e-04 9.99898752e-01 -4.91522559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.342414037 meters 0.08266821777788899 Centerline is valid? [True, True] Translation: X:191.13, Y:-16.32, Z:-4.92 [[ 9.95803881e-01 9.04277785e-02 -1.40515873e-02 1.91134097e+02] [-9.04050637e-02 9.95902548e-01 2.24470368e-03 -1.63178223e+01] [ 1.41969952e-02 -9.64949989e-04 9.99898752e-01 -4.91544000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.372414037 meters 0.08315806144684398 Centerline is valid? [True, True] Translation: X:191.16, Y:-16.32, Z:-4.91 [[ 9.95888037e-01 8.95123141e-02 -1.39486054e-02 1.91162129e+02] [-8.94898851e-02 9.95985245e-01 2.22518331e-03 -1.63233281e+01] [ 1.40917865e-02 -9.67774348e-04 9.99900238e-01 -4.91468407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.402414037 meters 0.08235067539730184 Centerline is valid? [True, True] Translation: X:191.19, Y:-16.33, Z:-4.91 [[ 9.95983728e-01 8.85882871e-02 -1.29818645e-02 1.91191278e+02] [-8.85688247e-02 9.96067913e-01 2.06765962e-03 -1.63256786e+01] [ 1.31139891e-02 -9.09566860e-04 9.99913594e-01 -4.91298361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.432414037 meters 0.08262717216950262 Centerline is valid? [True, True] Translation: X:191.22, Y:-16.33, Z:-4.91 [[ 9.96043433e-01 8.80489118e-02 -1.20361610e-02 1.91218221e+02] [-8.80321877e-02 9.96115793e-01 1.91333634e-03 -1.63307902e+01] [ 1.21578772e-02 -8.46196508e-04 9.99925732e-01 -4.91299554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46241403699997 meters 0.08250539864960184 Centerline is valid? [True, True] Translation: X:191.25, Y:-16.33, Z:-4.91 [[ 9.96121535e-01 8.69544130e-02 -1.34468373e-02 1.91247487e+02] [-8.69334171e-02 9.96211827e-01 2.13922170e-03 -1.63343427e+01] [ 1.35819131e-02 -9.61945292e-04 9.99907299e-01 -4.91336959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49241403699997 meters 0.0828592278142807 Centerline is valid? [True, True] Translation: X:191.28, Y:-16.34, Z:-4.91 [[ 9.96188481e-01 8.60068630e-02 -1.45372061e-02 1.91276350e+02] [-8.59822361e-02 9.96293988e-01 2.31182037e-03 -1.63392226e+01] [ 1.46821635e-02 -1.05306734e-03 9.99891657e-01 -4.91378860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52241403699998 meters 0.08461567605880779 Centerline is valid? [True, True] Translation: X:191.30, Y:-16.35, Z:-4.92 [[ 9.96314906e-01 8.45105551e-02 -1.46483470e-02 1.91303872e+02] [-8.44854004e-02 9.96421996e-01 2.32874364e-03 -1.63473069e+01] [ 1.47927386e-02 -1.08259054e-03 9.99889995e-01 -4.91551603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55241403699998 meters 0.08425769660400026 Centerline is valid? [True, True] Translation: X:191.33, Y:-16.35, Z:-4.92 [[ 9.96401200e-01 8.32830710e-02 -1.57663973e-02 1.91332940e+02] [-8.32537889e-02 9.96525227e-01 2.50571120e-03 -1.63508955e+01] [ 1.59202959e-02 -1.18408134e-03 9.99872563e-01 -4.91577706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58241403699998 meters 0.08746621883145811 Centerline is valid? [True, True] Translation: X:191.36, Y:-16.36, Z:-4.92 [[ 9.96614721e-01 8.03980087e-02 -1.71830644e-02 1.91361269e+02] [-8.03628043e-02 9.96761939e-01 2.73066819e-03 -1.63621709e+01] [ 1.73469648e-02 -1.34054488e-03 9.99848631e-01 -4.91842739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61241403699998 meters 0.08561958275488843 Centerline is valid? [True, True] Translation: X:191.39, Y:-16.36, Z:-4.92 [[ 9.96728133e-01 7.89872742e-02 -1.71476005e-02 1.91391048e+02] [-7.89520189e-02 9.96874694e-01 2.72437143e-03 -1.63621987e+01] [ 1.73091997e-02 -1.36161997e-03 9.99849257e-01 -4.91719496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64241403699998 meters 0.08728946018245973 Centerline is valid? [True, True] Translation: X:191.42, Y:-16.37, Z:-4.92 [[ 9.96757493e-01 7.87265520e-02 -1.66321744e-02 1.91416872e+02] [-7.86933931e-02 9.96895371e-01 2.63982464e-03 -1.63692153e+01] [ 1.67883620e-02 -1.32242276e-03 9.99858191e-01 -4.91724418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67241403699998 meters 0.08641942998645369 Centerline is valid? [True, True] Translation: X:191.45, Y:-16.37, Z:-4.92 [[ 9.96754298e-01 7.88566664e-02 -1.62017001e-02 1.91445732e+02] [-7.88252974e-02 9.96885141e-01 2.56670359e-03 -1.63712976e+01] [ 1.63536358e-02 -1.28126901e-03 9.99865449e-01 -4.91676011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70241403699998 meters 0.08481436658751695 Centerline is valid? [True, True] Translation: X:191.47, Y:-16.37, Z:-4.92 [[ 9.96776553e-01 7.87589508e-02 -1.52817325e-02 1.91474583e+02] [-7.87310914e-02 9.96892960e-01 2.41711572e-03 -1.63721163e+01] [ 1.54246210e-02 -1.20617680e-03 9.99880306e-01 -4.91547109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73241403699998 meters 0.08606770104306273 Centerline is valid? [True, True] Translation: X:191.50, Y:-16.38, Z:-4.92 [[ 9.96779932e-01 7.89068115e-02 -1.42647002e-02 1.91501882e+02] [-7.88826029e-02 9.96881367e-01 2.25273712e-03 -1.63795129e+01] [ 1.43979702e-02 -1.12024647e-03 9.99895716e-01 -4.91560018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76241403699999 meters 0.08704174260579775 Centerline is valid? [True, True] Translation: X:191.53, Y:-16.39, Z:-4.92 [[ 9.96807899e-01 7.86412957e-02 -1.37680355e-02 1.91528874e+02] [-7.86187186e-02 9.96902387e-01 2.17428910e-03 -1.63865880e+01] [ 1.38963764e-02 -1.08492324e-03 9.99902852e-01 -4.91706092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.792414037 meters 0.08962636061560605 Centerline is valid? [True, True] Translation: X:191.56, Y:-16.40, Z:-4.92 [[ 9.96836990e-01 7.82586771e-02 -1.38417762e-02 1.91555764e+02] [-7.82358367e-02 9.96932485e-01 2.18479617e-03 -1.63965522e+01] [ 1.39702956e-02 -1.09496270e-03 9.99901811e-01 -4.91921868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.822414037 meters 0.08410249875298005 Centerline is valid? [True, True] Translation: X:191.59, Y:-16.39, Z:-4.92 [[ 9.96859414e-01 7.78164002e-02 -1.46940716e-02 1.91585570e+02] [-7.77906462e-02 9.96967024e-01 2.31704813e-03 -1.63895017e+01] [ 1.48298091e-02 -1.16670992e-03 9.99889352e-01 -4.91538435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.852414037 meters 0.08524008055650609 Centerline is valid? [True, True] Translation: X:191.61, Y:-16.40, Z:-4.92 [[ 9.96955168e-01 7.66499824e-02 -1.43238431e-02 1.91612699e+02] [-7.66254179e-02 9.97057397e-01 2.25676242e-03 -1.63953183e+01] [ 1.44546746e-02 -1.15232050e-03 9.99894862e-01 -4.91505305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.882414037 meters 0.08547698128782988 Centerline is valid? [True, True] Translation: X:191.64, Y:-16.40, Z:-4.92 [[ 9.97005032e-01 7.57849268e-02 -1.54146631e-02 1.91641785e+02] [-7.57563709e-02 9.97123399e-01 2.42890681e-03 -1.63998390e+01] [ 1.55543958e-02 -1.25387337e-03 9.99878237e-01 -4.91537483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.912414037 meters 0.08585967959317457 Centerline is valid? [True, True] Translation: X:191.67, Y:-16.40, Z:-4.92 [[ 9.97037163e-01 7.52238483e-02 -1.60707022e-02 1.91669714e+02] [-7.51927665e-02 9.97165806e-01 2.53048214e-03 -1.64045888e+01] [ 1.62155073e-02 -1.31458418e-03 9.99867656e-01 -4.91689106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.942414037 meters 0.0878786654300308 Centerline is valid? [True, True] Translation: X:191.70, Y:-16.41, Z:-4.92 [[ 9.97103512e-01 7.41462433e-02 -1.69387481e-02 1.91697255e+02] [-7.41115680e-02 9.97246391e-01 2.66659281e-03 -1.64135908e+01] [ 1.70898232e-02 -1.40351187e-03 9.99852973e-01 -4.91946605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.972414037 meters 0.08621760702048499 Centerline is valid? [True, True] Translation: X:191.73, Y:-16.41, Z:-4.92 [[ 9.97237950e-01 7.22908698e-02 -1.70440750e-02 1.91726754e+02] [-7.22555081e-02 9.97382548e-01 2.68228558e-03 -1.64149082e+01] [ 1.71933677e-02 -1.44334868e-03 9.99851141e-01 -4.91949791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.002414037 meters 0.08946013193974206 Centerline is valid? [True, True] Translation: X:191.75, Y:-16.43, Z:-4.92 [[ 9.97298865e-01 7.13886452e-02 -1.72810866e-02 1.91753194e+02] [-7.13521894e-02 9.97447482e-01 2.71782207e-03 -1.64252562e+01] [ 1.74309979e-02 -1.47743750e-03 9.99846977e-01 -4.92117791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.032414037 meters 0.08832158935150086 Centerline is valid? [True, True] Translation: X:191.78, Y:-16.43, Z:-4.92 [[ 9.97318441e-01 7.11659358e-02 -1.70686012e-02 1.91781172e+02] [-7.11304448e-02 9.97463426e-01 2.67824292e-03 -1.64260318e+01] [ 1.72159051e-02 -1.45696386e-03 9.99850734e-01 -4.91975303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.062414037 meters 0.08790674411197862 Centerline is valid? [True, True] Translation: X:191.81, Y:-16.43, Z:-4.92 [[ 9.97338963e-01 7.09173524e-02 -1.69033339e-02 1.91809054e+02] [-7.08825903e-02 9.97481152e-01 2.64759766e-03 -1.64271834e+01] [ 1.70485176e-02 -1.44240021e-03 9.99853623e-01 -4.91950337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.092414037 meters 0.08566248690970484 Centerline is valid? [True, True] Translation: X:191.84, Y:-16.43, Z:-4.92 [[ 9.97318883e-01 7.14791919e-02 -1.56770952e-02 1.91838390e+02] [-7.14493549e-02 9.97441206e-01 2.45584983e-03 -1.64262658e+01] [ 1.58125229e-02 -1.32914707e-03 9.99874091e-01 -4.91847142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.122414037 meters 0.08644769900057334 Centerline is valid? [True, True] Translation: X:191.87, Y:-16.43, Z:-4.92 [[ 9.97336834e-01 7.14314849e-02 -1.47235420e-02 1.91866367e+02] [-7.14052367e-02 9.97444733e-01 2.30146703e-03 -1.64323896e+01] [ 1.48503166e-02 -1.24399984e-03 9.99888954e-01 -4.91902632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.152414037 meters 0.08705061299927763 Centerline is valid? [True, True] Translation: X:191.89, Y:-16.44, Z:-4.92 [[ 9.97353192e-01 7.13890370e-02 -1.37919084e-02 1.91893801e+02] [-7.13660031e-02 9.97447867e-01 2.15573653e-03 -1.64383872e+01] [ 1.39106055e-02 -1.16575733e-03 9.99902563e-01 -4.91921316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.182414037 meters 0.08735507459975388 Centerline is valid? [True, True] Translation: X:191.92, Y:-16.44, Z:-4.92 [[ 9.97358881e-01 7.14325361e-02 -1.31398592e-02 1.91922151e+02] [-7.14116911e-02 9.97444821e-01 2.04940165e-03 -1.64439610e+01] [ 1.32526785e-02 -1.10564937e-03 9.99911568e-01 -4.91866421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21241403699997 meters 0.08733321671762272 Centerline is valid? [True, True] Translation: X:191.95, Y:-16.45, Z:-4.92 [[ 9.97287028e-01 7.24196557e-02 -1.31900761e-02 1.91950361e+02] [-7.23987310e-02 9.97373646e-01 2.05766791e-03 -1.64482522e+01] [ 1.33044499e-02 -1.09714074e-03 9.99910890e-01 -4.91881877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24241403699997 meters 0.08828995938625102 Centerline is valid? [True, True] Translation: X:191.98, Y:-16.45, Z:-4.92 [[ 9.97011570e-01 7.58074656e-02 -1.48713599e-02 1.91978542e+02] [-7.57812457e-02 9.97121769e-01 2.31958656e-03 -1.64541743e+01] [ 1.50043987e-02 -1.18568446e-03 9.99886725e-01 -4.92024571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27241403699998 meters 0.08628613579693346 Centerline is valid? [True, True] Translation: X:192.01, Y:-16.45, Z:-4.92 [[ 9.96890552e-01 7.71872956e-02 -1.58539580e-02 1.92007750e+02] [-7.71576893e-02 9.97015838e-01 2.47160321e-03 -1.64543438e+01] [ 1.59974236e-02 -1.24066313e-03 9.99871263e-01 -4.92007226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30241403699998 meters 0.08462109149912463 Centerline is valid? [True, True] Translation: X:192.04, Y:-16.46, Z:-4.92 [[ 9.96750730e-01 7.89016641e-02 -1.62021514e-02 1.92038039e+02] [-7.88709660e-02 9.96881633e-01 2.52600940e-03 -1.64558557e+01] [ 1.63509335e-02 -1.23992238e-03 9.99865546e-01 -4.92004573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33241403699998 meters 0.08357336129575624 Centerline is valid? [True, True] Translation: X:192.07, Y:-16.46, Z:-4.92 [[ 9.96477642e-01 8.23063868e-02 -1.60614003e-02 1.92068386e+02] [-8.22766623e-02 9.96606382e-01 2.50388938e-03 -1.64599515e+01] [ 1.62129801e-02 -1.17359137e-03 9.99867872e-01 -4.92139342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36241403699998 meters 0.0833700057409569 Centerline is valid? [True, True] Translation: X:192.10, Y:-16.46, Z:-4.92 [[ 9.96373170e-01 8.35989082e-02 -1.58659567e-02 1.92096852e+02] [-8.35700898e-02 9.96498836e-01 2.47192312e-03 -1.64647589e+01] [ 1.60170575e-02 -1.13703845e-03 9.99871072e-01 -4.92179366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39241403699998 meters 0.08344574946336247 Centerline is valid? [True, True] Translation: X:192.13, Y:-16.47, Z:-4.92 [[ 9.96246610e-01 8.53495463e-02 -1.44273276e-02 1.92125481e+02] [-8.53259041e-02 9.96350560e-01 2.24751517e-03 -1.64699661e+01] [ 1.45665004e-02 -1.00805459e-03 9.99893395e-01 -4.92133315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42241403699998 meters 0.08086076006037463 Centerline is valid? [True, True] Translation: X:192.16, Y:-16.47, Z:-4.92 [[ 9.95996777e-01 8.82579194e-02 -1.41760611e-02 1.92155728e+02] [-8.82353937e-02 9.96097204e-01 2.20788108e-03 -1.64688220e+01] [ 1.43155978e-02 -9.48212112e-04 9.99897077e-01 -4.91843932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45241403699998 meters 0.08276890157862848 Centerline is valid? [True, True] Translation: X:192.18, Y:-16.48, Z:-4.92 [[ 9.95896494e-01 8.92789019e-02 -1.48138935e-02 1.92182674e+02] [-8.92544538e-02 9.96006190e-01 2.30468558e-03 -1.64777371e+01] [ 1.49604894e-02 -9.73022318e-04 9.99887612e-01 -4.92045775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48241403699998 meters 0.08073271612091841 Centerline is valid? [True, True] Translation: X:192.21, Y:-16.48, Z:-4.92 [[ 9.95813872e-01 9.01009233e-02 -1.53803486e-02 1.92211998e+02] [-9.00747371e-02 9.95932145e-01 2.38831211e-03 -1.64770529e+01] [ 1.55329727e-02 -9.92933474e-04 9.99878863e-01 -4.91841932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51241403699999 meters 0.07985852075750283 Centerline is valid? [True, True] Translation: X:192.24, Y:-16.48, Z:-4.92 [[ 9.95660624e-01 9.12095920e-02 -1.84589357e-02 1.92239545e+02] [-9.11721556e-02 9.95831035e-01 2.86132999e-03 -1.64787545e+01] [ 1.86429617e-02 -1.16597265e-03 9.99825525e-01 -4.92083126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.542414037 meters 0.07990065822688495 Centerline is valid? [True, True] Translation: X:192.27, Y:-16.48, Z:-4.92 [[ 9.95644683e-01 9.11639764e-02 -1.95139729e-02 1.92267557e+02] [-9.11222141e-02 9.95835136e-01 3.02054634e-03 -1.64838322e+01] [ 1.97080649e-02 -1.22923448e-03 9.99805022e-01 -4.92232176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.572414037 meters 0.08025243077516211 Centerline is valid? [True, True] Translation: X:192.30, Y:-16.49, Z:-4.92 [[ 9.95662259e-01 9.09003958e-02 -1.98440149e-02 1.92295831e+02] [-9.08572515e-02 9.95859204e-01 3.06689995e-03 -1.64897881e+01] [ 2.00406273e-02 -1.25062387e-03 9.99798384e-01 -4.92336573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.602414037 meters 0.0808505299261946 Centerline is valid? [True, True] Translation: X:192.32, Y:-16.50, Z:-4.92 [[ 9.95719432e-01 9.00997264e-02 -2.06119239e-02 1.92323997e+02] [-9.00531075e-02 9.95931886e-01 3.18074649e-03 -1.64958443e+01] [ 2.08146566e-02 -1.31096329e-03 9.99782492e-01 -4.92450056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.632414037 meters 0.08170902772900974 Centerline is valid? [True, True] Translation: X:192.35, Y:-16.50, Z:-4.93 [[ 9.95767785e-01 8.98471007e-02 -1.93395116e-02 1.92351343e+02] [-8.98060242e-02 9.95954806e-01 2.98383309e-03 -1.65034140e+01] [ 1.95293682e-02 -1.23440023e-03 9.99808522e-01 -4.92563399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.662414037 meters 0.08035840422150216 Centerline is valid? [True, True] Translation: X:192.38, Y:-16.50, Z:-4.92 [[ 9.95787389e-01 8.96395423e-02 -1.92932159e-02 1.92379479e+02] [-8.95987567e-02 9.95973515e-01 2.96985361e-03 -1.65039288e+01] [ 1.94817484e-02 -1.22869462e-03 9.99809458e-01 -4.92399005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.692414037 meters 0.08191567394083873 Centerline is valid? [True, True] Translation: X:192.41, Y:-16.51, Z:-4.93 [[ 9.95791932e-01 8.98253302e-02 -1.81614254e-02 1.92406302e+02] [-8.97892246e-02 9.95956867e-01 2.79542603e-03 -1.65128800e+01] [ 1.83390964e-02 -1.15296238e-03 9.99831160e-01 -4.92533307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.722414037 meters 0.08012266687609451 Centerline is valid? [True, True] Translation: X:192.44, Y:-16.51, Z:-4.92 [[ 9.95847353e-01 8.94298019e-02 -1.70399376e-02 1.92435524e+02] [-8.93980527e-02 9.95992539e-01 2.61745632e-03 -1.65128739e+01] [ 1.72057293e-02 -1.08324971e-03 9.99851384e-01 -4.92248178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.752414037 meters 0.08064031874033108 Centerline is valid? [True, True] Translation: X:192.46, Y:-16.52, Z:-4.92 [[ 9.95939941e-01 8.85896672e-02 -1.59844902e-02 1.92464077e+02] [-8.85616854e-02 9.96067678e-01 2.45139566e-03 -1.65191140e+01] [ 1.61388023e-02 -1.02582946e-03 9.99869235e-01 -4.92160074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.782414037 meters 0.08102929597937515 Centerline is valid? [True, True] Translation: X:192.49, Y:-16.53, Z:-4.92 [[ 9.96019302e-01 8.75171182e-02 -1.69205104e-02 1.92493008e+02] [-8.74855898e-02 9.96162402e-01 2.59606072e-03 -1.65254244e+01] [ 1.70827760e-02 -1.10542576e-03 9.99853468e-01 -4.92192270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.812414037 meters 0.08380693428195336 Centerline is valid? [True, True] Translation: X:192.52, Y:-16.54, Z:-4.92 [[ 9.96090664e-01 8.66186597e-02 -1.73377436e-02 1.92518957e+02] [-8.65854539e-02 9.96240881e-01 2.65822141e-03 -1.65374284e+01] [ 1.75028205e-02 -1.14663313e-03 9.99846156e-01 -4.92478334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.842414037 meters 0.0815235150058674 Centerline is valid? [True, True] Translation: X:192.55, Y:-16.54, Z:-4.92 [[ 9.96311120e-01 8.38968436e-02 -1.80408413e-02 1.92549208e+02] [-8.38604411e-02 9.96473670e-01 2.76625504e-03 -1.65373402e+01] [ 1.82093034e-02 -1.24313775e-03 9.99833424e-01 -4.92247989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.872414037 meters 0.08237049281884756 Centerline is valid? [True, True] Translation: X:192.58, Y:-16.54, Z:-4.92 [[ 9.96368500e-01 8.32822474e-02 -1.77166654e-02 1.92576708e+02] [-8.32471010e-02 9.96525242e-01 2.71341479e-03 -1.65439438e+01] [ 1.78810835e-02 -1.22870000e-03 9.99839366e-01 -4.92339192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.902414037 meters 0.08216233848024992 Centerline is valid? [True, True] Translation: X:192.61, Y:-16.55, Z:-4.92 [[ 9.96456339e-01 8.20664092e-02 -1.84355273e-02 1.92606177e+02] [-8.20281429e-02 9.96626014e-01 2.82363947e-03 -1.65476331e+01] [ 1.86050521e-02 -1.30140138e-03 9.99826064e-01 -4.92300392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.932414037 meters 0.08249982011166077 Centerline is valid? [True, True] Translation: X:192.64, Y:-16.55, Z:-4.92 [[ 9.96593725e-01 8.01079322e-02 -1.95873879e-02 1.92636305e+02] [-8.00643520e-02 9.96785181e-01 3.00034489e-03 -1.65534171e+01] [ 1.97647694e-02 -1.42187337e-03 9.99803647e-01 -4.92450690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96241403699997 meters 0.08438054261031484 Centerline is valid? [True, True] Translation: X:192.66, Y:-16.56, Z:-4.93 [[ 9.96700902e-01 7.88444992e-02 -1.92576256e-02 1.92662474e+02] [-7.88021938e-02 9.96885916e-01 2.94704536e-03 -1.65620323e+01] [ 1.94300141e-02 -1.41977962e-03 9.99810211e-01 -4.92664969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99241403699997 meters 0.08537583826447852 Centerline is valid? [True, True] Translation: X:192.69, Y:-16.57, Z:-4.93 [[ 9.96852078e-01 7.69160903e-02 -1.92314790e-02 1.92691558e+02] [-7.68735450e-02 9.97036507e-01 2.94293091e-03 -1.65689361e+01] [ 1.94008454e-02 -1.45527483e-03 9.99810727e-01 -4.92722843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02241403699998 meters 0.08543171694891745 Centerline is valid? [True, True] Translation: X:192.72, Y:-16.57, Z:-4.93 [[ 9.97102085e-01 7.38108932e-02 -1.84223807e-02 1.92720877e+02] [-7.37713299e-02 9.97271199e-01 2.81891821e-03 -1.65740336e+01] [ 1.85801766e-02 -1.45170570e-03 9.99826320e-01 -4.92652013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05241403699998 meters 0.08734979377799852 Centerline is valid? [True, True] Translation: X:192.75, Y:-16.58, Z:-4.93 [[ 9.97263785e-01 7.16261468e-02 -1.82931362e-02 1.92749199e+02] [-7.15867853e-02 9.97430449e-01 2.79838680e-03 -1.65820460e+01] [ 1.84465687e-02 -1.48118299e-03 9.99828750e-01 -4.92817611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08241403699998 meters 0.08738929584826105 Centerline is valid? [True, True] Translation: X:192.78, Y:-16.59, Z:-4.93 [[ 9.97425396e-01 6.92819412e-02 -1.85092579e-02 1.92778982e+02] [-6.92412491e-02 9.97595927e-01 2.83112444e-03 -1.65862202e+01] [ 1.86609061e-02 -1.54223128e-03 9.99824681e-01 -4.92818123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11241403699998 meters 0.08654077302241991 Centerline is valid? [True, True] Translation: X:192.81, Y:-16.59, Z:-4.93 [[ 9.97734746e-01 6.47489412e-02 -1.82469244e-02 1.92809015e+02] [-6.47086467e-02 9.97900297e-01 2.79074198e-03 -1.65888377e+01] [ 1.83893089e-02 -1.60368646e-03 9.99829616e-01 -4.92678835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14241403699998 meters 0.0890669704389922 Centerline is valid? [True, True] Translation: X:192.84, Y:-16.60, Z:-4.93 [[ 9.97842755e-01 6.32215493e-02 -1.76882117e-02 1.92835790e+02] [-6.31834765e-02 9.97998266e-01 2.70362796e-03 -1.65985843e+01] [ 1.78237321e-02 -1.58019287e-03 9.99839896e-01 -4.92879120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17241403699998 meters 0.09159490032663484 Centerline is valid? [True, True] Translation: X:192.86, Y:-16.61, Z:-4.93 [[ 9.97949701e-01 6.14807983e-02 -1.77906151e-02 1.92864321e+02] [-6.14419992e-02 9.98106950e-01 2.71982554e-03 -1.66079592e+01] [ 1.79241536e-02 -1.62115813e-03 9.99838035e-01 -4.92889613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20241403699998 meters 0.09446149770784154 Centerline is valid? [True, True] Translation: X:192.89, Y:-16.62, Z:-4.93 [[ 9.98007922e-01 6.02166147e-02 -1.88187953e-02 1.92891336e+02] [-6.01730184e-02 9.98183822e-01 2.87486985e-03 -1.66168743e+01] [ 1.89577319e-02 -1.73675917e-03 9.99818778e-01 -4.93091749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23241403699998 meters 0.09446149770784154 Centerline is valid? [True, True] Translation: X:192.92, Y:-16.62, Z:-4.93 [[ 9.98023466e-01 5.99581398e-02 -1.88197511e-02 1.92918546e+02] [-5.99146150e-02 9.98199384e-01 2.86860859e-03 -1.66209014e+01] [ 1.89578604e-02 -1.73536055e-03 9.99818778e-01 -4.93113238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26241403699999 meters 0.09055057461726387 Centerline is valid? [True, True] Translation: X:192.95, Y:-16.62, Z:-4.93 [[ 9.98087493e-01 5.85847337e-02 -1.97278042e-02 1.92949654e+02] [-5.85366171e-02 9.98280730e-01 3.00820564e-03 -1.66152289e+01] [ 1.98701217e-02 -1.84765351e-03 9.99800862e-01 -4.92735454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.292414037 meters 0.09175580086941733 Centerline is valid? [True, True] Translation: X:192.98, Y:-16.62, Z:-4.93 [[ 9.98129501e-01 5.75189635e-02 -2.07139783e-02 1.92978949e+02] [-5.74657024e-02 9.98342487e-01 3.15787775e-03 -1.66203882e+01] [ 2.08612824e-02 -1.96162763e-03 9.99780455e-01 -4.92771902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.322414037 meters 0.092775760884456 Centerline is valid? [True, True] Translation: X:193.01, Y:-16.63, Z:-4.93 [[ 9.98176337e-01 5.62174850e-02 -2.19908037e-02 1.93009071e+02] [-5.61571347e-02 9.98416313e-01 3.35281601e-03 -1.66252309e+01] [ 2.21444640e-02 -2.11176108e-03 9.99752551e-01 -4.92897233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.352414037 meters 0.09520816230234036 Centerline is valid? [True, True] Translation: X:193.04, Y:-16.63, Z:-4.93 [[ 9.98213274e-01 5.53255696e-02 -2.25685816e-02 1.93036255e+02] [-5.52618281e-02 9.98465976e-01 3.43878734e-03 -1.66335285e+01] [ 2.27242137e-02 -2.18546209e-03 9.99739383e-01 -4.93032628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.382414037 meters 0.09465846069141731 Centerline is valid? [True, True] Translation: X:193.06, Y:-16.64, Z:-4.93 [[ 9.98246397e-01 5.44644794e-02 -2.31894801e-02 1.93064847e+02] [-5.43971131e-02 9.98513154e-01 3.52646823e-03 -1.66363326e+01] [ 2.33470682e-02 -2.25884343e-03 9.99724868e-01 -4.93027766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.412414037 meters 0.09342967351553307 Centerline is valid? [True, True] Translation: X:193.09, Y:-16.64, Z:-4.93 [[ 9.98237299e-01 5.43670627e-02 -2.38016344e-02 1.93092458e+02] [-5.42962295e-02 9.98518336e-01 3.61267362e-03 -1.66372175e+01] [ 2.39627788e-02 -2.31396655e-03 9.99710173e-01 -4.92986351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.442414037 meters 0.09644326987966913 Centerline is valid? [True, True] Translation: X:193.12, Y:-16.64, Z:-4.93 [[ 9.98217723e-01 5.43515492e-02 -2.46432051e-02 1.93119034e+02] [-5.42756607e-02 9.98518992e-01 3.73846244e-03 -1.66447951e+01] [ 2.48098995e-02 -2.39427323e-03 9.99689320e-01 -4.93118851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.472414037 meters 0.09668360256751532 Centerline is valid? [True, True] Translation: X:193.15, Y:-16.65, Z:-4.93 [[ 9.98205500e-01 5.45667582e-02 -2.46627075e-02 1.93147366e+02] [-5.44909798e-02 9.98507278e-01 3.73476774e-03 -1.66480765e+01] [ 2.48296871e-02 -2.38417060e-03 9.99688853e-01 -4.93105384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.502414037 meters 0.0967650691531635 Centerline is valid? [True, True] Translation: X:193.18, Y:-16.65, Z:-4.93 [[ 9.98145972e-01 5.55630241e-02 -2.48468950e-02 1.93175591e+02] [-5.54864239e-02 9.98452353e-01 3.76230607e-03 -1.66512165e+01] [ 2.50174859e-02 -2.37666530e-03 9.99684189e-01 -4.93012853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.532414037 meters 0.09554867340496817 Centerline is valid? [True, True] Translation: X:193.21, Y:-16.65, Z:-4.93 [[ 9.98103877e-01 5.67683662e-02 -2.37908227e-02 1.93205664e+02] [-5.66984807e-02 9.98384848e-01 3.60236550e-03 -1.66523397e+01] [ 2.39568973e-02 -2.24663148e-03 9.99710468e-01 -4.92978630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.562414037 meters 0.09278220209763809 Centerline is valid? [True, True] Translation: X:193.24, Y:-16.65, Z:-4.93 [[ 9.97958169e-01 5.88053660e-02 -2.49283365e-02 1.93235956e+02] [-5.87292904e-02 9.98266813e-01 3.77362404e-03 -1.66500231e+01] [ 2.51070404e-02 -2.30189542e-03 9.99682118e-01 -4.92906157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.592414037 meters 0.09061861026153942 Centerline is valid? [True, True] Translation: X:193.27, Y:-16.65, Z:-4.93 [[ 9.97909897e-01 5.94240297e-02 -2.53893970e-02 1.93265514e+02] [-5.93454973e-02 9.98230132e-01 3.83616430e-03 -1.66497530e+01] [ 2.55724214e-02 -2.32139993e-03 9.99670277e-01 -4.92788717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.622414037 meters 0.09083963376453802 Centerline is valid? [True, True] Translation: X:193.29, Y:-16.65, Z:-4.93 [[ 9.97847748e-01 6.04382544e-02 -2.54379658e-02 1.93294166e+02] [-6.03597617e-02 9.98169290e-01 3.84296318e-03 -1.66523934e+01] [ 2.56236582e-02 -2.29926260e-03 9.99669016e-01 -4.92821919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.652414037 meters 0.09648076412820472 Centerline is valid? [True, True] Translation: X:193.32, Y:-16.67, Z:-4.93 [[ 9.97860404e-01 6.03909243e-02 -2.50509457e-02 1.93319800e+02] [-6.03148455e-02 9.98172237e-01 3.78220612e-03 -1.66660240e+01] [ 2.52335694e-02 -2.26316980e-03 9.99679021e-01 -4.93111109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.682414037 meters 0.09020734953950453 Centerline is valid? [True, True] Translation: X:193.35, Y:-16.66, Z:-4.93 [[ 9.97848317e-01 6.03370222e-02 -2.56550230e-02 1.93349456e+02] [-6.02574358e-02 9.98175388e-01 3.86472314e-03 -1.66574845e+01] [ 2.58413984e-02 -2.31050158e-03 9.99663385e-01 -4.92682722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71241403699997 meters 0.09170051572909639 Centerline is valid? [True, True] Translation: X:193.38, Y:-16.66, Z:-4.93 [[ 9.97865420e-01 5.92087333e-02 -2.75486728e-02 1.93378524e+02] [-5.91164866e-02 9.98242458e-01 4.15169758e-03 -1.66634840e+01] [ 2.77460716e-02 -2.51425471e-03 9.99611842e-01 -4.92823118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74241403699997 meters 0.09378738625262552 Centerline is valid? [True, True] Translation: X:193.41, Y:-16.67, Z:-4.93 [[ 9.97880816e-01 5.87431955e-02 -2.79841890e-02 1.93405456e+02] [-5.86479521e-02 9.98269838e-01 4.21287700e-03 -1.66714833e+01] [ 2.81832496e-02 -2.56273376e-03 9.99599488e-01 -4.93014007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77241403699998 meters 0.09184425393272104 Centerline is valid? [True, True] Translation: X:193.44, Y:-16.67, Z:-4.93 [[ 9.97898593e-01 5.80762132e-02 -2.87324184e-02 1.93435513e+02] [-5.79755399e-02 9.98308634e-01 4.32526762e-03 -1.66714179e+01] [ 2.89350166e-02 -2.65040100e-03 9.99577781e-01 -4.92969902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80241403699998 meters 0.09226544730818005 Centerline is valid? [True, True] Translation: X:193.46, Y:-16.67, Z:-4.93 [[ 9.97861786e-01 5.75999787e-02 -3.08884718e-02 1.93464991e+02] [-5.74834295e-02 9.98335637e-01 4.64878200e-03 -1.66739548e+01] [ 3.11048319e-02 -2.86326662e-03 9.99512027e-01 -4.93112107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83241403699998 meters 0.09538757356596737 Centerline is valid? [True, True] Translation: X:193.49, Y:-16.68, Z:-4.93 [[ 9.97857304e-01 5.70986044e-02 -3.19460430e-02 1.93492417e+02] [-5.69737363e-02 9.98364109e-01 4.80617842e-03 -1.66823244e+01] [ 3.21682088e-02 -2.97579481e-03 9.99478039e-01 -4.93417775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86241403699998 meters 0.0937497669931059 Centerline is valid? [True, True] Translation: X:193.52, Y:-16.68, Z:-4.93 [[ 9.97922138e-01 5.60261308e-02 -3.18194784e-02 1.93521544e+02] [-5.59020047e-02 9.98424828e-01 4.77795107e-03 -1.66810723e+01] [ 3.20370474e-02 -2.98925051e-03 9.99482212e-01 -4.93189099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89241403699998 meters 0.09511934580972942 Centerline is valid? [True, True] Translation: X:193.55, Y:-16.69, Z:-4.93 [[ 9.97970883e-01 5.54855118e-02 -3.12325757e-02 1.93548258e+02] [-5.53657905e-02 9.98455143e-01 4.68574105e-03 -1.66865579e+01] [ 3.14443166e-02 -2.94701689e-03 9.99501161e-01 -4.93222665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92241403699998 meters 0.09298908156631223 Centerline is valid? [True, True] Translation: X:193.58, Y:-16.69, Z:-4.93 [[ 9.98006481e-01 5.53041239e-02 -3.04058841e-02 1.93576991e+02] [-5.51908292e-02 9.98465442e-01 4.55343751e-03 -1.66864100e+01] [ 3.06110484e-02 -2.86623419e-03 9.99527262e-01 -4.93011056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95241403699998 meters 0.0926733365339991 Centerline is valid? [True, True] Translation: X:193.61, Y:-16.69, Z:-4.93 [[ 9.98062664e-01 5.45246329e-02 -2.99663658e-02 1.93605663e+02] [-5.44144693e-02 9.98508385e-01 4.48012061e-03 -1.66879833e+01] [ 3.01659444e-02 -2.84083722e-03 9.99540867e-01 -4.92904412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98241403699998 meters 0.0968671059251508 Centerline is valid? [True, True] Translation: X:193.63, Y:-16.70, Z:-4.93 [[ 9.98105990e-01 5.42655883e-02 -2.89772257e-02 1.93631941e+02] [-5.41625119e-02 9.98522742e-01 4.33086738e-03 -1.66984201e+01] [ 2.91694359e-02 -2.75318534e-03 9.99570690e-01 -4.93051182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01241403699999 meters 0.09599394337515167 Centerline is valid? [True, True] Translation: X:193.66, Y:-16.70, Z:-4.93 [[ 9.98126323e-01 5.40115132e-02 -2.87506635e-02 1.93660135e+02] [-5.39102080e-02 9.98536582e-01 4.28769277e-03 -1.66991224e+01] [ 2.89401740e-02 -2.72970477e-03 9.99577418e-01 -4.92883939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.042414037 meters 0.09641797432196796 Centerline is valid? [True, True] Translation: X:193.69, Y:-16.70, Z:-4.93 [[ 9.98142344e-01 5.37027192e-02 -2.87728984e-02 1.93687435e+02] [-5.36013569e-02 9.98553228e-01 4.28318183e-03 -1.67021356e+01] [ 2.89612891e-02 -2.73295875e-03 9.99576798e-01 -4.92874189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.072414037 meters 0.09429586025178022 Centerline is valid? [True, True] Translation: X:193.72, Y:-16.70, Z:-4.93 [[ 9.98139553e-01 5.33202261e-02 -2.95700261e-02 1.93716260e+02] [-5.32132074e-02 9.98573502e-01 4.39491652e-03 -1.67012441e+01] [ 2.97621825e-02 -2.81322408e-03 9.99553049e-01 -4.92659891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.102414037 meters 0.09550304604225292 Centerline is valid? [True, True] Translation: X:193.75, Y:-16.71, Z:-4.93 [[ 9.98156785e-01 5.26202760e-02 -3.02347313e-02 1.93745263e+02] [-5.25080532e-02 9.98610387e-01 4.49432256e-03 -1.67063567e+01] [ 3.04292092e-02 -2.89847167e-03 9.99532722e-01 -4.92825213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.132414037 meters 0.09563733434208897 Centerline is valid? [True, True] Translation: X:193.77, Y:-16.71, Z:-4.93 [[ 9.98177490e-01 5.21764194e-02 -3.03202950e-02 1.93773283e+02] [-5.20634999e-02 9.98633627e-01 4.50237338e-03 -1.67101484e+01] [ 3.05137839e-02 -2.91558708e-03 9.99530094e-01 -4.92826005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.162414037 meters 0.09868530021932988 Centerline is valid? [True, True] Translation: X:193.80, Y:-16.72, Z:-4.93 [[ 9.98235991e-01 5.14876274e-02 -2.95623194e-02 1.93799885e+02] [-5.13800527e-02 9.98669535e-01 4.38758299e-03 -1.67192248e+01] [ 2.97488940e-02 -2.86092972e-03 9.99553309e-01 -4.93119237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.192414037 meters 0.10092460842607671 Centerline is valid? [True, False] Translation: X:193.81, Y:-16.72, Z:-4.93 [[ 9.98297979e-01 4.50576589e-02 -3.70263761e-02 1.93809781e+02] [-4.48358121e-02 9.98971221e-01 6.80066403e-03 -1.67177911e+01] [ 3.72947062e-02 -5.12898151e-03 9.99291148e-01 -4.92605837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.222414037 meters 0.10100417864453604 Centerline is valid? [False, False] Translation: X:193.81, Y:-16.72, Z:-4.93 [[ 9.98849262e-01 4.33401525e-02 -2.05373352e-02 1.93806802e+02] [-4.32106074e-02 9.99043450e-01 6.71032299e-03 -1.67182250e+01] [ 2.08085166e-02 -5.81517044e-03 9.99766567e-01 -4.93103519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.252414037 meters 0.10137161199612038 Centerline is valid? [False, False] Translation: X:193.82, Y:-16.72, Z:-4.93 [[ 9.98866445e-01 3.81565468e-02 -2.84587815e-02 1.93816765e+02] [-3.79138703e-02 9.99240310e-01 9.01889665e-03 -1.67165419e+01] [ 2.87812916e-02 -7.92969069e-03 9.99554279e-01 -4.92560435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.282414037 meters 0.10210267128324016 Centerline is valid? [False, False] Translation: X:193.81, Y:-16.72, Z:-4.93 [[ 9.99212321e-01 3.81090765e-02 -1.10650322e-02 1.93812053e+02] [-3.79890316e-02 9.99219100e-01 1.08638357e-02 -1.67161610e+01] [ 1.14704022e-02 -1.04349287e-02 9.99879764e-01 -4.93082827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.312414037 meters 0.09723098428459831 Centerline is valid? [False, True] Translation: X:193.82, Y:-16.71, Z:-4.93 [[ 9.99330589e-01 3.07779595e-02 -1.97760389e-02 1.93822993e+02] [-3.05715411e-02 9.99475770e-01 1.06567626e-02 -1.67128102e+01] [ 2.00936651e-02 -1.00450448e-02 9.99747639e-01 -4.92518355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.342414037 meters 0.09713826206833458 Centerline is valid? [True, True] Translation: X:193.85, Y:-16.71, Z:-4.92 [[ 9.99301272e-01 3.14418728e-02 -2.02083324e-02 1.93851926e+02] [-3.13956148e-02 9.99503648e-01 2.60232984e-03 -1.67124415e+01] [ 2.02801241e-02 -1.96605850e-03 9.99792404e-01 -4.92227327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.372414037 meters 0.10206492200308881 Centerline is valid? [True, False] Translation: X:193.86, Y:-16.71, Z:-4.92 [[ 9.99461481e-01 2.41118009e-02 -2.22568693e-02 1.93858357e+02] [-2.39175431e-02 9.99673841e-01 8.95335076e-03 -1.67105323e+01] [ 2.24654915e-02 -8.41619958e-03 9.99712193e-01 -4.91933998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.402414037 meters 0.09782715338464013 Centerline is valid? [False, True] Translation: X:193.86, Y:-16.71, Z:-4.92 [[ 9.99733337e-01 2.22860489e-02 -6.04876055e-03 1.93855558e+02] [-2.22391178e-02 9.99722887e-01 7.71821755e-03 -1.67100828e+01] [ 6.21909293e-03 -7.58164029e-03 9.99951920e-01 -4.92415174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43241403699997 meters 0.10152905569228798 Centerline is valid? [True, False] Translation: X:193.86, Y:-16.71, Z:-4.92 [[ 9.99813561e-01 1.80291912e-02 -6.91311506e-03 1.93856907e+02] [-1.80110599e-02 9.99834206e-01 2.67608848e-03 -1.67077375e+01] [ 6.96021662e-03 -2.55107702e-03 9.99972523e-01 -4.92364414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46241403699997 meters 0.09586586927799153 Centerline is valid? [False, True] Translation: X:193.86, Y:-16.70, Z:-4.92 [[ 9.99877738e-01 1.36473715e-02 -7.63268217e-03 1.93858113e+02] [-1.36668501e-02 9.99903465e-01 -2.50568592e-03 -1.67047262e+01] [ 7.59774932e-03 2.60969429e-03 9.99967731e-01 -4.92337597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49241403699997 meters 0.10432525733496495 Centerline is valid? [True, False] Translation: X:193.87, Y:-16.71, Z:-4.93 [[ 9.99953925e-01 9.52407282e-03 -1.20005399e-03 1.93866422e+02] [-9.51732808e-03 9.99939550e-01 5.50601633e-03 -1.67057375e+01] [ 1.25242114e-03 -5.49434133e-03 9.99984122e-01 -4.92703158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52241403699998 meters 0.09765234404112663 Centerline is valid? [False, True] Translation: X:193.87, Y:-16.70, Z:-4.93 [[ 9.99983212e-01 5.38155021e-03 -2.14796898e-03 1.93868108e+02] [-5.38058634e-03 9.99985421e-01 4.54264027e-04 -1.67027164e+01] [ 2.15038231e-03 -4.42699068e-04 9.99997590e-01 -4.92671041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55241403699998 meters 0.10114557163453393 Centerline is valid? [True, False] Translation: X:193.87, Y:-16.70, Z:-4.93 [[ 9.99986016e-01 4.80557711e-03 -2.20755521e-03 1.93867921e+02] [-4.80685292e-03 9.99988283e-01 -5.72987362e-04 -1.66996935e+01] [ 2.20477581e-03 5.83590743e-04 9.99997399e-01 -4.92627047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58241403699998 meters 0.10114557163453393 Centerline is valid? [False, False] Translation: X:193.87, Y:-16.70, Z:-4.93 [[ 9.99986016e-01 4.80557711e-03 -2.20755521e-03 1.93867921e+02] [-4.80685292e-03 9.99988283e-01 -5.72987362e-04 -1.66996935e+01] [ 2.20477581e-03 5.83590743e-04 9.99997399e-01 -4.92627047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61241403699998 meters 0.10149893924202089 Centerline is valid? [False, False] Translation: X:193.87, Y:-16.70, Z:-4.93 [[ 9.99987313e-01 4.59161659e-03 -2.07167540e-03 1.93867811e+02] [-4.59332114e-03 9.99989115e-01 -8.18783590e-04 -1.66984718e+01] [ 2.06789331e-03 8.28289073e-04 9.99997519e-01 -4.92657464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64241403699998 meters 0.09980617863535857 Centerline is valid? [False, True] Translation: X:193.87, Y:-16.70, Z:-4.93 [[ 9.99988826e-01 4.36133171e-03 -1.82415400e-03 1.93867172e+02] [-4.36312477e-03 9.99990001e-01 -9.80132171e-04 -1.66983944e+01] [ 1.81986108e-03 9.88080230e-04 9.99997856e-01 -4.92643204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67241403699998 meters 0.09926421223566033 Centerline is valid? [True, True] Translation: X:193.90, Y:-16.70, Z:-4.93 [[ 9.99998627e-01 1.50359206e-03 -6.97166779e-04 1.93897459e+02] [-1.50354147e-03 9.99998867e-01 7.30836167e-05 -1.67028182e+01] [ 6.97275877e-04 -7.20352972e-05 9.99999754e-01 -4.92671795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70241403699998 meters 0.10352386767897705 Centerline is valid? [True, False] Translation: X:193.90, Y:-16.70, Z:-4.93 [[ 9.99998449e-01 1.69443998e-03 -4.80786878e-04 1.93897346e+02] [-1.69413257e-03 9.99998361e-01 6.39078496e-04 -1.67040149e+01] [ 4.81868970e-04 -6.38262988e-04 9.99999680e-01 -4.92729679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73241403699998 meters 0.10138184777374055 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.70, Z:-4.93 [[ 9.99998874e-01 1.49595888e-03 -1.15027353e-04 1.93896510e+02] [-1.49587768e-03 9.99998634e-01 7.02779372e-04 -1.67045487e+01] [ 1.16078525e-04 -7.02606514e-04 9.99999746e-01 -4.92724421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76241403699999 meters 0.10461837404302841 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.71, Z:-4.93 [[ 9.99998787e-01 1.55725804e-03 1.30420457e-05 1.93896401e+02] [-1.55727005e-03 9.99998310e-01 9.77629462e-04 -1.67051762e+01] [-1.15196023e-05 -9.77648587e-04 9.99999522e-01 -4.92751751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.792414037 meters 0.10782302477332191 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.71, Z:-4.93 [[ 9.99998860e-01 1.41153920e-03 5.35646852e-04 1.93895334e+02] [-1.41227762e-03 9.99998050e-01 1.38069065e-03 -1.67067770e+01] [-5.33696908e-04 -1.38144556e-03 9.99998903e-01 -4.92760976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.822414037 meters 0.10193064710266699 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.71, Z:-4.93 [[ 9.99998705e-01 1.48016895e-03 6.31132883e-04 1.93895159e+02] [-1.48118382e-03 9.99997606e-01 1.61058831e-03 -1.67075920e+01] [-6.28747429e-04 -1.61152104e-03 9.99998504e-01 -4.92765000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.852414037 meters 0.1048917453382485 Centerline is valid? [False, False] Translation: X:193.89, Y:-16.71, Z:-4.93 [[ 9.99998495e-01 1.55761045e-03 7.64043686e-04 1.93894966e+02] [-1.55904954e-03 9.99997005e-01 1.88654621e-03 -1.67084360e+01] [-7.61102894e-04 -1.88773456e-03 9.99997929e-01 -4.92779178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.882414037 meters 0.10508048631029185 Centerline is valid? [False, False] Translation: X:193.89, Y:-16.71, Z:-4.93 [[ 9.99998458e-01 1.49206399e-03 9.26152533e-04 1.93894499e+02] [-1.49387331e-03 9.99996971e-01 1.95597656e-03 -1.67090391e+01] [-9.23231285e-04 -1.95735710e-03 9.99997658e-01 -4.92761526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.912414037 meters 0.10413954935713857 Centerline is valid? [False, False] Translation: X:193.89, Y:-16.71, Z:-4.93 [[ 9.99998391e-01 1.50512233e-03 9.75930297e-04 1.93894391e+02] [-1.50710366e-03 9.99996798e-01 2.03265302e-03 -1.67093665e+01] [-9.72867781e-04 -2.03412058e-03 9.99997458e-01 -4.92761354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.942414037 meters 0.104907080582116 Centerline is valid? [False, False] Translation: X:193.89, Y:-16.71, Z:-4.93 [[ 9.99998124e-01 1.64719717e-03 1.01939918e-03 1.93894360e+02] [-1.64957206e-03 9.99995917e-01 2.33325822e-03 -1.67103937e+01] [-1.01555168e-03 -2.33493541e-03 9.99996758e-01 -4.92770618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.972414037 meters 0.10789967763169606 Centerline is valid? [False, False] Translation: X:193.89, Y:-16.71, Z:-4.93 [[ 9.99997835e-01 1.78183748e-03 1.07465248e-03 1.93894453e+02] [-1.78464634e-03 9.99994979e-01 2.61846507e-03 -1.67110417e+01] [-1.06998140e-03 -2.62037727e-03 9.99995994e-01 -4.92804517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.002414037 meters 0.10419320738000297 Centerline is valid? [False, False] Translation: X:193.89, Y:-16.71, Z:-4.93 [[ 9.99997268e-01 1.95819680e-03 1.27655168e-03 1.93894204e+02] [-1.96221104e-03 9.99993111e-01 3.15096939e-03 -1.67127562e+01] [-1.27037267e-03 -3.15346565e-03 9.99994221e-01 -4.92834275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.032414037 meters 0.10955807974262136 Centerline is valid? [False, False] Translation: X:193.89, Y:-16.71, Z:-4.93 [[ 9.99997202e-01 1.92814438e-03 1.37040050e-03 1.93893993e+02] [-1.93252379e-03 9.99993007e-01 3.20161374e-03 -1.67130533e+01] [-1.36421774e-03 -3.20425312e-03 9.99993936e-01 -4.92832760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.062414037 meters 0.10608296936893155 Centerline is valid? [False, False] Translation: X:193.89, Y:-16.71, Z:-4.93 [[ 9.99997587e-01 1.77811577e-03 1.29035455e-03 1.93893833e+02] [-1.78185088e-03 9.99994210e-01 2.89929012e-03 -1.67126974e+01] [-1.28519180e-03 -2.90158235e-03 9.99994965e-01 -4.92779376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.092414037 meters 0.10878711435972373 Centerline is valid? [False, False] Translation: X:193.89, Y:-16.71, Z:-4.93 [[ 9.99997784e-01 1.86121274e-03 9.84002016e-04 1.93894305e+02] [-1.86385873e-03 9.99994632e-01 2.69496661e-03 -1.67122626e+01] [-9.78980827e-04 -2.69679468e-03 9.99995884e-01 -4.92744074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.122414037 meters 0.10653908408268338 Centerline is valid? [False, False] Translation: X:193.89, Y:-16.71, Z:-4.93 [[ 9.99998105e-01 1.69873914e-03 9.50500723e-04 1.93894101e+02] [-1.70100273e-03 9.99995707e-01 2.38575277e-03 -1.67118342e+01] [-9.46443872e-04 -2.38736505e-03 9.99996702e-01 -4.92699900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.152414037 meters 0.10653908408268338 Centerline is valid? [False, False] Translation: X:193.89, Y:-16.71, Z:-4.93 [[ 9.99998105e-01 1.69873914e-03 9.50500723e-04 1.93894101e+02] [-1.70100273e-03 9.99995707e-01 2.38575277e-03 -1.67118342e+01] [-9.46443872e-04 -2.38736505e-03 9.99996702e-01 -4.92699900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18241403699997 meters 0.105403053998091 Centerline is valid? [False, False] Translation: X:193.89, Y:-16.71, Z:-4.93 [[ 9.99998063e-01 1.80859877e-03 7.76447955e-04 1.93894176e+02] [-1.81041830e-03 9.99995602e-01 2.34912963e-03 -1.67122972e+01] [-7.72195908e-04 -2.35053078e-03 9.99996939e-01 -4.92646974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21241403699997 meters 0.102911189819883 Centerline is valid? [False, False] Translation: X:193.89, Y:-16.71, Z:-4.93 [[ 9.99998156e-01 1.76728999e-03 7.50897367e-04 1.93893917e+02] [-1.76899468e-03 9.99995846e-01 2.27563692e-03 -1.67126896e+01] [-7.46872537e-04 -2.27696106e-03 9.99997129e-01 -4.92596598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24241403699997 meters 0.10060705725706637 Centerline is valid? [False, False] Translation: X:193.89, Y:-16.71, Z:-4.93 [[ 9.99998159e-01 1.75451801e-03 7.76713297e-04 1.93893644e+02] [-1.75630216e-03 9.99995807e-01 2.30236002e-03 -1.67132746e+01] [-7.72670508e-04 -2.30371993e-03 9.99997048e-01 -4.92562680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27241403699998 meters 0.107964921553309 Centerline is valid? [False, False] Translation: X:193.89, Y:-16.71, Z:-4.93 [[ 9.99997927e-01 1.89578137e-03 7.43462246e-04 1.93893685e+02] [-1.89766710e-03 9.99994964e-01 2.54396146e-03 -1.67141473e+01] [-7.38635707e-04 -2.54536703e-03 9.99996488e-01 -4.92557757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30241403699998 meters 0.10336795594367888 Centerline is valid? [False, False] Translation: X:193.89, Y:-16.72, Z:-4.93 [[ 9.99996913e-01 2.39406079e-03 6.65585202e-04 1.93894174e+02] [-2.39626037e-03 9.99991605e-01 3.32381308e-03 -1.67161997e+01] [-6.57622204e-04 -3.32539773e-03 9.99994255e-01 -4.92605388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33241403699998 meters 0.10661775063690765 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.72, Z:-4.93 [[ 9.99999590e-01 -8.18666373e-04 -3.88083133e-04 1.93896956e+02] [ 8.18552909e-04 9.99999622e-01 -2.92437919e-04 -1.67164422e+01] [ 3.88322396e-04 2.92120133e-04 9.99999882e-01 -4.92696222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36241403699998 meters 0.1032648708435476 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.72, Z:-4.93 [[ 9.99999756e-01 -6.00154159e-04 -3.57125816e-04 1.93897034e+02] [ 6.00201479e-04 9.99999811e-01 1.32410742e-04 -1.67176226e+01] [ 3.57046282e-04 -1.32625057e-04 9.99999927e-01 -4.92718882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39241403699998 meters 0.10009942663121946 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.72, Z:-4.93 [[ 9.99999927e-01 -2.86081125e-04 -2.51952771e-04 1.93896789e+02] [ 2.86293945e-04 9.99999602e-01 8.45052682e-04 -1.67200303e+01] [ 2.51710917e-04 -8.45124753e-04 9.99999611e-01 -4.92715611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42241403699998 meters 0.10274676867330391 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.72, Z:-4.93 [[ 9.99999952e-01 -2.20275489e-04 -2.17236854e-04 1.93896481e+02] [ 2.20504744e-04 9.99999418e-01 1.05586470e-03 -1.67211193e+01] [ 2.17004147e-04 -1.05591256e-03 9.99999419e-01 -4.92678496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45241403699998 meters 0.10286422762453054 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.72, Z:-4.93 [[ 9.99999978e-01 -1.01015162e-04 -1.86140489e-04 1.93896294e+02] [ 1.01262441e-04 9.99999112e-01 1.32892134e-03 -1.67222116e+01] [ 1.86006083e-04 -1.32894016e-03 9.99999100e-01 -4.92659798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48241403699998 meters 0.09957944776365558 Centerline is valid? [False, True] Translation: X:193.90, Y:-16.72, Z:-4.93 [[ 9.99999903e-01 3.18990197e-04 -3.05007076e-04 1.93896767e+02] [-3.18398427e-04 9.99998071e-01 1.93826855e-03 -1.67236703e+01] [ 3.05624776e-04 -1.93817124e-03 9.99998075e-01 -4.92691921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51241403699999 meters 0.10156719975122232 Centerline is valid? [True, False] Translation: X:193.90, Y:-16.73, Z:-4.93 [[ 9.99999718e-01 6.88663587e-04 -2.98536893e-04 1.93897006e+02] [-6.87879337e-04 9.99996333e-01 2.61917066e-03 -1.67255956e+01] [ 3.00339526e-04 -2.61896457e-03 9.99996525e-01 -4.92729643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.542414037 meters 0.09867227745304716 Centerline is valid? [False, True] Translation: X:193.90, Y:-16.73, Z:-4.93 [[ 9.99999659e-01 7.75594306e-04 -2.85200640e-04 1.93896993e+02] [-7.74787006e-04 9.99995724e-01 2.81993858e-03 -1.67262649e+01] [ 2.87386549e-04 -2.81971664e-03 9.99995983e-01 -4.92733069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.572414037 meters 0.10543480471534483 Centerline is valid? [True, False] Translation: X:193.90, Y:-16.73, Z:-4.93 [[ 9.99999604e-01 8.52486261e-04 -2.53801214e-04 1.93896871e+02] [-8.51714128e-04 9.99995056e-01 3.02699788e-03 -1.67270940e+01] [ 2.56380434e-04 -3.02678051e-03 9.99995386e-01 -4.92725453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.602414037 meters 0.10773734976295973 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.73, Z:-4.93 [[ 9.99999605e-01 8.78730998e-04 -1.36826194e-04 1.93896303e+02] [-8.78280535e-04 9.99994306e-01 3.25819875e-03 -1.67285959e+01] [ 1.39688495e-04 -3.25807729e-03 9.99994683e-01 -4.92674055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.632414037 meters 0.10497090509485377 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.73, Z:-4.93 [[ 9.99999657e-01 8.18393647e-04 -1.29791220e-04 1.93896065e+02] [-8.17974406e-04 9.99994552e-01 3.19793193e-03 -1.67288604e+01] [ 1.32407680e-04 -3.19782467e-03 9.99994878e-01 -4.92638350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.662414037 meters 0.09813450233459572 Centerline is valid? [False, True] Translation: X:193.90, Y:-16.73, Z:-4.93 [[ 9.99999639e-01 8.16397984e-04 -2.36403669e-04 1.93896051e+02] [-8.15654105e-04 9.99994769e-01 3.12983120e-03 -1.67290634e+01] [ 2.38957620e-04 -3.12963724e-03 9.99995074e-01 -4.92599882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.692414037 meters 0.1014421927217218 Centerline is valid? [True, False] Translation: X:193.90, Y:-16.73, Z:-4.93 [[ 9.99996112e-01 -2.38986159e-03 -1.43691440e-03 1.93898887e+02] [ 2.38902316e-03 9.99996975e-01 -5.84926746e-04 -1.67291329e+01] [ 1.43830795e-03 5.81491650e-04 9.99998797e-01 -4.92648771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.722414037 meters 0.1054145743045679 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.73, Z:-4.93 [[ 9.99996516e-01 -2.23216690e-03 -1.40907182e-03 1.93898930e+02] [ 2.23180952e-03 9.99997477e-01 -2.55146295e-04 -1.67300373e+01] [ 1.40963779e-03 2.52000626e-04 9.99998975e-01 -4.92666434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.752414037 meters 0.10086094960113075 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.73, Z:-4.93 [[ 9.99997479e-01 -1.84435150e-03 -1.28069909e-03 1.93898762e+02] [ 1.84510119e-03 9.99998127e-01 5.84445785e-04 -1.67327138e+01] [ 1.27961877e-03 -5.86807331e-04 9.99999009e-01 -4.92681178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.782414037 meters 0.10579701925400994 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.73, Z:-4.93 [[ 9.99997996e-01 -1.50505988e-03 -1.32051309e-03 1.93899022e+02] [ 1.50660517e-03 9.99998181e-01 1.17000374e-03 -1.67340926e+01] [ 1.31874976e-03 -1.17199089e-03 9.99998444e-01 -4.92708432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.812414037 meters 0.10051350678488091 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.74, Z:-4.93 [[ 9.99998119e-01 -1.51196152e-03 -1.21452662e-03 1.93898493e+02] [ 1.51355440e-03 9.99997994e-01 1.31167803e-03 -1.67350793e+01] [ 1.21254098e-03 -1.31351381e-03 9.99998402e-01 -4.92659805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.842414037 meters 0.10347477341387691 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.74, Z:-4.93 [[ 9.99998786e-01 -9.74587585e-04 -1.21564661e-03 1.93898764e+02] [ 9.77405532e-04 9.99996832e-01 2.31962856e-03 -1.67375737e+01] [ 1.21338207e-03 -2.32081392e-03 9.99996571e-01 -4.92701110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.872414037 meters 0.10092850378019237 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.74, Z:-4.93 [[ 9.99998944e-01 -8.03617443e-04 -1.21101086e-03 1.93898828e+02] [ 8.06845653e-04 9.99996116e-01 2.66758880e-03 -1.67385967e+01] [ 1.20886243e-03 -2.66856308e-03 9.99995709e-01 -4.92713582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.902414037 meters 0.10371998732845988 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.74, Z:-4.93 [[ 9.99999161e-01 -5.95874979e-04 -1.15029710e-03 1.93898842e+02] [ 5.99432495e-04 9.99995031e-01 3.09482993e-03 -1.67398267e+01] [ 1.14844725e-03 -3.09551686e-03 9.99994549e-01 -4.92735584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93241403699997 meters 0.10083263020288344 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.74, Z:-4.93 [[ 9.99990823e-01 -3.96698268e-03 -1.61789825e-03 1.93900190e+02] [ 3.96696111e-03 9.99992131e-01 -1.65440288e-05 -1.67426977e+01] [ 1.61795115e-03 1.01257375e-05 9.99998691e-01 -4.92786254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96241403699997 meters 0.1037183917990312 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.75, Z:-4.93 [[ 9.99992358e-01 -3.62221245e-03 -1.47105517e-03 1.93899926e+02] [ 3.62334405e-03 9.99993141e-01 7.67312666e-04 -1.67452334e+01] [ 1.46826571e-03 -7.72636941e-04 9.99998624e-01 -4.92791207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99241403699997 meters 0.1015693448725154 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.75, Z:-4.93 [[ 9.99993480e-01 -3.31163752e-03 -1.43945293e-03 1.93899888e+02] [ 3.31364578e-03 9.99993537e-01 1.39502075e-03 -1.67471235e+01] [ 1.43482382e-03 -1.39978149e-03 9.99997991e-01 -4.92795802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02241403699998 meters 0.10465864570765489 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.75, Z:-4.93 [[ 9.99994010e-01 -3.15389215e-03 -1.42591434e-03 1.93899773e+02] [ 3.15639411e-03 9.99993477e-01 1.75580088e-03 -1.67483315e+01] [ 1.42036743e-03 -1.76029111e-03 9.99997442e-01 -4.92782143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05241403699998 meters 0.10425952653049518 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.75, Z:-4.93 [[ 9.99994737e-01 -2.78215240e-03 -1.66926862e-03 1.93900425e+02] [ 2.78587682e-03 9.99993626e-01 2.23300680e-03 -1.67493191e+01] [ 1.66304541e-03 -2.23764542e-03 9.99996114e-01 -4.92802253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08241403699998 meters 0.09964060620878441 Centerline is valid? [False, True] Translation: X:193.90, Y:-16.75, Z:-4.93 [[ 9.99995079e-01 -2.55521193e-03 -1.82020688e-03 1.93900577e+02] [ 2.55993408e-03 9.99993352e-01 2.59670409e-03 -1.67505239e+01] [ 1.81355965e-03 -2.60135092e-03 9.99994972e-01 -4.92776988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11241403699998 meters 0.10750934281881701 Centerline is valid? [True, False] Translation: X:193.90, Y:-16.75, Z:-4.93 [[ 9.99995490e-01 -2.38213856e-03 -1.82884883e-03 1.93900642e+02] [ 2.38742388e-03 9.99992965e-01 2.89324531e-03 -1.67514572e+01] [ 1.82194385e-03 -2.89759850e-03 9.99994142e-01 -4.92782837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14241403699998 meters 0.09956885816462928 Centerline is valid? [False, True] Translation: X:193.90, Y:-16.75, Z:-4.93 [[ 9.99996108e-01 -2.12002953e-03 -1.81351343e-03 1.93900722e+02] [ 2.12608761e-03 9.99992145e-01 3.34514058e-03 -1.67528296e+01] [ 1.80640739e-03 -3.34898325e-03 9.99992761e-01 -4.92798469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17241403699998 meters 0.10361260335489055 Centerline is valid? [True, False] Translation: X:193.90, Y:-16.76, Z:-4.93 [[ 9.99996842e-01 -2.02218163e-03 -1.49222389e-03 1.93899865e+02] [ 2.02793846e-03 9.99990469e-01 3.86651200e-03 -1.67554559e+01] [ 1.48439088e-03 -3.86952593e-03 9.99991412e-01 -4.92767406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20241403699998 meters 0.10286696072791968 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.76, Z:-4.93 [[ 9.99997131e-01 -1.90669658e-03 -1.45023626e-03 1.93899842e+02] [ 1.91265662e-03 9.99989686e-01 4.11947816e-03 -1.67562709e+01] [ 1.44236671e-03 -4.12224014e-03 9.99990463e-01 -4.92777827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23241403699998 meters 0.11132636540976856 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.76, Z:-4.93 [[ 9.99997223e-01 -1.89240328e-03 -1.40489940e-03 1.93899766e+02] [ 1.89832050e-03 9.99989283e-01 4.22252226e-03 -1.67565840e+01] [ 1.39689363e-03 -4.22517748e-03 9.99990098e-01 -4.92780332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26241403699999 meters 0.10426218133489834 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.76, Z:-4.93 [[ 9.99997332e-01 -1.74446093e-03 -1.51454481e-03 1.93899928e+02] [ 1.75113376e-03 9.99988717e-01 4.41574664e-03 -1.67572177e+01] [ 1.50682462e-03 -4.41838703e-03 9.99989104e-01 -4.92771189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.292414037 meters 0.10483504871713673 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.76, Z:-4.93 [[ 9.99997431e-01 -1.68849664e-03 -1.51209421e-03 1.93899772e+02] [ 1.69534528e-03 9.99988259e-01 4.53947191e-03 -1.67579056e+01] [ 1.50441157e-03 -4.54202378e-03 9.99988553e-01 -4.92747522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.322414037 meters 0.10256976293722289 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.76, Z:-4.93 [[ 9.99997848e-01 -1.36057429e-03 -1.56626743e-03 1.93899651e+02] [ 1.36856662e-03 9.99985992e-01 5.11307344e-03 -1.67600762e+01] [ 1.55928877e-03 -5.11520598e-03 9.99985702e-01 -4.92711285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.352414037 meters 0.10251240518439254 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.76, Z:-4.93 [[ 9.99997797e-01 -1.37820289e-03 -1.58321783e-03 1.93899521e+02] [ 1.38625837e-03 9.99986043e-01 5.09826132e-03 -1.67602915e+01] [ 1.57616930e-03 -5.10044484e-03 9.99985750e-01 -4.92686818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.382414037 meters 0.10225026144053163 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.76, Z:-4.93 [[ 9.99997487e-01 -1.45304851e-03 -1.70717133e-03 1.93899487e+02] [ 1.46144175e-03 9.99986802e-01 4.92554112e-03 -1.67601387e+01] [ 1.69999175e-03 -4.92802368e-03 9.99986412e-01 -4.92643072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.412414037 meters 0.10584808339704162 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.76, Z:-4.93 [[ 9.99997464e-01 -1.30469535e-03 -1.83571789e-03 1.93899891e+02] [ 1.31401132e-03 9.99986219e-01 5.08281795e-03 -1.67602138e+01] [ 1.82906106e-03 -5.08521721e-03 9.99985397e-01 -4.92662111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.442414037 meters 0.10614707768491659 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.76, Z:-4.93 [[ 9.99997716e-01 -1.10069482e-03 -1.83184858e-03 1.93899818e+02] [ 1.11071419e-03 9.99984381e-01 5.47753877e-03 -1.67615453e+01] [ 1.82579087e-03 -5.47956092e-03 9.99983320e-01 -4.92653327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.472414037 meters 0.10212355693039185 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.76, Z:-4.93 [[ 9.99998054e-01 -9.76750721e-04 -1.71380003e-03 1.93899451e+02] [ 9.86724155e-04 9.99982528e-01 5.82832265e-03 -1.67629904e+01] [ 1.70807727e-03 -5.83000236e-03 9.99981547e-01 -4.92635458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.502414037 meters 0.10032647839408358 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.77, Z:-4.93 [[ 9.99998489e-01 -8.13767165e-04 -1.53637691e-03 1.93898596e+02] [ 8.23575286e-04 9.99979218e-01 6.39412571e-03 -1.67658050e+01] [ 1.53114165e-03 -6.39538137e-03 9.99978377e-01 -4.92557034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.532414037 meters 0.10272707209925397 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.77, Z:-4.93 [[ 9.99998426e-01 -8.73617779e-04 -1.54404114e-03 1.93898423e+02] [ 8.83360487e-04 9.99979635e-01 6.32049809e-03 -1.67658837e+01] [ 1.53848799e-03 -6.32185209e-03 9.99978833e-01 -4.92527868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.562414037 meters 0.10230365112651746 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.76, Z:-4.93 [[ 9.99987695e-01 -4.20004491e-03 -2.64010223e-03 1.93901262e+02] [ 4.20651196e-03 9.99988154e-01 2.44878438e-03 -1.67646570e+01] [ 2.62978596e-03 -2.45985986e-03 9.99993517e-01 -4.92624669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.592414037 meters 0.10210796355591592 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.77, Z:-4.93 [[ 9.99987611e-01 -4.15290751e-03 -2.74446796e-03 1.93901198e+02] [ 4.15992166e-03 9.99988083e-01 2.55499146e-03 -1.67652880e+01] [ 2.73382462e-03 -2.56637658e-03 9.99992970e-01 -4.92583649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.622414037 meters 0.10195440993850761 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.77, Z:-4.93 [[ 9.99988775e-01 -3.90926797e-03 -2.67704626e-03 1.93901121e+02] [ 3.91745128e-03 9.99987650e-01 3.05845265e-03 -1.67668444e+01] [ 2.66505689e-03 -3.06890551e-03 9.99991740e-01 -4.92593595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.652414037 meters 0.10027219780372024 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.77, Z:-4.93 [[ 9.99989932e-01 -3.68518173e-03 -2.56021893e-03 1.93900916e+02] [ 3.69439047e-03 9.99986690e-01 3.60148583e-03 -1.67685302e+01] [ 2.54691272e-03 -3.61090802e-03 9.99990237e-01 -4.92602488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68241403699997 meters 0.10336599696608045 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.77, Z:-4.93 [[ 9.99970119e-01 -7.08562057e-03 -3.09126274e-03 1.93902498e+02] [ 7.08692360e-03 9.99974803e-01 4.10769789e-04 -1.67706859e+01] [ 3.08827429e-03 -4.32665057e-04 9.99995138e-01 -4.92668052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71241403699997 meters 0.1026691913251736 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.77, Z:-4.93 [[ 9.99971660e-01 -6.85666644e-03 -3.10876621e-03 1.93902716e+02] [ 6.85918634e-03 9.99976155e-01 8.00643843e-04 -1.67714738e+01] [ 3.10320234e-03 -8.21944759e-04 9.99994847e-01 -4.92694575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74241403699997 meters 0.10180369399716142 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.77, Z:-4.93 [[ 9.99971932e-01 -6.80695556e-03 -3.13071744e-03 1.93902705e+02] [ 6.80987987e-03 9.99976385e-01 9.24360936e-04 -1.67718042e+01] [ 3.12435143e-03 -9.45654801e-04 9.99994672e-01 -4.92686003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77241403699998 meters 0.10557352406456734 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.77, Z:-4.93 [[ 9.99972925e-01 -6.65267852e-03 -3.14488004e-03 1.93902914e+02] [ 6.65639103e-03 9.99977160e-01 1.17150490e-03 -1.67721632e+01] [ 3.13701456e-03 -1.19240673e-03 9.99994369e-01 -4.92712412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80241403699998 meters 0.1023284504139306 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.77, Z:-4.93 [[ 9.99974935e-01 -6.25609548e-03 -3.31527186e-03 1.93903462e+02] [ 6.26178870e-03 9.99978933e-01 1.70968056e-03 -1.67732630e+01] [ 3.30450610e-03 -1.73039724e-03 9.99993043e-01 -4.92741571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83241403699998 meters 0.1012022856812107 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.77, Z:-4.93 [[ 9.99976967e-01 -5.83061371e-03 -3.47397189e-03 1.93904090e+02] [ 5.83864498e-03 9.99980296e-01 2.30620021e-03 -1.67745309e+01] [ 3.46045688e-03 -2.32643038e-03 9.99991306e-01 -4.92788036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86241403699998 meters 0.10641016847040632 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.78, Z:-4.93 [[ 9.99978932e-01 -5.47238733e-03 -3.49111755e-03 1.93904401e+02] [ 5.48256318e-03 9.99980731e-01 2.91190042e-03 -1.67759354e+01] [ 3.47511523e-03 -2.93097935e-03 9.99989666e-01 -4.92831848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89241403699998 meters 0.10243467518938296 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.78, Z:-4.93 [[ 9.99981750e-01 -4.96153543e-03 -3.44703904e-03 1.93904725e+02] [ 4.97463107e-03 9.99980403e-01 3.80096844e-03 -1.67780245e+01] [ 3.42811285e-03 -3.81804682e-03 9.99986835e-01 -4.92893616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92241403699998 meters 0.1015366835191003 Centerline is valid? [False, False] Translation: X:193.90, Y:-16.78, Z:-4.93 [[ 9.99981543e-01 -4.95159101e-03 -3.52074227e-03 1.93904682e+02] [ 4.96493901e-03 9.99980482e-01 3.79266632e-03 -1.67782505e+01] [ 3.50189382e-03 -3.81007658e-03 9.99986610e-01 -4.92864535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95241403699998 meters 0.10059778779106786 Centerline is valid? [False, False] Translation: X:193.91, Y:-16.78, Z:-4.93 [[ 9.99981847e-01 -4.77189788e-03 -3.67893570e-03 1.93905065e+02] [ 4.78654939e-03 9.99980608e-01 3.98407608e-03 -1.67785385e+01] [ 3.65985276e-03 -4.00161316e-03 9.99985296e-01 -4.92872065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98241403699998 meters 0.10356310195776629 Centerline is valid? [False, False] Translation: X:193.91, Y:-16.78, Z:-4.93 [[ 9.99982252e-01 -4.58590376e-03 -3.80327303e-03 1.93905444e+02] [ 4.60189502e-03 9.99980563e-01 4.20656545e-03 -1.67788625e+01] [ 3.78390820e-03 -4.22399306e-03 9.99983920e-01 -4.92888815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01241403699999 meters 0.09732193504310681 Centerline is valid? [False, True] Translation: X:193.90, Y:-16.78, Z:-4.93 [[ 9.99993802e-01 2.07478642e-04 3.51481010e-03 1.93896060e+02] [-2.13166363e-04 9.99998668e-01 1.61791847e-03 -1.67800277e+01] [-3.51446974e-03 -1.61865768e-03 9.99992514e-01 -4.93271481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.042414037 meters 0.09732193504310681 Centerline is valid? [True, True] Translation: X:193.93, Y:-16.78, Z:-4.93 [[ 9.99994560e-01 3.00029995e-04 3.28465847e-03 1.93927021e+02] [-2.98790079e-04 9.99999884e-01 -3.77971195e-04 -1.67827460e+01] [-3.28477149e-03 3.76987715e-04 9.99994534e-01 -4.93290266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.072414037 meters 0.10143025892756667 Centerline is valid? [True, False] Translation: X:193.93, Y:-16.78, Z:-4.93 [[ 9.99994604e-01 4.35623857e-04 3.25603391e-03 1.93927056e+02] [-4.35163899e-04 9.99999895e-01 -1.41970318e-04 -1.67835024e+01] [-3.25609542e-03 1.40552644e-04 9.99994689e-01 -4.93288674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.102414037 meters 0.10158618868165013 Centerline is valid? [False, False] Translation: X:193.93, Y:-16.78, Z:-4.93 [[ 9.99994814e-01 8.66019302e-04 3.10178413e-03 1.93927620e+02] [-8.67503032e-04 9.99999510e-01 4.77033949e-04 -1.67848106e+01] [-3.10136949e-03 -4.79722283e-04 9.99995076e-01 -4.93327680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.132414037 meters 0.0996756618049715 Centerline is valid? [False, True] Translation: X:193.93, Y:-16.79, Z:-4.93 [[ 9.99994524e-01 1.30549737e-03 3.04115805e-03 1.93927869e+02] [-1.30908542e-03 9.99998449e-01 1.17814028e-03 -1.67866676e+01] [-3.03961528e-03 -1.18211497e-03 9.99994682e-01 -4.93347443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.162414037 meters 0.09915587505747844 Centerline is valid? [True, True] Translation: X:193.96, Y:-16.79, Z:-4.93 [[ 9.99993082e-01 2.66560828e-03 2.59435243e-03 1.93958678e+02] [-2.66483975e-03 9.99996404e-01 -2.99641396e-04 -1.67887940e+01] [-2.59514183e-03 2.92725789e-04 9.99996590e-01 -4.93340909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.192414037 meters 0.09827786668313626 Centerline is valid? [True, True] Translation: X:193.99, Y:-16.79, Z:-4.93 [[ 9.99988808e-01 3.24906065e-03 3.43918757e-03 1.93989154e+02] [-3.24771137e-03 9.99994647e-01 -3.97836948e-04 -1.67906008e+01] [-3.44046176e-03 3.86663007e-04 9.99994007e-01 -4.93450260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.222414037 meters 0.1008486641590442 Centerline is valid? [True, False] Translation: X:193.99, Y:-16.79, Z:-4.93 [[ 9.99988527e-01 3.53255826e-03 3.23537696e-03 1.93989800e+02] [-3.53235362e-03 9.99993759e-01 -6.89619777e-05 -1.67910084e+01] [-3.23560038e-03 5.75326909e-05 9.99994764e-01 -4.93485174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.252414037 meters 0.0973357729178344 Centerline is valid? [False, True] Translation: X:193.99, Y:-16.79, Z:-4.94 [[ 9.99988019e-01 3.71902372e-03 3.18294264e-03 1.93990063e+02] [-3.71976167e-03 9.99993056e-01 2.25957144e-04 -1.67916695e+01] [-3.18208019e-03 -2.37794224e-04 9.99994909e-01 -4.93510709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.282414037 meters 0.09798498392882397 Centerline is valid? [True, True] Translation: X:194.02, Y:-16.80, Z:-4.94 [[ 9.99987793e-01 4.18558185e-03 2.62586408e-03 1.94020134e+02] [-4.18479960e-03 9.99991198e-01 -3.03324294e-04 -1.67980219e+01] [-2.62711056e-03 2.92331876e-04 9.99996506e-01 -4.93902024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.312414037 meters 0.09512735444032072 Centerline is valid? [True, True] Translation: X:194.05, Y:-16.80, Z:-4.94 [[ 9.99989808e-01 3.99517118e-03 2.10274059e-03 1.94051330e+02] [-3.99466915e-03 9.99991992e-01 -2.42896161e-04 -1.67969403e+01] [-2.10369417e-03 2.34493933e-04 9.99997760e-01 -4.93963547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.342414037 meters 0.09909909153728351 Centerline is valid? [True, True] Translation: X:194.08, Y:-16.81, Z:-4.94 [[ 9.99985286e-01 4.00019622e-03 3.66416334e-03 1.94079566e+02] [-3.99867020e-03 9.99991916e-01 -4.23701417e-04 -1.68083453e+01] [-3.66582860e-03 4.09043402e-04 9.99993197e-01 -4.94269282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.372414037 meters 0.1000903759178227 Centerline is valid? [True, False] Translation: X:194.08, Y:-16.81, Z:-4.94 [[ 9.99985464e-01 3.96809309e-03 3.65044169e-03 1.94079292e+02] [-3.96649037e-03 9.99992034e-01 -4.46183885e-04 -1.68086097e+01] [-3.65218311e-03 4.31697958e-04 9.99993238e-01 -4.94224425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.402414037 meters 0.09639155474763748 Centerline is valid? [False, True] Translation: X:194.08, Y:-16.81, Z:-4.94 [[ 9.99985952e-01 3.83764364e-03 3.65625532e-03 1.94079031e+02] [-3.83538027e-03 9.99992449e-01 -6.25851222e-04 -1.68084538e+01] [-3.65862951e-03 6.11819300e-04 9.99993120e-01 -4.94187007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43241403699997 meters 0.09644079216519919 Centerline is valid? [True, True] Translation: X:194.11, Y:-16.81, Z:-4.94 [[ 9.99980033e-01 4.16169989e-03 4.75532410e-03 1.94109738e+02] [-4.15915044e-03 9.99991202e-01 -5.45887425e-04 -1.68119303e+01] [-4.75755408e-03 5.26098417e-04 9.99988544e-01 -4.94247734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46241403699997 meters 0.09744257960443588 Centerline is valid? [True, True] Translation: X:194.14, Y:-16.82, Z:-4.94 [[ 9.99979280e-01 4.30734765e-03 4.78401373e-03 1.94139245e+02] [-4.30476857e-03 9.99990584e-01 -5.49270623e-04 -1.68174197e+01] [-4.78633458e-03 5.28665170e-04 9.99988406e-01 -4.94380885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49241403699997 meters 0.0992845219494902 Centerline is valid? [True, True] Translation: X:194.17, Y:-16.83, Z:-4.95 [[ 9.99975529e-01 4.02128928e-03 5.72461232e-03 1.94168572e+02] [-4.01759058e-03 9.99991713e-01 -6.57456818e-04 -1.68251574e+01] [-5.72720871e-03 6.34441581e-04 9.99983398e-01 -4.94592703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52241403699998 meters 0.09635133322183874 Centerline is valid? [True, True] Translation: X:194.20, Y:-16.82, Z:-4.95 [[ 9.99972328e-01 3.86564265e-03 6.35608174e-03 1.94200742e+02] [-3.86108111e-03 9.99992280e-01 -7.29778937e-04 -1.68241685e+01] [-6.35885374e-03 7.05217396e-04 9.99979534e-01 -4.94626577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55241403699998 meters 0.10110755314867916 Centerline is valid? [True, False] Translation: X:194.20, Y:-16.83, Z:-4.95 [[ 9.99971409e-01 4.13193284e-03 6.33308937e-03 1.94200928e+02] [-4.13018676e-03 9.99991429e-01 -2.88761541e-04 -1.68252781e+01] [-6.33422824e-03 2.62596444e-04 9.99979904e-01 -4.94648548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58241403699998 meters 0.09838476680700703 Centerline is valid? [False, True] Translation: X:194.20, Y:-16.83, Z:-4.95 [[ 9.99970905e-01 4.19139258e-03 6.37349163e-03 1.94200813e+02] [-4.19072980e-03 9.99991212e-01 -1.17341317e-04 -1.68259929e+01] [-6.37392745e-03 9.06283215e-05 9.99979682e-01 -4.94645899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61241403699998 meters 0.09609190756481557 Centerline is valid? [True, True] Translation: X:194.23, Y:-16.83, Z:-4.95 [[ 9.99970438e-01 5.08349058e-03 5.76893016e-03 1.94232414e+02] [-5.07972246e-03 9.99986875e-01 -6.67640142e-04 -1.68260182e+01] [-5.77224838e-03 6.38315841e-04 9.99983137e-01 -4.94802934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64241403699998 meters 0.10103218931443833 Centerline is valid? [True, False] Translation: X:194.23, Y:-16.83, Z:-4.95 [[ 9.99970107e-01 5.21948652e-03 5.70459342e-03 1.94232730e+02] [-5.21684021e-03 9.99986278e-01 -4.78672930e-04 -1.68262501e+01] [-5.70701357e-03 4.48898669e-04 9.99983614e-01 -4.94831985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67241403699998 meters 0.09683079937752846 Centerline is valid? [False, True] Translation: X:194.23, Y:-16.83, Z:-4.95 [[ 9.99969895e-01 5.35266934e-03 5.61770093e-03 1.94232691e+02] [-5.35131016e-03 9.99985649e-01 -2.56950155e-04 -1.68271909e+01] [-5.61899568e-03 2.26880359e-04 9.99984188e-01 -4.94803581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70241403699998 meters 0.0992721692230012 Centerline is valid? [True, True] Translation: X:194.26, Y:-16.84, Z:-4.95 [[ 9.99967878e-01 5.68154493e-03 5.65366761e-03 1.94262349e+02] [-5.67799877e-03 9.99983673e-01 -6.43085178e-04 -1.68360447e+01] [-5.65722902e-03 6.10963003e-04 9.99983811e-01 -4.94999624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73241403699998 meters 0.09795958747457115 Centerline is valid? [True, True] Translation: X:194.29, Y:-16.84, Z:-4.95 [[ 9.99957826e-01 6.43464727e-03 6.55295799e-03 1.94293309e+02] [-6.42988588e-03 9.99979049e-01 -7.47409384e-04 -1.68385968e+01] [-6.55763001e-03 7.05243090e-04 9.99978250e-01 -4.95074315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76241403699999 meters 0.09816654197340441 Centerline is valid? [True, True] Translation: X:194.32, Y:-16.84, Z:-4.95 [[ 9.99950050e-01 7.14517760e-03 6.98879999e-03 1.94323886e+02] [-7.13977400e-03 9.99974193e-01 -7.97823303e-04 -1.68443668e+01] [-6.99432022e-03 7.47885000e-04 9.99975260e-01 -4.95298832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.792414037 meters 0.0968667694697533 Centerline is valid? [True, True] Translation: X:194.36, Y:-16.85, Z:-4.95 [[ 9.99940310e-01 8.03867490e-03 7.39972279e-03 1.94355321e+02] [-8.03264352e-03 9.99967381e-01 -8.44441989e-04 -1.68464780e+01] [-7.40626962e-03 7.84952249e-04 9.99972265e-01 -4.95297999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.822414037 meters 0.09760010676554409 Centerline is valid? [True, True] Translation: X:194.39, Y:-16.85, Z:-4.95 [[ 9.99926117e-01 8.48752023e-03 8.70192661e-03 1.94385226e+02] [-8.47918952e-03 9.99963557e-01 -9.93788151e-04 -1.68518531e+01] [-8.71004428e-03 9.19929442e-04 9.99961644e-01 -4.95370030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.852414037 meters 0.0986662704867183 Centerline is valid? [True, True] Translation: X:194.42, Y:-16.86, Z:-4.95 [[ 9.99909700e-01 9.20015845e-03 9.79539444e-03 1.94415288e+02] [-9.18963406e-03 9.99957148e-01 -1.11889135e-03 -1.68582238e+01] [-9.80526867e-03 1.02877422e-03 9.99951398e-01 -4.95390873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.882414037 meters 0.0975275627988115 Centerline is valid? [True, True] Translation: X:194.45, Y:-16.86, Z:-4.96 [[ 9.99916225e-01 9.26785526e-03 9.03597826e-03 1.94446434e+02] [-9.25890364e-03 9.99956603e-01 -1.03199491e-03 -1.68603587e+01] [-9.04515050e-03 9.48245202e-04 9.99958642e-01 -4.95524580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.912414037 meters 0.09942633117622916 Centerline is valid? [True, True] Translation: X:194.48, Y:-16.87, Z:-4.96 [[ 9.99914808e-01 9.68764805e-03 8.74788668e-03 1.94477296e+02] [-9.67929801e-03 9.99952658e-01 -9.96355688e-04 -1.68683841e+01] [-8.75712488e-03 9.11597404e-04 9.99961240e-01 -4.95722414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.942414037 meters 0.0984943071455019 Centerline is valid? [True, True] Translation: X:194.51, Y:-16.87, Z:-4.96 [[ 9.99910443e-01 1.01023260e-02 8.77773764e-03 1.94508720e+02] [-1.00938909e-02 9.99948551e-01 -1.00473180e-03 -1.68713229e+01] [-8.78743616e-03 9.16040297e-04 9.99960970e-01 -4.95868862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.972414037 meters 0.10243734726925269 Centerline is valid? [True, False] Translation: X:194.52, Y:-16.87, Z:-4.95 [[ 9.99994773e-01 2.98660218e-03 1.23878190e-03 1.94518588e+02] [-2.98554232e-03 9.99995176e-01 -8.56541091e-04 -1.68703084e+01] [-1.24133407e-03 8.52838178e-04 9.99998866e-01 -4.95447772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.002414037 meters 0.09881727632434709 Centerline is valid? [False, True] Translation: X:194.52, Y:-16.87, Z:-4.95 [[ 9.99994968e-01 2.91127627e-03 1.26002694e-03 1.94518448e+02] [-2.91009429e-03 9.99995325e-01 -9.38882590e-04 -1.68702833e+01] [-1.26275439e-03 9.35211069e-04 9.99998765e-01 -4.95434231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.032414037 meters 0.0958906321813515 Centerline is valid? [True, True] Translation: X:194.55, Y:-16.87, Z:-4.95 [[ 9.99995150e-01 2.34606786e-03 2.04849360e-03 1.94549106e+02] [-2.34562034e-03 9.99997225e-01 -2.20838488e-04 -1.68686268e+01] [-2.04900602e-03 2.16032429e-04 9.99997877e-01 -4.95375340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.062414037 meters 0.09560930821038799 Centerline is valid? [True, True] Translation: X:194.58, Y:-16.87, Z:-4.95 [[ 9.99994718e-01 2.30494337e-03 2.29148486e-03 1.94579080e+02] [-2.30438327e-03 9.99997314e-01 -2.47034236e-04 -1.68718690e+01] [-2.29204811e-03 2.41752472e-04 9.99997344e-01 -4.95441882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.092414037 meters 0.0958028049958824 Centerline is valid? [True, True] Translation: X:194.61, Y:-16.88, Z:-4.96 [[ 9.99993861e-01 1.14838426e-03 3.31058387e-03 1.94609626e+02] [-1.14720980e-03 9.99999278e-01 -3.56635967e-04 -1.68775040e+01] [-3.31099104e-03 3.52835843e-04 9.99994456e-01 -4.95520418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.122414037 meters 0.09568320995971906 Centerline is valid? [True, True] Translation: X:194.64, Y:-16.88, Z:-4.96 [[ 9.99992619e-01 9.18377604e-04 3.73069707e-03 1.94640816e+02] [-9.16885129e-04 9.99999499e-01 -4.01743056e-04 -1.68818604e+01] [-3.73106415e-03 3.98319470e-04 9.99992960e-01 -4.95589468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.152414037 meters 0.09919021859449186 Centerline is valid? [True, True] Translation: X:194.67, Y:-16.89, Z:-4.96 [[ 9.99995572e-01 -1.17329408e-04 2.97368482e-03 1.94670403e+02] [ 1.18282901e-04 9.99999942e-01 -3.20469769e-04 -1.68925984e+01] [-2.97364704e-03 3.20820086e-04 9.99995527e-01 -4.95837160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18241403699997 meters 0.09759265305754618 Centerline is valid? [True, True] Translation: X:194.70, Y:-16.89, Z:-4.96 [[ 9.99997927e-01 -6.70594929e-04 1.92252398e-03 1.94701624e+02] [ 6.70993782e-04 9.99999753e-01 -2.06825714e-04 -1.68933395e+01] [-1.92238481e-03 2.08115287e-04 9.99998131e-01 -4.95915926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21241403699997 meters 0.09818871211988237 Centerline is valid? [True, True] Translation: X:194.73, Y:-16.90, Z:-4.96 [[ 9.99996767e-01 -3.50671772e-04 2.51865359e-03 1.94733034e+02] [ 3.51355363e-04 9.99999902e-01 -2.70973742e-04 -1.68989029e+01] [-2.51855832e-03 2.71857809e-04 9.99996791e-01 -4.96059855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24241403699997 meters 0.09885155506791533 Centerline is valid? [True, True] Translation: X:194.76, Y:-16.90, Z:-4.96 [[ 9.99997896e-01 2.48021062e-04 2.03607421e-03 1.94763666e+02] [-2.47575706e-04 9.99999945e-01 -2.18981929e-04 -1.69034884e+01] [-2.03612841e-03 2.18477386e-04 9.99997903e-01 -4.96050875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27241403699998 meters 0.09724108159905578 Centerline is valid? [True, True] Translation: X:194.80, Y:-16.90, Z:-4.96 [[ 9.99997180e-01 1.27202434e-03 2.00545990e-03 1.94795070e+02] [-1.27159358e-03 9.99999168e-01 -2.16050700e-04 -1.69044130e+01] [-2.00573306e-03 2.13499961e-04 9.99997966e-01 -4.96056191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30241403699998 meters 0.10125645716441443 Centerline is valid? [True, False] Translation: X:194.80, Y:-16.90, Z:-4.96 [[ 9.99997245e-01 1.36866102e-03 1.90699209e-03 1.94795262e+02] [-1.36844535e-03 9.99999057e-01 -1.14395307e-04 -1.69046789e+01] [-1.90714686e-03 1.11785377e-04 9.99998175e-01 -4.96057701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33241403699998 meters 0.09838458168435668 Centerline is valid? [False, True] Translation: X:194.80, Y:-16.90, Z:-4.96 [[ 9.99997442e-01 1.33703497e-03 1.82418025e-03 1.94795306e+02] [-1.33663143e-03 9.99999082e-01 -2.22414755e-04 -1.69046311e+01] [-1.82447595e-03 2.19975930e-04 9.99998311e-01 -4.96041570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36241403699998 meters 0.0950897068231648 Centerline is valid? [True, True] Translation: X:194.83, Y:-16.90, Z:-4.96 [[ 9.99997781e-01 1.70252400e-03 1.24098608e-03 1.94826182e+02] [-1.70236143e-03 9.99998542e-01 -1.32046315e-04 -1.69021876e+01] [-1.24120908e-03 1.29933415e-04 9.99999221e-01 -4.96129392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39241403699998 meters 0.09670732894171383 Centerline is valid? [True, True] Translation: X:194.86, Y:-16.91, Z:-4.96 [[ 9.99998497e-01 1.52134016e-03 8.31025252e-04 1.94855873e+02] [-1.52126823e-03 9.99998839e-01 -8.71813744e-05 -1.69085085e+01] [-8.31156920e-04 8.59170311e-05 9.99999651e-01 -4.96327663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42241403699998 meters 0.09992429871611205 Centerline is valid? [True, True] Translation: X:194.88, Y:-16.92, Z:-4.97 [[ 9.99998735e-01 1.39134039e-03 7.70923117e-04 1.94884130e+02] [-1.39127730e-03 9.99999029e-01 -8.23753674e-05 -1.69179362e+01] [-7.71036980e-04 8.13026954e-05 9.99999699e-01 -4.96555625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45241403699998 meters 0.09885363383444658 Centerline is valid? [True, True] Translation: X:194.91, Y:-16.92, Z:-4.97 [[ 9.99999398e-01 1.02865239e-03 3.82741903e-04 1.94914106e+02] [-1.02863675e-03 9.99999470e-01 -4.10380799e-05 -1.69196741e+01] [-3.82783914e-04 4.06443528e-05 9.99999926e-01 -4.96547959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48241403699998 meters 0.09566361296364775 Centerline is valid? [True, True] Translation: X:194.95, Y:-16.92, Z:-4.96 [[ 9.99999208e-01 1.01520609e-03 7.44140150e-04 1.94945397e+02] [-1.01514742e-03 9.99999482e-01 -7.92097641e-05 -1.69164264e+01] [-7.44220178e-04 7.84542894e-05 9.99999720e-01 -4.96483537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51241403699999 meters 0.09668545329252294 Centerline is valid? [True, True] Translation: X:194.98, Y:-16.92, Z:-4.97 [[ 9.99999863e-01 5.17748324e-04 7.89736050e-05 1.94975230e+02] [-5.17747668e-04 9.99999866e-01 -8.33041401e-06 -1.69213409e+01] [-7.89779074e-05 8.28952446e-06 9.99999997e-01 -4.96574846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.542414037 meters 0.09968430063500046 Centerline is valid? [True, True] Translation: X:195.00, Y:-16.93, Z:-4.97 [[ 9.99999502e-01 9.78192656e-04 -1.98031373e-04 1.95003706e+02] [-9.78188459e-04 9.99999521e-01 2.12878078e-05 -1.69289357e+01] [ 1.98052102e-04 -2.10940852e-05 9.99999980e-01 -4.96767141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.572414037 meters 0.09697928279531441 Centerline is valid? [True, True] Translation: X:195.03, Y:-16.93, Z:-4.97 [[ 9.99999162e-01 1.25758917e-03 3.07013818e-04 1.95034335e+02] [-1.25757919e-03 9.99999209e-01 -3.26849241e-05 -1.69267951e+01] [-3.07054679e-04 3.22988025e-05 9.99999952e-01 -4.96746035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.602414037 meters 0.09776566663891972 Centerline is valid? [True, True] Translation: X:195.06, Y:-16.93, Z:-4.97 [[ 9.99998846e-01 9.26808758e-04 -1.20415323e-03 1.95064102e+02] [-9.26654948e-04 9.99999562e-01 1.28284380e-04 -1.69310405e+01] [ 1.20427160e-03 -1.27168398e-04 9.99999267e-01 -4.96939840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.632414037 meters 0.09745560021815462 Centerline is valid? [True, True] Translation: X:195.09, Y:-16.93, Z:-4.97 [[ 9.99997513e-01 6.96688814e-04 -2.11857771e-03 1.95093532e+02] [-6.96213932e-04 9.99999732e-01 2.24880538e-04 -1.69332665e+01] [ 2.11873381e-03 -2.23404996e-04 9.99997731e-01 -4.97018508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.662414037 meters 0.10075781993241908 Centerline is valid? [True, False] Translation: X:195.09, Y:-16.93, Z:-4.97 [[ 9.99997297e-01 1.01502792e-03 -2.09183467e-03 1.95094186e+02] [-1.01351959e-03 9.99999226e-01 7.21990083e-04 -1.69337469e+01] [ 2.09256589e-03 -7.19868016e-04 9.99997551e-01 -4.97125863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.692414037 meters 0.0979211667038988 Centerline is valid? [False, True] Translation: X:195.09, Y:-16.93, Z:-4.97 [[ 9.99997533e-01 9.86415464e-04 -1.99020210e-03 1.95093923e+02] [-9.84899950e-04 9.99999224e-01 7.62324093e-04 -1.69341554e+01] [ 1.99095253e-03 -7.60362063e-04 9.99997729e-01 -4.97117865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.722414037 meters 0.09996450884213647 Centerline is valid? [True, True] Translation: X:195.12, Y:-16.94, Z:-4.97 [[ 9.99997365e-01 -1.07795799e-03 -2.02701562e-03 1.95122793e+02] [ 1.07840462e-03 9.99999394e-01 2.19255376e-04 -1.69409213e+01] [ 2.02677804e-03 -2.21440741e-04 9.99997922e-01 -4.97277858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.752414037 meters 0.10105869382634286 Centerline is valid? [True, False] Translation: X:195.12, Y:-16.94, Z:-4.97 [[ 9.99997241e-01 -1.40414072e-03 -1.88299895e-03 1.95122171e+02] [ 1.40384988e-03 9.99999002e-01 -1.55769799e-04 -1.69404676e+01] [ 1.88321579e-03 1.53125922e-04 9.99998215e-01 -4.97228472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.782414037 meters 0.1022867584974481 Centerline is valid? [False, False] Translation: X:195.12, Y:-16.94, Z:-4.97 [[ 9.99997494e-01 -1.21307010e-03 -1.88159871e-03 1.95122442e+02] [ 1.21339739e-03 9.99999249e-01 1.72810493e-04 -1.69408858e+01] [ 1.88138766e-03 -1.75093187e-04 9.99998215e-01 -4.97267297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.812414037 meters 0.10518857074584431 Centerline is valid? [False, False] Translation: X:195.12, Y:-16.94, Z:-4.97 [[ 9.99998063e-01 -1.12530884e-03 -1.61460464e-03 1.95121941e+02] [ 1.12628183e-03 9.99999185e-01 6.01836119e-04 -1.69422783e+01] [ 1.61392607e-03 -6.03653453e-04 9.99998515e-01 -4.97263036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.842414037 meters 0.1010987774703818 Centerline is valid? [False, False] Translation: X:195.12, Y:-16.94, Z:-4.97 [[ 9.99998585e-01 -9.64413978e-04 -1.37805430e-03 1.95121740e+02] [ 9.65853290e-04 9.99998988e-01 1.04416913e-03 -1.69434916e+01] [ 1.37704589e-03 -1.04549865e-03 9.99998505e-01 -4.97299018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.872414037 meters 0.10091090221280086 Centerline is valid? [False, False] Translation: X:195.12, Y:-16.94, Z:-4.97 [[ 9.99998797e-01 -1.01832601e-03 -1.17042460e-03 1.95121190e+02] [ 1.01972319e-03 9.99998768e-01 1.19375771e-03 -1.69444777e+01] [ 1.16920752e-03 -1.19494978e-03 9.99998603e-01 -4.97278084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.902414037 meters 0.10069048875812925 Centerline is valid? [False, False] Translation: X:195.12, Y:-16.95, Z:-4.97 [[ 9.99999078e-01 -9.85152615e-04 -9.34435083e-04 1.95120811e+02] [ 9.86474974e-04 9.99998511e-01 1.41573850e-03 -1.69454443e+01] [ 9.33038973e-04 -1.41665899e-03 9.99998561e-01 -4.97286748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93241403699997 meters 0.10407101045639526 Centerline is valid? [False, False] Translation: X:195.12, Y:-16.95, Z:-4.97 [[ 9.99999416e-01 -6.85958575e-04 -8.35488697e-04 1.95121107e+02] [ 6.87654145e-04 9.99997701e-01 2.03084139e-03 -1.69465406e+01] [ 8.34093703e-04 -2.03141473e-03 9.99997589e-01 -4.97360583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96241403699997 meters 0.10407101045639526 Centerline is valid? [False, False] Translation: X:195.12, Y:-16.95, Z:-4.97 [[ 9.99999416e-01 -6.85958575e-04 -8.35488697e-04 1.95121107e+02] [ 6.87654145e-04 9.99997701e-01 2.03084139e-03 -1.69465406e+01] [ 8.34093703e-04 -2.03141473e-03 9.99997589e-01 -4.97360583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99241403699997 meters 0.10342282641604736 Centerline is valid? [False, False] Translation: X:195.12, Y:-16.95, Z:-4.97 [[ 9.99999253e-01 -9.12206153e-04 -8.14147915e-04 1.95120919e+02] [ 9.13583335e-04 9.99998150e-01 1.69279611e-03 -1.69458568e+01] [ 8.12602230e-04 -1.69353863e-03 9.99998236e-01 -4.97337099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02241403699998 meters 0.10212620032193322 Centerline is valid? [False, False] Translation: X:195.12, Y:-16.94, Z:-4.97 [[ 9.99998981e-01 -1.13350429e-03 -8.67304315e-04 1.95120922e+02] [ 1.13461973e-03 9.99998529e-01 1.28668391e-03 -1.69449082e+01] [ 8.65844577e-04 -1.28766666e-03 9.99998796e-01 -4.97318076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05241403699998 meters 0.0983702453148141 Centerline is valid? [False, True] Translation: X:195.12, Y:-16.94, Z:-4.97 [[ 9.99998618e-01 -1.12468864e-03 -1.22429488e-03 1.95121633e+02] [ 1.12587702e-03 9.99998895e-01 9.70414641e-04 -1.69436982e+01] [ 1.22320211e-03 -9.71791705e-04 9.99998780e-01 -4.97318117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08241403699998 meters 0.10127528406974262 Centerline is valid? [True, False] Translation: X:195.12, Y:-16.94, Z:-4.97 [[ 9.99998453e-01 -9.72441030e-04 -1.46596624e-03 1.95122325e+02] [ 9.73887236e-04 9.99999040e-01 9.86129958e-04 -1.69432915e+01] [ 1.46500587e-03 -9.87556118e-04 9.99998439e-01 -4.97349498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11241403699998 meters 0.0975377666480448 Centerline is valid? [False, True] Translation: X:195.12, Y:-16.94, Z:-4.97 [[ 9.99997649e-01 -1.27409824e-03 -1.75489803e-03 1.95122610e+02] [ 1.27441239e-03 9.99999172e-01 1.77904635e-04 -1.69411566e+01] [ 1.75466991e-03 -1.80140680e-04 9.99998444e-01 -4.97311746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14241403699998 meters 0.09961549442834072 Centerline is valid? [True, True] Translation: X:195.15, Y:-16.95, Z:-4.97 [[ 9.99997135e-01 2.45367736e-04 -2.38112820e-03 1.95152327e+02] [-2.44716225e-04 9.99999933e-01 2.73902213e-04 -1.69471725e+01] [ 2.38119524e-03 -2.73318728e-04 9.99997128e-01 -4.97463436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17241403699998 meters 0.10078481731321985 Centerline is valid? [True, False] Translation: X:195.15, Y:-16.95, Z:-4.98 [[ 9.99996186e-01 3.85373671e-04 -2.73480957e-03 1.95153435e+02] [-3.85064460e-04 9.99999919e-01 1.13590481e-04 -1.69458499e+01] [ 2.73485312e-03 -1.12536970e-04 9.99996254e-01 -4.97524450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20241403699998 meters 0.09899307091658784 Centerline is valid? [False, True] Translation: X:195.15, Y:-16.94, Z:-4.98 [[ 9.99995378e-01 4.04071494e-04 -3.01328937e-03 1.95154365e+02] [-4.04614078e-04 9.99999902e-01 -1.79456039e-04 -1.69443219e+01] [ 3.01321656e-03 1.80674429e-04 9.99995444e-01 -4.97580171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23241403699998 meters 0.0982405180829121 Centerline is valid? [True, True] Translation: X:195.18, Y:-16.94, Z:-4.98 [[ 9.99984655e-01 3.69717510e-03 -4.12552036e-03 1.95184248e+02] [-3.69531045e-03 9.99993067e-01 4.59510933e-04 -1.69446132e+01] [ 4.12719065e-03 -4.44258803e-04 9.99991384e-01 -4.97850155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26241403699999 meters 0.09784228758638672 Centerline is valid? [True, True] Translation: X:195.21, Y:-16.95, Z:-4.98 [[ 9.99977691e-01 5.28547220e-03 -4.08436241e-03 1.95214262e+02] [-5.28365729e-03 9.99985938e-01 4.55017737e-04 -1.69461420e+01] [ 4.08670995e-03 -4.33427215e-04 9.99991555e-01 -4.97931671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.292414037 meters 0.09785477001196127 Centerline is valid? [True, True] Translation: X:195.24, Y:-16.95, Z:-4.98 [[ 9.99970576e-01 6.56503984e-03 -3.96830998e-03 1.95243735e+02] [-6.56333859e-03 9.99978364e-01 4.41579620e-04 -1.69478509e+01] [ 3.97112311e-03 -4.15521265e-04 9.99992029e-01 -4.98015305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.322414037 meters 0.09676372942008353 Centerline is valid? [True, True] Translation: X:195.27, Y:-16.95, Z:-4.98 [[ 9.99955544e-01 8.63412534e-03 -3.78970344e-03 1.95274572e+02] [-8.63258749e-03 9.99962649e-01 4.21965752e-04 -1.69461054e+01] [ 3.79320520e-03 -3.89232047e-04 9.99992730e-01 -4.97875002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.352414037 meters 0.0962214798671049 Centerline is valid? [True, True] Translation: X:195.30, Y:-16.95, Z:-4.98 [[ 9.99951133e-01 9.53350309e-03 -2.61599398e-03 1.95304216e+02] [-9.53277484e-03 9.99954520e-01 2.90710523e-04 -1.69469271e+01] [ 2.61864650e-03 -2.65758635e-04 9.99996536e-01 -4.97897097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.382414037 meters 0.0965491652951542 Centerline is valid? [True, True] Translation: X:195.33, Y:-16.95, Z:-4.98 [[ 9.99950650e-01 9.55087914e-03 -2.73471734e-03 1.95333189e+02] [-9.55008578e-03 9.99954351e-01 3.03019340e-04 -1.69492512e+01] [ 2.73748660e-03 -2.76887601e-04 9.99996215e-01 -4.97892024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.412414037 meters 0.09627709778499605 Centerline is valid? [True, True] Translation: X:195.36, Y:-16.95, Z:-4.98 [[ 9.99953816e-01 9.12860621e-03 -3.00584555e-03 1.95361409e+02] [-9.12764728e-03 9.99958287e-01 3.32585634e-04 -1.69509110e+01] [ 3.00875621e-03 -3.05133976e-04 9.99995427e-01 -4.97969911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.442414037 meters 0.09581351697788265 Centerline is valid? [True, True] Translation: X:195.39, Y:-16.95, Z:-4.98 [[ 9.99957036e-01 8.82915003e-03 -2.82347063e-03 1.95389996e+02] [-8.82830259e-03 9.99960981e-01 3.12462825e-04 -1.69525356e+01] [ 2.82611924e-03 -2.87522947e-04 9.99995965e-01 -4.98030162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.472414037 meters 0.09728071627625137 Centerline is valid? [True, True] Translation: X:195.42, Y:-16.96, Z:-4.98 [[ 9.99970386e-01 7.10506561e-03 -2.95714584e-03 1.95419927e+02] [-7.10412523e-03 9.99974711e-01 3.28384745e-04 -1.69565690e+01] [ 2.95940425e-03 -3.07367086e-04 9.99995574e-01 -4.98216345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.502414037 meters 0.09443278751307617 Centerline is valid? [True, True] Translation: X:195.45, Y:-16.95, Z:-4.98 [[ 9.99976890e-01 5.69049851e-03 -3.71998755e-03 1.95450715e+02] [-5.68900063e-03 9.99983732e-01 4.13114271e-04 -1.69533944e+01] [ 3.72227786e-03 -3.91941713e-04 9.99992995e-01 -4.98161758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.532414037 meters 0.09856560091663899 Centerline is valid? [True, True] Translation: X:195.48, Y:-16.96, Z:-4.98 [[ 9.99981524e-01 4.54421163e-03 -4.03764168e-03 1.95478320e+02] [-4.54244153e-03 9.99989583e-01 4.47462319e-04 -1.69631102e+01] [ 4.03963298e-03 -4.29113301e-04 9.99991749e-01 -4.98413505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.562414037 meters 0.09496119141931612 Centerline is valid? [True, True] Translation: X:195.51, Y:-16.96, Z:-4.98 [[ 9.99980337e-01 1.73970828e-03 -6.02481001e-03 1.95508984e+02] [-1.73570754e-03 9.99998270e-01 6.69209051e-04 -1.69589071e+01] [ 6.02596381e-03 -6.58738584e-04 9.99981627e-01 -4.98392831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.592414037 meters 0.09858595936247246 Centerline is valid? [True, True] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99981835e-01 3.80342420e-04 -6.01542194e-03 1.95536995e+02] [-3.76337848e-04 9.99999707e-01 6.66835364e-04 -1.69680143e+01] [ 6.01567380e-03 -6.64559420e-04 9.99981685e-01 -4.98628560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.622414037 meters 0.10056630255324066 Centerline is valid? [True, False] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99982498e-01 1.16448736e-04 -5.91522425e-03 1.95536924e+02] [-1.14874146e-04 9.99999958e-01 2.66531822e-04 -1.69666334e+01] [ 5.91525503e-03 -2.65847651e-04 9.99982469e-01 -4.98644548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.652414037 meters 0.101245232568702 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99983037e-01 3.23987393e-05 -5.82452907e-03 1.95536911e+02] [-3.13880875e-05 9.99999984e-01 1.73607820e-04 -1.69660332e+01] [ 5.82453461e-03 -1.73422054e-04 9.99983022e-01 -4.98667987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68241403699997 meters 0.10084689324294475 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99983888e-01 -2.70747719e-04 -5.67012645e-03 1.95536364e+02] [ 2.69677348e-04 9.99999946e-01 -1.89537536e-04 -1.69653317e+01] [ 5.67017746e-03 1.88005377e-04 9.99983907e-01 -4.98631714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71241403699997 meters 0.10012074552710135 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99984023e-01 -2.76379580e-04 -5.64608795e-03 1.95536375e+02] [ 2.75293112e-04 9.99999943e-01 -1.93204666e-04 -1.69651385e+01] [ 5.64614103e-03 1.91647250e-04 9.99984042e-01 -4.98639562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74241403699997 meters 0.1019369526006928 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.96, Z:-4.99 [[ 9.99985138e-01 -5.69656901e-04 -5.42209642e-03 1.95535845e+02] [ 5.67248118e-04 9.99999740e-01 -4.45780599e-04 -1.69644782e+01] [ 5.42234895e-03 4.42698300e-04 9.99985201e-01 -4.98628013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77241403699998 meters 0.1013418856523715 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.96, Z:-4.99 [[ 9.99986118e-01 -5.54386873e-04 -5.23994162e-03 1.95535867e+02] [ 5.52680418e-04 9.99999794e-01 -3.27105497e-04 -1.69644092e+01] [ 5.24012188e-03 3.24204943e-04 9.99986218e-01 -4.98683895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80241403699998 meters 0.10257343407180489 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.96, Z:-4.99 [[ 9.99986320e-01 -3.82297311e-04 -5.21660028e-03 1.95536175e+02] [ 3.82124326e-04 9.99999926e-01 -3.41571120e-05 -1.69647770e+01] [ 5.21661295e-03 3.21632549e-05 9.99986393e-01 -4.98735594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83241403699998 meters 0.1040483925580901 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99987157e-01 -2.39582812e-04 -5.06245810e-03 1.95536335e+02] [ 2.41217162e-04 9.99999919e-01 3.22229181e-04 -1.69652180e+01] [ 5.06238048e-03 -3.23446194e-04 9.99987134e-01 -4.98805522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86241403699998 meters 0.1035238812584217 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99987233e-01 -2.64205028e-04 -5.04613227e-03 1.95536354e+02] [ 2.65809180e-04 9.99999914e-01 3.17229221e-04 -1.69651437e+01] [ 5.04604802e-03 -3.18566480e-04 9.99987218e-01 -4.98812648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89241403699998 meters 0.11281340425614166 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.96, Z:-4.99 [[ 9.99987399e-01 -5.20470082e-04 -4.99301990e-03 1.95535977e+02] [ 5.20435856e-04 9.99999865e-01 -8.15398858e-06 -1.69646673e+01] [ 4.99302347e-03 5.55533925e-06 9.99987535e-01 -4.98774987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92241403699998 meters 0.10584163396681105 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.96, Z:-4.99 [[ 9.99987335e-01 -4.54234898e-04 -5.01231357e-03 1.95536201e+02] [ 4.54650308e-04 9.99999893e-01 8.17388204e-05 -1.69645144e+01] [ 5.01227590e-03 -8.40166351e-05 9.99987435e-01 -4.98801222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95241403699998 meters 0.10573381999615038 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.96, Z:-4.99 [[ 9.99987356e-01 -4.45055104e-04 -5.00905444e-03 1.95536241e+02] [ 4.45595371e-04 9.99999895e-01 1.06742473e-04 -1.69645776e+01] [ 5.00900641e-03 -1.08973135e-04 9.99987449e-01 -4.98807025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98241403699998 meters 0.10485691480995854 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.96, Z:-4.99 [[ 9.99988023e-01 -5.78487583e-04 -4.86001337e-03 1.95535842e+02] [ 5.78504858e-04 9.99999833e-01 2.14867546e-06 -1.69646349e+01] [ 4.86001132e-03 -4.96019107e-06 9.99988190e-01 -4.98792600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01241403699999 meters 0.10538880389140609 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99989403e-01 -4.54680334e-04 -4.58120053e-03 1.95535336e+02] [ 4.56866575e-04 9.99999782e-01 4.76184932e-04 -1.69663409e+01] [ 4.58098302e-03 -4.78272883e-04 9.99989393e-01 -4.98801303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.042414037 meters 0.10538880389140609 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99989403e-01 -4.54680334e-04 -4.58120053e-03 1.95535336e+02] [ 4.56866575e-04 9.99999782e-01 4.76184932e-04 -1.69663409e+01] [ 4.58098302e-03 -4.78272883e-04 9.99989393e-01 -4.98801303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.072414037 meters 0.1094725090555906 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99989103e-01 -2.51859691e-05 -4.66824086e-03 1.95535767e+02] [ 3.05227042e-05 9.99999346e-01 1.14313275e-03 -1.69678333e+01] [ 4.66820902e-03 -1.14326278e-03 9.99988450e-01 -4.98838927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.102414037 meters 0.10708166333348133 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99988872e-01 2.13717889e-05 -4.71755102e-03 1.95535835e+02] [-1.56126695e-05 9.99999255e-01 1.22081928e-03 -1.69680828e+01] [ 4.71757360e-03 -1.22073204e-03 9.99988127e-01 -4.98835583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.132414037 meters 0.1018266504497861 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99988498e-01 -5.16533376e-05 -4.79594532e-03 1.95535821e+02] [ 5.69361366e-05 9.99999392e-01 1.10138361e-03 -1.69680010e+01] [ 4.79588551e-03 -1.10164401e-03 9.99987893e-01 -4.98811233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.162414037 meters 0.10323763596699252 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99988399e-01 2.13171971e-04 -4.81216478e-03 1.95536177e+02] [-2.05874094e-04 9.99998828e-01 1.51699186e-03 -1.69687272e+01] [ 4.81248252e-03 -1.51598356e-03 9.99987271e-01 -4.98857968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.192414037 meters 0.1033608990874032 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99988716e-01 2.47225587e-04 -4.74404984e-03 1.95536040e+02] [-2.39486551e-04 9.99998640e-01 1.63181315e-03 -1.69692607e+01] [ 4.74444682e-03 -1.63065860e-03 9.99987416e-01 -4.98856614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.222414037 meters 0.10257819636210111 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99988901e-01 2.37418951e-04 -4.70542488e-03 1.95535903e+02] [-2.29493698e-04 9.99998554e-01 1.68474833e-03 -1.69696515e+01] [ 4.70581807e-03 -1.68364976e-03 9.99987510e-01 -4.98849475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.252414037 meters 0.10399381538137721 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99988846e-01 2.59082021e-04 -4.71603184e-03 1.95535767e+02] [-2.50984390e-04 9.99998494e-01 1.71755416e-03 -1.69701247e+01] [ 4.71646972e-03 -1.71635135e-03 9.99987404e-01 -4.98826054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.282414037 meters 0.10686774492439272 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99988324e-01 4.06229613e-04 -4.81531873e-03 1.95536276e+02] [-3.97323070e-04 9.99998209e-01 1.85043923e-03 -1.69700518e+01] [ 4.81606181e-03 -1.84850439e-03 9.99986694e-01 -4.98868075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.312414037 meters 0.09874284239047486 Centerline is valid? [False, True] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99987790e-01 2.59461603e-04 -4.93476690e-03 1.95536336e+02] [-2.51858781e-04 9.99998781e-01 1.54122394e-03 -1.69693713e+01] [ 4.93516077e-03 -1.53996226e-03 9.99986636e-01 -4.98841671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.342414037 meters 0.10176026792070986 Centerline is valid? [True, False] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99986104e-01 3.69328069e-04 -5.25880133e-03 1.95537127e+02] [-3.61948526e-04 9.99998949e-01 1.40415715e-03 -1.69683874e+01] [ 5.25931440e-03 -1.40223422e-03 9.99985187e-01 -4.98860061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.372414037 meters 0.10314746484962371 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99985972e-01 1.28622946e-04 -5.29518988e-03 1.95536842e+02] [-1.23245020e-04 9.99999476e-01 1.01593844e-03 -1.69677148e+01] [ 5.29531778e-03 -1.01527158e-03 9.99985464e-01 -4.98807559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.402414037 meters 0.10208039837032544 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99985760e-01 -7.14694878e-05 -5.33619564e-03 1.95536499e+02] [ 7.51187508e-05 9.99999763e-01 6.83672498e-04 -1.69674602e+01] [ 5.33614552e-03 -6.84063611e-04 9.99985529e-01 -4.98742448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43241403699997 meters 0.10220037489707402 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99985970e-01 8.39606604e-05 -5.29650005e-03 1.95536704e+02] [-7.89084021e-05 9.99999542e-01 9.54087942e-04 -1.69678609e+01] [ 5.29657773e-03 -9.53656617e-04 9.99985518e-01 -4.98782869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46241403699997 meters 0.10172015149414972 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99985973e-01 1.48018112e-04 -5.29443974e-03 1.95536810e+02] [-1.42594761e-04 9.99999465e-01 1.02471125e-03 -1.69680032e+01] [ 5.29458858e-03 -1.02394191e-03 9.99985459e-01 -4.98796731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49241403699997 meters 0.1036178992205815 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99985836e-01 8.31188670e-05 -5.32174435e-03 1.95536970e+02] [-7.84731193e-05 9.99999616e-01 8.73177465e-04 -1.69676412e+01] [ 5.32181488e-03 -8.72747483e-04 9.99985458e-01 -4.98812178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52241403699998 meters 0.10334723819731029 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99984712e-01 4.05270584e-04 -5.51469466e-03 1.95537771e+02] [-3.98398635e-04 9.99999143e-01 1.24715747e-03 -1.69679392e+01] [ 5.51519537e-03 -1.24494135e-03 9.99984016e-01 -4.98872199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55241403699998 meters 0.09984206479917548 Centerline is valid? [False, True] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99984009e-01 2.28588098e-04 -5.65068392e-03 1.95537815e+02] [-2.23654171e-04 9.99999593e-01 8.73772250e-04 -1.69671049e+01] [ 5.65088136e-03 -8.72494478e-04 9.99983653e-01 -4.98837405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58241403699998 meters 0.10372386251366085 Centerline is valid? [True, False] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99983706e-01 1.12055908e-04 -5.70744617e-03 1.95537786e+02] [-1.08377681e-04 9.99999786e-01 6.44766402e-04 -1.69666192e+01] [ 5.70751720e-03 -6.44137337e-04 9.99983505e-01 -4.98813754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61241403699998 meters 0.09792248601760424 Centerline is valid? [False, True] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99983008e-01 1.97385487e-04 -5.82618728e-03 1.95538138e+02] [-1.93447534e-04 9.99999752e-01 6.76461479e-04 -1.69664461e+01] [ 5.82631936e-03 -6.75322923e-04 9.99982799e-01 -4.98827060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64241403699998 meters 0.10004453051276643 Centerline is valid? [True, False] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99982567e-01 3.21314087e-04 -5.89601645e-03 1.95538514e+02] [-3.16584555e-04 9.99999627e-01 8.03072885e-04 -1.69664204e+01] [ 5.89627229e-03 -8.01192297e-04 9.99982296e-01 -4.98858578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67241403699998 meters 0.10533358994282112 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99982847e-01 2.55739805e-04 -5.85160123e-03 1.95538310e+02] [-2.51446689e-04 9.99999699e-01 7.34389074e-04 -1.69665946e+01] [ 5.85178728e-03 -7.32905111e-04 9.99982610e-01 -4.98842092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70241403699998 meters 0.10638046533124869 Centerline is valid? [False, False] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99983151e-01 3.27981675e-04 -5.79561490e-03 1.95538324e+02] [-3.22830264e-04 9.99999552e-01 8.89759484e-04 -1.69669693e+01] [ 5.79590413e-03 -8.87873493e-04 9.99982809e-01 -4.98860913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73241403699998 meters 0.09727329556360843 Centerline is valid? [False, True] Translation: X:195.54, Y:-16.97, Z:-4.99 [[ 9.99983878e-01 1.56167203e-04 -5.67619957e-03 1.95537805e+02] [-1.52126903e-04 9.99999735e-01 7.12221473e-04 -1.69670718e+01] [ 5.67630929e-03 -7.11346488e-04 9.99983637e-01 -4.98821321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76241403699999 meters 0.09994405155362558 Centerline is valid? [True, True] Translation: X:195.57, Y:-16.98, Z:-4.99 [[ 9.99985521e-01 -9.01461941e-04 -5.30511814e-03 1.95565037e+02] [ 9.04653280e-04 9.99999411e-01 5.99189555e-04 -1.69751607e+01] [ 5.30457487e-03 -6.03980172e-04 9.99985748e-01 -4.98953370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.792414037 meters 0.11047642085325142 Centerline is valid? [True, False] Translation: X:195.57, Y:-16.98, Z:-4.99 [[ 9.99986060e-01 -7.06769059e-04 -5.23269752e-03 1.95565054e+02] [ 7.12067289e-04 9.99999236e-01 1.01072978e-03 -1.69761502e+01] [ 5.23197917e-03 -1.01444173e-03 9.99985799e-01 -4.98975610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.822414037 meters 0.11143326544156874 Centerline is valid? [False, False] Translation: X:195.56, Y:-16.98, Z:-4.99 [[ 9.99986092e-01 -7.86201744e-04 -5.21507915e-03 1.95564871e+02] [ 7.91101451e-04 9.99999248e-01 9.37530573e-04 -1.69762248e+01] [ 5.21433814e-03 -9.41643191e-04 9.99985962e-01 -4.98952046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.852414037 meters 0.11143326544156874 Centerline is valid? [False, False] Translation: X:195.56, Y:-16.98, Z:-4.99 [[ 9.99986092e-01 -7.86201744e-04 -5.21507915e-03 1.95564871e+02] [ 7.91101451e-04 9.99999248e-01 9.37530573e-04 -1.69762248e+01] [ 5.21433814e-03 -9.41643191e-04 9.99985962e-01 -4.98952046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.882414037 meters 0.09972923080941988 Centerline is valid? [False, True] Translation: X:195.56, Y:-16.98, Z:-4.99 [[ 9.99986239e-01 -9.92870330e-04 -5.15128721e-03 1.95564463e+02] [ 9.96438657e-04 9.99999265e-01 6.90185594e-04 -1.69759223e+01] [ 5.15059816e-03 -6.95309038e-04 9.99986494e-01 -4.98910488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.912414037 meters 0.1130214155936076 Centerline is valid? [True, False] Translation: X:195.56, Y:-16.98, Z:-4.99 [[ 9.99986228e-01 -9.24954653e-04 -5.16608370e-03 1.95564614e+02] [ 9.28979133e-04 9.99999267e-01 7.76674274e-04 -1.69758975e+01] [ 5.16536153e-03 -7.81462761e-04 9.99986354e-01 -4.98924673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.942414037 meters 0.10357451095698322 Centerline is valid? [False, False] Translation: X:195.56, Y:-16.98, Z:-4.99 [[ 9.99986619e-01 -8.69865682e-04 -5.09951906e-03 1.95564764e+02] [ 8.74490642e-04 9.99999208e-01 9.04780728e-04 -1.69758786e+01] [ 5.09872799e-03 -9.09228103e-04 9.99986588e-01 -4.98965157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.972414037 meters 0.1004875168639437 Centerline is valid? [False, False] Translation: X:195.57, Y:-16.98, Z:-4.99 [[ 9.99986717e-01 -6.67369906e-04 -5.11083015e-03 1.95565089e+02] [ 6.73609180e-04 9.99999030e-01 1.21917054e-03 -1.69764894e+01] [ 5.11001155e-03 -1.22259705e-03 9.99986196e-01 -4.99009428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.002414037 meters 0.10126313374665072 Centerline is valid? [False, False] Translation: X:195.56, Y:-16.98, Z:-4.99 [[ 9.99987578e-01 -6.70409790e-04 -4.93916341e-03 1.95564915e+02] [ 6.77023521e-04 9.99998876e-01 1.33748836e-03 -1.69769163e+01] [ 4.93826120e-03 -1.34081568e-03 9.99986908e-01 -4.99036589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.032414037 meters 0.09774088467477998 Centerline is valid? [False, True] Translation: X:195.56, Y:-16.98, Z:-4.99 [[ 9.99988598e-01 -6.88341888e-04 -4.72556962e-03 1.95564618e+02] [ 6.95483914e-04 9.99998618e-01 1.50988073e-03 -1.69776471e+01] [ 4.72452377e-03 -1.51315007e-03 9.99987695e-01 -4.99056437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.062414037 meters 0.10081721806424467 Centerline is valid? [True, False] Translation: X:195.56, Y:-16.98, Z:-4.99 [[ 9.99988707e-01 -5.10123193e-04 -4.72492232e-03 1.95564963e+02] [ 5.18550676e-04 9.99998277e-01 1.78257022e-03 -1.69779834e+01] [ 4.72400485e-03 -1.78500021e-03 9.99987249e-01 -4.99105284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.092414037 meters 0.10246933724520862 Centerline is valid? [False, False] Translation: X:195.57, Y:-16.98, Z:-4.99 [[ 9.99988366e-01 -4.53168998e-04 -4.80240995e-03 1.95565114e+02] [ 4.62056044e-04 9.99998183e-01 1.84959087e-03 -1.69780287e+01] [ 4.80156304e-03 -1.85178833e-03 9.99986758e-01 -4.99105191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.122414037 meters 0.1022573131582462 Centerline is valid? [False, False] Translation: X:195.56, Y:-16.98, Z:-4.99 [[ 9.99988279e-01 -7.06067424e-04 -4.78991078e-03 1.95564848e+02] [ 7.13025991e-04 9.99998693e-01 1.45120290e-03 -1.69772691e+01] [ 4.78887987e-03 -1.45460122e-03 9.99987475e-01 -4.99066823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.152414037 meters 0.10148140466409117 Centerline is valid? [False, False] Translation: X:195.57, Y:-16.98, Z:-4.99 [[ 9.99987177e-01 -7.47274352e-04 -5.00871999e-03 1.95565123e+02] [ 7.53457498e-04 9.99998956e-01 1.23270313e-03 -1.69764058e+01] [ 5.00779359e-03 -1.23646118e-03 9.99986696e-01 -4.99043339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18241403699997 meters 0.10143839152376737 Centerline is valid? [False, False] Translation: X:195.57, Y:-16.98, Z:-4.99 [[ 9.99987085e-01 -7.13001126e-04 -5.03207271e-03 1.95565268e+02] [ 7.19238300e-04 9.99998975e-01 1.23778318e-03 -1.69761765e+01] [ 5.03118501e-03 -1.24138645e-03 9.99986573e-01 -4.99053342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21241403699997 meters 0.09883926334566652 Centerline is valid? [False, True] Translation: X:195.56, Y:-16.98, Z:-4.99 [[ 9.99987033e-01 -8.93369290e-04 -5.01354395e-03 1.95564803e+02] [ 8.98350325e-04 9.99999105e-01 9.91351815e-04 -1.69761124e+01] [ 5.01265382e-03 -9.95842879e-04 9.99986941e-01 -4.98989038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24241403699997 meters 0.10075033048987633 Centerline is valid? [True, False] Translation: X:195.56, Y:-16.98, Z:-4.99 [[ 9.99987101e-01 -8.25353356e-04 -5.01173910e-03 1.95564860e+02] [ 8.30883457e-04 9.99999048e-01 1.10144775e-03 -1.69763801e+01] [ 5.01082525e-03 -1.10559771e-03 9.99986835e-01 -4.98997140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27241403699998 meters 0.09900766557642418 Centerline is valid? [False, True] Translation: X:195.56, Y:-16.98, Z:-4.99 [[ 9.99987160e-01 -8.03408388e-04 -5.00333675e-03 1.95564925e+02] [ 8.09189957e-04 9.99999007e-01 1.15362554e-03 -1.69765911e+01] [ 5.00240495e-03 -1.15765938e-03 9.99986818e-01 -4.99008617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30241403699998 meters 0.10074220558452689 Centerline is valid? [True, False] Translation: X:195.57, Y:-16.98, Z:-4.99 [[ 9.99987219e-01 -6.21147298e-04 -5.01753933e-03 1.95565294e+02] [ 6.28382694e-04 9.99998765e-01 1.44057312e-03 -1.69770228e+01] [ 5.01663833e-03 -1.44370765e-03 9.99986374e-01 -4.99059013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33241403699998 meters 0.10150338765281157 Centerline is valid? [False, False] Translation: X:195.57, Y:-16.98, Z:-4.99 [[ 9.99987238e-01 -3.55559255e-04 -5.03951157e-03 1.95565956e+02] [ 3.64914380e-04 9.99998212e-01 1.85555756e-03 -1.69774382e+01] [ 5.03884279e-03 -1.85737287e-03 9.99985580e-01 -4.99150802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36241403699998 meters 0.096848591291126 Centerline is valid? [False, True] Translation: X:195.57, Y:-16.98, Z:-4.99 [[ 9.99987168e-01 -5.02823624e-04 -5.04098168e-03 1.95565909e+02] [ 5.11011792e-04 9.99998552e-01 1.62316357e-03 -1.69768895e+01] [ 5.04015821e-03 -1.62571875e-03 9.99985977e-01 -4.99143442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39241403699998 meters 0.1006668861540436 Centerline is valid? [True, False] Translation: X:195.57, Y:-16.98, Z:-4.99 [[ 9.99986336e-01 -3.00192856e-04 -5.21903528e-03 1.95566655e+02] [ 3.09536476e-04 9.99998351e-01 1.78958088e-03 -1.69765808e+01] [ 5.21848945e-03 -1.79117191e-03 9.99984779e-01 -4.99199248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42241403699998 meters 0.09994921604124557 Centerline is valid? [False, True] Translation: X:195.57, Y:-16.98, Z:-4.99 [[ 9.99985790e-01 -6.15260996e-04 -5.29537878e-03 1.95566498e+02] [ 6.21811411e-04 9.99999044e-01 1.23544852e-03 -1.69754175e+01] [ 5.29461360e-03 -1.23872369e-03 9.99985216e-01 -4.99153052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45241403699998 meters 0.09904649065063538 Centerline is valid? [True, True] Translation: X:195.60, Y:-16.98, Z:-4.99 [[ 9.99986705e-01 8.93931659e-04 -5.07853456e-03 1.95596396e+02] [-8.91011188e-04 9.99999436e-01 5.77295222e-04 -1.69758609e+01] [ 5.07904776e-03 -5.72762516e-04 9.99986938e-01 -4.99104777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48241403699998 meters 0.10028275651679418 Centerline is valid? [True, False] Translation: X:195.60, Y:-16.98, Z:-4.99 [[ 9.99986311e-01 9.43937864e-04 -5.14655662e-03 1.95596789e+02] [-9.41107599e-04 9.99999405e-01 5.52327676e-04 -1.69753854e+01] [ 5.14707492e-03 -5.47476651e-04 9.99986604e-01 -4.99139787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51241403699999 meters 0.09678179051801879 Centerline is valid? [False, True] Translation: X:195.60, Y:-16.97, Z:-4.99 [[ 9.99987172e-01 5.87816094e-04 -5.03096749e-03 1.95596269e+02] [-5.87685477e-04 9.99999827e-01 2.74409401e-05 -1.69744969e+01] [ 5.03098275e-03 -2.44839615e-05 9.99987344e-01 -4.99095867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.542414037 meters 0.09929894616279389 Centerline is valid? [True, True] Translation: X:195.62, Y:-16.98, Z:-4.99 [[ 9.99993007e-01 2.62912866e-04 -3.73041765e-03 1.95623715e+02] [-2.61355109e-04 9.99999878e-01 4.18063676e-04 -1.69820341e+01] [ 3.73052711e-03 -4.17085789e-04 9.99992955e-01 -4.99175569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.572414037 meters 0.09701928102948774 Centerline is valid? [True, True] Translation: X:195.65, Y:-16.98, Z:-4.99 [[ 9.99995549e-01 2.37841143e-04 -2.97423570e-03 1.95652832e+02] [-2.36851492e-04 9.99999916e-01 3.33089024e-04 -1.69805175e+01] [ 2.97431467e-03 -3.32383090e-04 9.99995521e-01 -4.99077142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.602414037 meters 0.09623912018748265 Centerline is valid? [True, True] Translation: X:195.68, Y:-16.98, Z:-4.99 [[ 9.99993547e-01 5.35445474e-04 -3.55223616e-03 1.95682892e+02] [-5.34031661e-04 9.99999778e-01 3.98942826e-04 -1.69807994e+01] [ 3.55244898e-03 -3.97043245e-04 9.99993611e-01 -4.99083771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.632414037 meters 0.09623912018748265 Centerline is valid? [True, True] Translation: X:195.71, Y:-16.98, Z:-4.99 [[ 9.99993582e-01 4.66287810e-04 -3.55236402e-03 1.95711206e+02] [-4.64877554e-04 9.99999813e-01 3.97806300e-04 -1.69839174e+01] [ 3.55254884e-03 -3.96152332e-04 9.99993611e-01 -4.99157773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.662414037 meters 0.0972906651678032 Centerline is valid? [True, True] Translation: X:195.74, Y:-16.99, Z:-4.99 [[ 9.99990468e-01 9.57557333e-04 -4.25987286e-03 1.95739181e+02] [-9.55531231e-04 9.99999429e-01 4.77634959e-04 -1.69873910e+01] [ 4.26032779e-03 -4.73559964e-04 9.99990813e-01 -4.99246411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.692414037 meters 0.09748036023930436 Centerline is valid? [True, True] Translation: X:195.77, Y:-16.99, Z:-4.99 [[ 9.99988055e-01 8.30451202e-04 -4.81670777e-03 1.95767714e+02] [-8.27862240e-04 9.99999512e-01 5.39465166e-04 -1.69896871e+01] [ 4.81715342e-03 -5.35471152e-04 9.99988254e-01 -4.99388684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.722414037 meters 0.0980828888054288 Centerline is valid? [True, True] Translation: X:195.80, Y:-16.99, Z:-5.00 [[ 9.99988131e-01 9.32695548e-04 -4.78203047e-03 1.95796662e+02] [-9.30146489e-04 9.99999424e-01 5.35245768e-04 -1.69934747e+01] [ 4.78252694e-03 -5.30791426e-04 9.99988423e-01 -4.99508917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.752414037 meters 0.09971672239757709 Centerline is valid? [True, True] Translation: X:195.82, Y:-17.00, Z:-5.00 [[ 9.99985155e-01 1.12484323e-03 -5.33147715e-03 1.95824337e+02] [-1.12168107e-03 9.99999193e-01 5.96064781e-04 -1.69986869e+01] [ 5.33214333e-03 -5.90075716e-04 9.99985610e-01 -4.99730444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.782414037 meters 0.1004295494385743 Centerline is valid? [True, False] Translation: X:195.82, Y:-17.00, Z:-5.00 [[ 9.99985767e-01 1.10638289e-03 -5.21936769e-03 1.95824296e+02] [-1.10286829e-03 9.99999163e-01 6.76207260e-04 -1.69986713e+01] [ 5.22011147e-03 -6.70441361e-04 9.99986150e-01 -4.99759772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.812414037 meters 0.10118220229899282 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.00, Z:-5.00 [[ 9.99986582e-01 1.03352173e-03 -5.07618587e-03 1.95824011e+02] [-1.03005418e-03 9.99999234e-01 6.85668139e-04 -1.69989510e+01] [ 5.07689063e-03 -6.80430192e-04 9.99986881e-01 -4.99761810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.842414037 meters 0.10019290060441219 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.00, Z:-5.00 [[ 9.99987050e-01 1.04365513e-03 -4.98104557e-03 1.95823960e+02] [-1.03976563e-03 9.99999153e-01 7.83385306e-04 -1.69991500e+01] [ 4.98185893e-03 -7.78196041e-04 9.99987288e-01 -4.99782143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.872414037 meters 0.10120126384327316 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.00, Z:-5.00 [[ 9.99988358e-01 1.05122350e-03 -4.70944332e-03 1.95823689e+02] [-1.04636702e-03 9.99998918e-01 1.03356679e-03 -1.69995836e+01] [ 4.71052473e-03 -1.02862695e-03 9.99988376e-01 -4.99823201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.902414037 meters 0.10420151298887967 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.00, Z:-5.00 [[ 9.99988849e-01 8.77395174e-04 -4.64016176e-03 1.95823397e+02] [-8.73563498e-04 9.99999276e-01 8.27725771e-04 -1.69992225e+01] [ 4.64088464e-03 -8.23663065e-04 9.99988892e-01 -4.99799524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93241403699997 meters 0.10575923101934229 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.00, Z:-5.00 [[ 9.99989459e-01 6.77338571e-04 -4.54137408e-03 1.95823023e+02] [-6.74576457e-04 9.99999587e-01 6.09715187e-04 -1.69988212e+01] [ 4.54178519e-03 -6.06645256e-04 9.99989502e-01 -4.99775346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96241403699997 meters 0.10317815744486923 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.00, Z:-5.00 [[ 9.99989506e-01 7.26584433e-04 -4.52328734e-03 1.95823186e+02] [-7.23378715e-04 9.99999486e-01 7.10309994e-04 -1.69987615e+01] [ 4.52380112e-03 -7.07030490e-04 9.99989518e-01 -4.99805293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99241403699997 meters 0.10670576124186759 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.00, Z:-5.00 [[ 9.99989848e-01 8.23793991e-04 -4.43013195e-03 1.95823240e+02] [-8.19598128e-04 9.99999214e-01 9.48851169e-04 -1.69992009e+01] [ 4.43091012e-03 -9.45210608e-04 9.99989737e-01 -4.99842289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02241403699998 meters 0.11021872364522362 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.00, Z:-5.00 [[ 9.99991642e-01 5.58016769e-04 -4.05033585e-03 1.95822240e+02] [-5.54548521e-04 9.99999479e-01 8.57359226e-04 -1.69997854e+01] [ 4.05081216e-03 -8.55105952e-04 9.99991430e-01 -4.99806443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05241403699998 meters 0.10470848344712665 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.00, Z:-5.00 [[ 9.99992085e-01 4.02978496e-04 -3.95822306e-03 1.95821729e+02] [-4.00133647e-04 9.99999661e-01 7.19484307e-04 -1.69999845e+01] [ 3.95851165e-03 -7.17894794e-04 9.99991907e-01 -4.99757666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08241403699998 meters 0.10358967784778425 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.00, Z:-5.00 [[ 9.99992430e-01 4.22157350e-04 -3.86796849e-03 1.95821616e+02] [-4.18941929e-04 9.99999566e-01 8.32067025e-04 -1.70002871e+01] [ 3.86831807e-03 -8.30440272e-04 9.99992173e-01 -4.99765817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11241403699998 meters 0.10696229752228531 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.00, Z:-5.00 [[ 9.99992100e-01 5.48968849e-04 -3.93680600e-03 1.95821978e+02] [-5.44965668e-04 9.99999333e-01 1.01786062e-03 -1.70002931e+01] [ 3.93736215e-03 -1.01570715e-03 9.99991733e-01 -4.99796896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14241403699998 meters 0.1048621399591772 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.00, Z:-5.00 [[ 9.99992081e-01 4.79385580e-04 -3.95060082e-03 1.95821924e+02] [-4.75735524e-04 9.99999459e-01 9.24812226e-04 -1.70001667e+01] [ 3.95104203e-03 -9.22925461e-04 9.99991769e-01 -4.99784712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17241403699998 meters 0.10441477180568937 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.00, Z:-5.00 [[ 9.99991486e-01 7.64503191e-04 -4.05498339e-03 1.95822516e+02] [-7.59182047e-04 9.99998849e-01 1.31362509e-03 -1.70006409e+01] [ 4.05598299e-03 -1.31053543e-03 9.99990916e-01 -4.99841525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20241403699998 meters 0.10265343297675997 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.00, Z:-5.00 [[ 9.99991875e-01 8.07083026e-04 -3.94959200e-03 1.95822330e+02] [-8.01245776e-04 9.99998585e-01 1.47929680e-03 -1.70013038e+01] [ 3.95078033e-03 -1.47612019e-03 9.99991106e-01 -4.99847769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23241403699998 meters 0.10739907881726433 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.00, Z:-5.00 [[ 9.99992710e-01 7.92762428e-04 -3.73526562e-03 1.95821891e+02] [-7.86609504e-04 9.99998332e-01 1.64843357e-03 -1.70021062e+01] [ 3.73656620e-03 -1.64548336e-03 9.99991665e-01 -4.99846888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26241403699999 meters 0.104071130319551 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.00, Z:-5.00 [[ 9.99993318e-01 9.45250091e-04 -3.53149159e-03 1.95821575e+02] [-9.37750616e-04 9.99997303e-01 2.12465238e-03 -1.70035833e+01] [ 3.53349040e-03 -2.12132652e-03 9.99991507e-01 -4.99863526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.292414037 meters 0.11080391786413751 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.01, Z:-5.00 [[ 9.99995178e-01 7.62305149e-04 -3.01042680e-03 1.95820205e+02] [-7.55033040e-04 9.99996796e-01 2.41603887e-03 -1.70056085e+01] [ 3.01225891e-03 -2.41375425e-03 9.99992550e-01 -4.99810050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.322414037 meters 0.11004654681871393 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.01, Z:-5.00 [[ 9.99995728e-01 6.53617320e-04 -2.84901932e-03 1.95819620e+02] [-6.46777834e-04 9.99996909e-01 2.40090660e-03 -1.70061016e+01] [ 2.85057979e-03 -2.39905366e-03 9.99993059e-01 -4.99771657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.352414037 meters 0.1078724826505143 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.01, Z:-5.00 [[ 9.99996171e-01 6.60399692e-04 -2.68749661e-03 1.95819259e+02] [-6.53561013e-04 9.99996549e-01 2.54471129e-03 -1.70067141e+01] [ 2.68916786e-03 -2.54294510e-03 9.99993151e-01 -4.99765248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.382414037 meters 0.10895232000928151 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.01, Z:-5.00 [[ 9.99996281e-01 6.54945861e-04 -2.64749786e-03 1.95819110e+02] [-6.48003558e-04 9.99996352e-01 2.62222085e-03 -1.70071098e+01] [ 2.64920561e-03 -2.62049551e-03 9.99993057e-01 -4.99757286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.412414037 meters 0.10636213268987493 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.01, Z:-5.00 [[ 9.99996478e-01 7.69996016e-04 -2.53973882e-03 1.95818744e+02] [-7.62421361e-04 9.99995263e-01 2.98207529e-03 -1.70085504e+01] [ 2.54202297e-03 -2.98012843e-03 9.99992328e-01 -4.99735627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.442414037 meters 0.10925605963115691 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.01, Z:-5.00 [[ 9.99996671e-01 7.03443379e-04 -2.48275009e-03 1.95818359e+02] [-6.96061250e-04 9.99995338e-01 2.97298032e-03 -1.70090245e+01] [ 2.48482984e-03 -2.97124228e-03 9.99992499e-01 -4.99697282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.472414037 meters 0.10877246466573971 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.01, Z:-5.00 [[ 9.99996806e-01 6.99588491e-04 -2.42863137e-03 1.95818018e+02] [-6.92172618e-04 9.99995100e-01 3.05301826e-03 -1.70097142e+01] [ 2.43075533e-03 -3.05132748e-03 9.99992390e-01 -4.99664527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.502414037 meters 0.10524822778523445 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.01, Z:-5.00 [[ 9.99996981e-01 7.18418063e-04 -2.34989940e-03 1.95817697e+02] [-7.10930517e-04 9.99994673e-01 3.18561098e-03 -1.70104172e+01] [ 2.35217549e-03 -3.18393074e-03 9.99992165e-01 -4.99639263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.532414037 meters 0.10833098745345546 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.01, Z:-5.00 [[ 9.99997434e-01 7.85163302e-04 -2.12484861e-03 1.95816909e+02] [-7.77541262e-04 9.99993270e-01 3.58554991e-03 -1.70123516e+01] [ 2.12764956e-03 -3.58388855e-03 9.99991314e-01 -4.99584880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.562414037 meters 0.10549413713297505 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.01, Z:-5.00 [[ 9.99992333e-01 -2.65727101e-03 -2.87640817e-03 1.95819043e+02] [ 2.65753477e-03 9.99996465e-01 8.78775644e-05 -1.70128079e+01] [ 2.87616449e-03 -9.55210453e-05 9.99995859e-01 -4.99682472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.592414037 meters 0.10589167449325083 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.01, Z:-5.00 [[ 9.99993095e-01 -2.45734197e-03 -2.78770223e-03 1.95818904e+02] [ 2.45884390e-03 9.99996834e-01 5.35470188e-04 -1.70141936e+01] [ 2.78637757e-03 -5.42321015e-04 9.99995971e-01 -4.99689244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.622414037 meters 0.1068508343618576 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.02, Z:-5.00 [[ 9.99994229e-01 -2.03705190e-03 -2.71897480e-03 1.95818929e+02] [ 2.04072597e-03 9.99997008e-01 1.34917932e-03 -1.70165481e+01] [ 2.71621832e-03 -1.35472022e-03 9.99995393e-01 -4.99714684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.652414037 meters 0.10767112670734755 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.02, Z:-5.00 [[ 9.99994485e-01 -1.84597478e-03 -2.76098717e-03 1.95819162e+02] [ 1.85058393e-03 9.99996897e-01 1.66776088e-03 -1.70171991e+01] [ 2.75789996e-03 -1.67286112e-03 9.99994798e-01 -4.99736287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68241403699997 meters 0.10656521127409803 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.02, Z:-5.00 [[ 9.99994346e-01 -1.81837349e-03 -2.82880770e-03 1.95819218e+02] [ 1.82316877e-03 9.99996904e-01 1.69350780e-03 -1.70174345e+01] [ 2.82571951e-03 -1.69865561e-03 9.99994565e-01 -4.99723712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71241403699997 meters 0.10752315351504634 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.02, Z:-5.00 [[ 9.99994442e-01 -1.50521374e-03 -2.97505020e-03 1.95819717e+02] [ 1.51151190e-03 9.99996619e-01 2.11587832e-03 -1.70182792e+01] [ 2.97185529e-03 -2.12036339e-03 9.99993336e-01 -4.99753210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74241403699997 meters 0.108997559948221 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.02, Z:-5.00 [[ 9.99994619e-01 -1.33125087e-03 -2.99827391e-03 1.95819881e+02] [ 1.33837053e-03 9.99996287e-01 2.37383220e-03 -1.70189008e+01] [ 2.99510261e-03 -2.37783223e-03 9.99992688e-01 -4.99769236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77241403699998 meters 0.108997559948221 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.02, Z:-5.00 [[ 9.99994619e-01 -1.33125087e-03 -2.99827391e-03 1.95819881e+02] [ 1.33837053e-03 9.99996287e-01 2.37383220e-03 -1.70189008e+01] [ 2.99510261e-03 -2.37783223e-03 9.99992688e-01 -4.99769236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80241403699998 meters 0.10841230943893036 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.02, Z:-5.00 [[ 9.99994537e-01 -1.09677950e-03 -3.11832840e-03 1.95819870e+02] [ 1.10529192e-03 9.99995664e-01 2.72939208e-03 -1.70202804e+01] [ 3.11532134e-03 -2.73282383e-03 9.99991413e-01 -4.99732658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83241403699998 meters 0.10030638697651278 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.02, Z:-5.00 [[ 9.99994498e-01 -1.16106116e-03 -3.10750157e-03 1.95819641e+02] [ 1.16921981e-03 9.99995871e-01 2.62494191e-03 -1.70203925e+01] [ 3.10444102e-03 -2.62856082e-03 9.99991727e-01 -4.99697936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86241403699998 meters 0.10618278581365351 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.02, Z:-5.00 [[ 9.99994172e-01 -1.24298306e-03 -3.17973199e-03 1.95819450e+02] [ 1.25089084e-03 9.99996127e-01 2.48615461e-03 -1.70204775e+01] [ 3.17662943e-03 -2.49011762e-03 9.99991854e-01 -4.99647694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89241403699998 meters 0.10492683222098495 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.02, Z:-5.00 [[ 9.99994071e-01 -9.75057433e-04 -3.30255805e-03 1.95819760e+02] [ 9.84516987e-04 9.99995414e-01 2.86389779e-03 -1.70212393e+01] [ 3.29975044e-03 -2.86713224e-03 9.99990446e-01 -4.99656684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92241403699998 meters 0.10732399277848252 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.02, Z:-5.00 [[ 9.99993985e-01 -1.01462964e-03 -3.31668264e-03 1.95819591e+02] [ 1.02393964e-03 9.99995537e-01 2.80653079e-03 -1.70214678e+01] [ 3.31382025e-03 -2.80990999e-03 9.99990561e-01 -4.99623393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95241403699998 meters 0.10571868736215852 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.02, Z:-5.00 [[ 9.99993939e-01 -1.02885687e-03 -3.32624427e-03 1.95819356e+02] [ 1.03821314e-03 9.99995506e-01 2.81236113e-03 -1.70218999e+01] [ 3.32333580e-03 -2.81579743e-03 9.99990513e-01 -4.99584361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98241403699998 meters 0.10443727642583084 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.02, Z:-5.00 [[ 9.99994134e-01 -4.46963545e-04 -3.39576641e-03 1.95819918e+02] [ 4.59552125e-04 9.99993022e-01 3.70726418e-03 -1.70239322e+01] [ 3.39408571e-03 -3.70880297e-03 9.99987362e-01 -4.99647081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01241403699999 meters 0.10458316007283684 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.03, Z:-5.00 [[ 9.99994388e-01 -2.49703749e-04 -3.34098182e-03 1.95819904e+02] [ 2.63422751e-04 9.99991534e-01 4.10646858e-03 -1.70251102e+01] [ 3.33992814e-03 -4.10732562e-03 9.99985987e-01 -4.99663918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.042414037 meters 0.10510772700827081 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.03, Z:-5.00 [[ 9.99994508e-01 -1.53147796e-04 -3.31065297e-03 1.95819696e+02] [ 1.67513319e-04 9.99990571e-01 4.33933933e-03 -1.70261897e+01] [ 3.30995719e-03 -4.33987008e-03 9.99985105e-01 -4.99643690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.072414037 meters 0.10818040979460428 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.03, Z:-5.00 [[ 9.99994766e-01 -4.28455091e-05 -3.23525421e-03 1.95819508e+02] [ 5.77764214e-05 9.99989349e-01 4.61511379e-03 -1.70272086e+01] [ 3.23502201e-03 -4.61527655e-03 9.99984117e-01 -4.99638467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.102414037 meters 0.1059472271647885 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.03, Z:-5.00 [[ 9.99995242e-01 1.38776795e-04 -3.08172264e-03 1.95818965e+02] [-1.22903842e-04 9.99986730e-01 5.15026749e-03 -1.70292099e+01] [ 3.08239648e-03 -5.14986423e-03 9.99981989e-01 -4.99601820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.132414037 meters 0.1016098696193496 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.03, Z:-5.00 [[ 9.99995338e-01 2.08566719e-04 -3.04630231e-03 1.95818688e+02] [-1.92273494e-04 9.99985682e-01 5.34783935e-03 -1.70301485e+01] [ 3.04737408e-03 -5.34722870e-03 9.99981060e-01 -4.99571910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.162414037 meters 0.10222545936218112 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.03, Z:-5.00 [[ 9.99995204e-01 3.14815006e-04 -3.08099103e-03 1.95818566e+02] [-2.97703049e-04 9.99984538e-01 5.55292657e-03 -1.70310103e+01] [ 3.08269153e-03 -5.55198272e-03 9.99979836e-01 -4.99544452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.192414037 meters 0.10216636347691359 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.03, Z:-5.00 [[ 9.99995163e-01 4.37804791e-04 -3.07937835e-03 1.95818457e+02] [-4.19992729e-04 9.99983193e-01 5.78257464e-03 -1.70319211e+01] [ 3.08185823e-03 -5.78125335e-03 9.99978539e-01 -4.99526820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.222414037 meters 0.1010403662924114 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.03, Z:-4.99 [[ 9.99995188e-01 4.39529545e-04 -3.07095620e-03 1.95818172e+02] [-4.21531477e-04 9.99982747e-01 5.85892860e-03 -1.70326108e+01] [ 3.07347839e-03 -5.85760590e-03 9.99978121e-01 -4.99489721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.252414037 meters 0.10517869658306812 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.03, Z:-5.00 [[ 9.99988848e-01 -2.74050367e-03 -3.84621109e-03 1.95820452e+02] [ 2.75087952e-03 9.99992585e-01 2.69498744e-03 -1.70336909e+01] [ 3.83879694e-03 -2.70553785e-03 9.99988972e-01 -4.99600713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.282414037 meters 0.10104198436093363 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.03, Z:-5.00 [[ 9.99989159e-01 -2.75687716e-03 -3.75246029e-03 1.95820135e+02] [ 2.76728029e-03 9.99992335e-01 2.76998545e-03 -1.70342545e+01] [ 3.74479502e-03 -2.78033953e-03 9.99989123e-01 -4.99581062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.312414037 meters 0.10127895033790435 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.03, Z:-5.00 [[ 9.99989829e-01 -2.71905395e-03 -3.59835233e-03 1.95819928e+02] [ 2.72963503e-03 9.99991956e-01 2.93889777e-03 -1.70348603e+01] [ 3.59033236e-03 -2.94869007e-03 9.99989207e-01 -4.99591589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.342414037 meters 0.10415380428377433 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.04, Z:-5.00 [[ 9.99990546e-01 -2.38496641e-03 -3.63601305e-03 1.95820341e+02] [ 2.39754748e-03 9.99991141e-01 3.45970478e-03 -1.70358272e+01] [ 3.62772956e-03 -3.46838959e-03 9.99987405e-01 -4.99639680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.372414037 meters 0.10150793292151909 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.04, Z:-5.00 [[ 9.99990834e-01 -2.35653171e-03 -3.57460622e-03 1.95820039e+02] [ 2.36930614e-03 9.99990808e-01 3.57364558e-03 -1.70366349e+01] [ 3.56615196e-03 -3.58208216e-03 9.99987226e-01 -4.99612267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.402414037 meters 0.10597112187281924 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.04, Z:-5.00 [[ 9.99973365e-01 -5.80960854e-03 -4.41787913e-03 1.95822354e+02] [ 5.80902202e-03 9.99983117e-01 -1.45581367e-04 -1.70360795e+01] [ 4.41865032e-03 1.19913932e-04 9.99990231e-01 -4.99710985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43241403699997 meters 0.10632479431925873 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.04, Z:-5.00 [[ 9.99973176e-01 -5.81750709e-03 -4.45009364e-03 1.95822338e+02] [ 5.81694058e-03 9.99983072e-01 -1.40234446e-04 -1.70361746e+01] [ 4.45083413e-03 1.14344754e-04 9.99990088e-01 -4.99701855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46241403699997 meters 0.10469000969758084 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.04, Z:-5.00 [[ 9.99972471e-01 -5.94164448e-03 -4.44467125e-03 1.95822165e+02] [ 5.94034480e-03 9.99982309e-01 -3.05557463e-04 -1.70359995e+01] [ 4.44640814e-03 2.79146171e-04 9.99990076e-01 -4.99678240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49241403699997 meters 0.1037609976902601 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.04, Z:-5.00 [[ 9.99974171e-01 -5.50186291e-03 -4.62453249e-03 1.95822941e+02] [ 5.50315871e-03 9.99984822e-01 2.67523108e-04 -1.70368318e+01] [ 4.62299042e-03 -2.92965734e-04 9.99989271e-01 -4.99738766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52241403699998 meters 0.09969983153631187 Centerline is valid? [False, True] Translation: X:195.82, Y:-17.04, Z:-5.00 [[ 9.99974725e-01 -5.44110774e-03 -4.57636495e-03 1.95822842e+02] [ 5.44301982e-03 9.99985104e-01 4.05464981e-04 -1.70373478e+01] [ 4.57409060e-03 -4.30363979e-04 9.99989446e-01 -4.99738294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55241403699998 meters 0.10129835004815765 Centerline is valid? [True, False] Translation: X:195.82, Y:-17.04, Z:-5.00 [[ 9.99976194e-01 -5.11451949e-03 -4.63166259e-03 1.95823232e+02] [ 5.11871396e-03 9.99986499e-01 8.94207683e-04 -1.70382773e+01] [ 4.62702662e-03 -9.17894552e-04 9.99988874e-01 -4.99778812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58241403699998 meters 0.10499233627539988 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.04, Z:-5.00 [[ 9.99977403e-01 -4.71093315e-03 -4.79595136e-03 1.95823946e+02] [ 4.71788666e-03 9.99987834e-01 1.43959015e-03 -1.70391982e+01] [ 4.78911121e-03 -1.46218437e-03 9.99987463e-01 -4.99834428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61241403699998 meters 0.09996600745974811 Centerline is valid? [False, True] Translation: X:195.82, Y:-17.04, Z:-5.00 [[ 9.99977255e-01 -4.70829779e-03 -4.82917228e-03 1.95823997e+02] [ 4.71521320e-03 9.99987873e-01 1.42162288e-03 -1.70392014e+01] [ 4.82242029e-03 -1.44436113e-03 9.99987329e-01 -4.99831519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64241403699998 meters 0.1004475069162168 Centerline is valid? [True, False] Translation: X:195.82, Y:-17.04, Z:-5.00 [[ 9.99978098e-01 -4.45549431e-03 -4.89404924e-03 1.95824476e+02] [ 4.46427251e-03 9.99988443e-01 1.78419162e-03 -1.70395975e+01] [ 4.88604323e-03 -1.80600091e-03 9.99986432e-01 -4.99881319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67241403699998 meters 0.10439241508021156 Centerline is valid? [False, False] Translation: X:195.82, Y:-17.04, Z:-5.00 [[ 9.99977187e-01 -4.55732327e-03 -4.98566044e-03 1.95824355e+02] [ 4.56504515e-03 9.99988397e-01 1.53853499e-03 -1.70392973e+01] [ 4.97859099e-03 -1.56125965e-03 9.99986388e-01 -4.99837183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70241403699998 meters 0.09759118816909904 Centerline is valid? [False, True] Translation: X:195.82, Y:-17.04, Z:-5.00 [[ 9.99977266e-01 -4.45679558e-03 -5.06009984e-03 1.95824588e+02] [ 4.46514061e-03 9.99988688e-01 1.63908529e-03 -1.70392973e+01] [ 5.05273753e-03 -1.66164208e-03 9.99985854e-01 -4.99848222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73241403699998 meters 0.10268394215400815 Centerline is valid? [True, False] Translation: X:195.83, Y:-17.04, Z:-5.00 [[ 9.99977318e-01 -4.24208510e-03 -5.23137100e-03 1.95825239e+02] [ 4.25156394e-03 9.99989338e-01 1.80213471e-03 -1.70392235e+01] [ 5.22367042e-03 -1.82433535e-03 9.99984692e-01 -4.99892019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76241403699999 meters 0.09888754058603293 Centerline is valid? [False, True] Translation: X:195.83, Y:-17.04, Z:-5.00 [[ 9.99977357e-01 -4.09523619e-03 -5.33995179e-03 1.95825778e+02] [ 4.10541395e-03 9.99989775e-01 1.89639845e-03 -1.70390151e+01] [ 5.33213099e-03 -1.91827822e-03 9.99983944e-01 -4.99938121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.792414037 meters 0.09899391486438516 Centerline is valid? [True, True] Translation: X:195.85, Y:-17.04, Z:-5.00 [[ 9.99976585e-01 -3.47891543e-03 -5.89301245e-03 1.95854772e+02] [ 3.48289782e-03 9.99993713e-01 6.65654290e-04 -1.70414718e+01] [ 5.89065965e-03 -6.86163464e-04 9.99982414e-01 -5.00025859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.822414037 meters 0.1048775699829507 Centerline is valid? [True, False] Translation: X:195.86, Y:-17.04, Z:-5.00 [[ 9.99974568e-01 -2.92832867e-03 -6.50298515e-03 1.95856771e+02] [ 2.93441434e-03 9.99995265e-01 9.26483412e-04 -1.70403936e+01] [ 6.50024132e-03 -9.45542303e-04 9.99978426e-01 -5.00155036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.852414037 meters 0.0984737405952837 Centerline is valid? [False, True] Translation: X:195.86, Y:-17.04, Z:-5.00 [[ 9.99973052e-01 -3.15096941e-03 -6.63066585e-03 1.95856969e+02] [ 3.15390521e-03 9.99994933e-01 4.32351471e-04 -1.70390549e+01] [ 6.62926992e-03 -4.53252311e-04 9.99977923e-01 -5.00148083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.882414037 meters 0.09969531399682235 Centerline is valid? [True, True] Translation: X:195.89, Y:-17.04, Z:-5.00 [[ 9.99970785e-01 -1.97437290e-03 -7.38447937e-03 1.95885924e+02] [ 1.98040453e-03 9.99997711e-01 8.09574048e-04 -1.70433280e+01] [ 7.38286407e-03 -8.24174652e-04 9.99972407e-01 -5.00229980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.912414037 meters 0.09862347942245583 Centerline is valid? [True, True] Translation: X:195.92, Y:-17.04, Z:-5.00 [[ 9.99983578e-01 -5.54569057e-04 -5.70404448e-03 1.95916170e+02] [ 5.58145865e-04 9.99999649e-01 6.25492380e-04 -1.70427767e+01] [ 5.70369560e-03 -6.28665797e-04 9.99983536e-01 -5.00203098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.942414037 meters 0.10736181931395417 Centerline is valid? [True, False] Translation: X:195.92, Y:-17.04, Z:-5.00 [[ 9.99983574e-01 -7.94419773e-04 -5.67629913e-03 1.95915898e+02] [ 7.95671009e-04 9.99999660e-01 2.18176799e-04 -1.70419546e+01] [ 5.67612388e-03 -2.22689682e-04 9.99983866e-01 -5.00168720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.972414037 meters 0.09843437207883202 Centerline is valid? [False, True] Translation: X:195.92, Y:-17.04, Z:-5.00 [[ 9.99983288e-01 -6.69466982e-04 -5.74238662e-03 1.95916324e+02] [ 6.71274278e-04 9.99999726e-01 3.12807419e-04 -1.70417366e+01] [ 5.74217563e-03 -3.16656908e-04 9.99983463e-01 -5.00209025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.002414037 meters 0.09573531649559477 Centerline is valid? [True, True] Translation: X:195.95, Y:-17.04, Z:-5.00 [[ 9.99984727e-01 -9.51883842e-04 -5.44422417e-03 1.95945889e+02] [ 9.55077272e-04 9.99999373e-01 5.84002254e-04 -1.70390622e+01] [ 5.44366486e-03 -5.89192990e-04 9.99985010e-01 -5.00163898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.032414037 meters 0.09567103544268182 Centerline is valid? [True, True] Translation: X:195.97, Y:-17.04, Z:-5.00 [[ 9.99981502e-01 1.15334146e-04 -6.08132990e-03 1.95974556e+02] [-1.11344742e-04 9.99999778e-01 6.56342875e-04 -1.70398692e+01] [ 6.08140425e-03 -6.55653610e-04 9.99981293e-01 -5.00267010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.062414037 meters 0.0970075200400562 Centerline is valid? [True, True] Translation: X:196.00, Y:-17.04, Z:-5.00 [[ 9.99972317e-01 7.29022322e-04 -7.40501482e-03 1.96002398e+02] [-7.23128716e-04 9.99999420e-01 7.98540114e-04 -1.70436884e+01] [ 7.40559268e-03 -7.93163229e-04 9.99972264e-01 -5.00428604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.092414037 meters 0.09606293280227607 Centerline is valid? [True, True] Translation: X:196.03, Y:-17.04, Z:-5.01 [[ 9.99972371e-01 1.81300028e-03 -7.20899723e-03 1.96032464e+02] [-1.80743292e-03 9.99998063e-01 7.78719469e-04 -1.70441505e+01] [ 7.21039508e-03 -7.65668175e-04 9.99973712e-01 -5.00533193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.122414037 meters 0.09637434968065428 Centerline is valid? [True, True] Translation: X:196.06, Y:-17.05, Z:-5.01 [[ 9.99962563e-01 3.35561166e-03 -7.97569510e-03 1.96061385e+02] [-3.34885037e-03 9.99994022e-01 8.60940352e-04 -1.70459283e+01] [ 7.97853641e-03 -8.34198712e-04 9.99967823e-01 -5.00742897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.152414037 meters 0.0944926070956924 Centerline is valid? [True, True] Translation: X:196.09, Y:-17.05, Z:-5.01 [[ 9.99957796e-01 4.30731495e-03 -8.11500985e-03 1.96090586e+02] [-4.30035697e-03 9.99990371e-01 8.74674916e-04 -1.70451514e+01] [ 8.11869921e-03 -8.39740562e-04 9.99966690e-01 -5.00666701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18241403699997 meters 0.09429238051408853 Centerline is valid? [True, True] Translation: X:196.12, Y:-17.05, Z:-5.01 [[ 9.99959321e-01 5.12819063e-03 -7.42008165e-03 1.96119246e+02] [-5.12240025e-03 9.99986561e-01 7.99160483e-04 -1.70470890e+01] [ 7.42408018e-03 -7.61119346e-04 9.99972151e-01 -5.00802702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21241403699997 meters 0.09611325112963673 Centerline is valid? [True, True] Translation: X:196.15, Y:-17.05, Z:-5.01 [[ 9.99960141e-01 5.01168016e-03 -7.38913220e-03 1.96146511e+02] [-5.00594232e-03 9.99987154e-01 7.94815764e-04 -1.70524988e+01] [ 7.39302064e-03 -7.57794514e-04 9.99972384e-01 -5.00835192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24241403699997 meters 0.09641129571345464 Centerline is valid? [True, True] Translation: X:196.18, Y:-17.06, Z:-5.01 [[ 9.99972266e-01 4.40601361e-03 -6.00447504e-03 1.96175340e+02] [-4.40221618e-03 9.99990102e-01 6.45503336e-04 -1.70555603e+01] [ 6.00725970e-03 -6.19052437e-04 9.99981765e-01 -5.00811897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27241403699998 meters 0.09370537444575486 Centerline is valid? [True, True] Translation: X:196.21, Y:-17.05, Z:-5.01 [[ 9.99973219e-01 3.04785264e-03 -6.65367495e-03 1.96206309e+02] [-3.04314908e-03 9.99995113e-01 7.16921436e-04 -1.70532912e+01] [ 6.65582750e-03 -6.96654111e-04 9.99977607e-01 -5.00623077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30241403699998 meters 0.09943120735793974 Centerline is valid? [True, True] Translation: X:196.23, Y:-17.07, Z:-5.01 [[ 9.99982521e-01 2.57552805e-03 -5.32198917e-03 1.96232279e+02] [-2.57252470e-03 9.99996528e-01 5.71096676e-04 -1.70672226e+01] [ 5.32344156e-03 -5.57395746e-04 9.99985675e-01 -5.00986132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33241403699998 meters 0.09248415534284524 Centerline is valid? [True, True] Translation: X:196.26, Y:-17.06, Z:-5.01 [[ 9.99982520e-01 1.46909953e-03 -5.72726533e-03 1.96263520e+02] [-1.46559742e-03 9.99998737e-01 6.15630757e-04 -1.70574070e+01] [ 5.72816252e-03 -6.07226130e-04 9.99983410e-01 -5.00749691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36241403699998 meters 0.10177966104986377 Centerline is valid? [True, False] Translation: X:196.26, Y:-17.06, Z:-5.01 [[ 9.99982651e-01 1.59586300e-03 -5.67015730e-03 1.96263798e+02] [-1.59104604e-03 9.99998370e-01 8.53937739e-04 -1.70576417e+01] [ 5.67151083e-03 -8.44901443e-04 9.99983560e-01 -5.00806695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39241403699998 meters 0.09741619188754434 Centerline is valid? [False, True] Translation: X:196.26, Y:-17.06, Z:-5.01 [[ 9.99982854e-01 1.58470715e-03 -5.63743443e-03 1.96264028e+02] [-1.58007697e-03 9.99998411e-01 8.25686747e-04 -1.70571768e+01] [ 5.63873394e-03 -8.16765009e-04 9.99983769e-01 -5.00847616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42241403699998 meters 0.09685895927219697 Centerline is valid? [True, True] Translation: X:196.29, Y:-17.06, Z:-5.01 [[ 9.99982771e-01 9.24921811e-04 -5.79671492e-03 1.96292317e+02] [-9.21249077e-04 9.99999373e-01 6.36227031e-04 -1.70583599e+01] [ 5.79729975e-03 -6.30875851e-04 9.99982997e-01 -5.00861248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45241403699998 meters 0.09789528001521047 Centerline is valid? [True, True] Translation: X:196.32, Y:-17.06, Z:-5.01 [[ 9.99984423e-01 4.97253512e-04 -5.55943444e-03 1.96319970e+02] [-4.93871799e-04 9.99999692e-01 6.09640032e-04 -1.70625014e+01] [ 5.55973587e-03 -6.06884888e-04 9.99984360e-01 -5.00981041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48241403699998 meters 0.09944687426580824 Centerline is valid? [True, True] Translation: X:196.35, Y:-17.07, Z:-5.01 [[ 9.99986982e-01 9.91464409e-05 -5.10148289e-03 1.96347662e+02] [-9.62967740e-05 9.99999839e-01 5.58838406e-04 -1.70677668e+01] [ 5.10153747e-03 -5.58339875e-04 9.99986831e-01 -5.01135474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51241403699999 meters 0.09715139453270119 Centerline is valid? [True, True] Translation: X:196.38, Y:-17.07, Z:-5.01 [[ 9.99990526e-01 -8.44481986e-05 -4.35206576e-03 1.96376972e+02] [ 8.65228591e-05 9.99999883e-01 4.76520991e-04 -1.70666772e+01] [ 4.35202500e-03 -4.76893030e-04 9.99990416e-01 -5.01092863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.542414037 meters 0.09821215460662051 Centerline is valid? [True, True] Translation: X:196.40, Y:-17.07, Z:-5.01 [[ 9.99990348e-01 -5.02577823e-04 -4.36470503e-03 1.96404938e+02] [ 5.04669341e-04 9.99999758e-01 4.78100710e-04 -1.70708989e+01] [ 4.36446369e-03 -4.80298828e-04 9.99990360e-01 -5.01226936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.572414037 meters 0.09622445004344939 Centerline is valid? [True, True] Translation: X:196.43, Y:-17.07, Z:-5.01 [[ 9.99987284e-01 -6.39608755e-04 -5.00223015e-03 1.96434427e+02] [ 6.42329814e-04 9.99999647e-01 5.42381596e-04 -1.70680950e+01] [ 5.00188147e-03 -5.45587781e-04 9.99987342e-01 -5.01170600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.602414037 meters 0.09592210906777805 Centerline is valid? [True, True] Translation: X:196.46, Y:-17.07, Z:-5.01 [[ 9.99989718e-01 -7.36175395e-04 -4.47466526e-03 1.96462969e+02] [ 7.38346087e-04 9.99999611e-01 4.83474620e-04 -1.70693053e+01] [ 4.47430760e-03 -4.86773500e-04 9.99989872e-01 -5.01196883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.632414037 meters 0.10123053307782598 Centerline is valid? [True, False] Translation: X:196.46, Y:-17.07, Z:-5.01 [[ 9.99989183e-01 -5.99539693e-04 -4.61236992e-03 1.96463623e+02] [ 6.02080469e-04 9.99999668e-01 5.49492471e-04 -1.70687738e+01] [ 4.61203895e-03 -5.52263545e-04 9.99989212e-01 -5.01251890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.662414037 meters 0.10123053307782598 Centerline is valid? [False, False] Translation: X:196.46, Y:-17.07, Z:-5.01 [[ 9.99989183e-01 -5.99539693e-04 -4.61236992e-03 1.96463623e+02] [ 6.02080469e-04 9.99999668e-01 5.49492471e-04 -1.70687738e+01] [ 4.61203895e-03 -5.52263545e-04 9.99989212e-01 -5.01251890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.692414037 meters 0.09552910369622991 Centerline is valid? [False, True] Translation: X:196.46, Y:-17.07, Z:-5.01 [[ 9.99988902e-01 -7.62956150e-04 -4.64899377e-03 1.96463903e+02] [ 7.63607917e-04 9.99999699e-01 1.38421946e-04 -1.70672257e+01] [ 4.64888676e-03 -1.41970418e-04 9.99989184e-01 -5.01280304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.722414037 meters 0.09709909583214271 Centerline is valid? [True, True] Translation: X:196.49, Y:-17.07, Z:-5.01 [[ 9.99991033e-01 -6.81665582e-04 -4.17964083e-03 1.96491628e+02] [ 6.83550303e-04 9.99999665e-01 4.49517099e-04 -1.70728344e+01] [ 4.17933301e-03 -4.52370063e-04 9.99991164e-01 -5.01393085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.752414037 meters 0.0951919880675493 Centerline is valid? [True, True] Translation: X:196.52, Y:-17.07, Z:-5.01 [[ 9.99990768e-01 -3.22101042e-04 -4.28493847e-03 1.96520721e+02] [ 3.24056262e-04 9.99999844e-01 4.55614154e-04 -1.70712233e+01] [ 4.28479105e-03 -4.56998509e-04 9.99990716e-01 -5.01314981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.782414037 meters 0.09698104179183563 Centerline is valid? [True, True] Translation: X:196.55, Y:-17.08, Z:-5.01 [[ 9.99989434e-01 -9.22922084e-04 -4.50339185e-03 1.96549262e+02] [ 9.25106910e-04 9.99999455e-01 4.83092314e-04 -1.70762163e+01] [ 4.50294355e-03 -4.87253329e-04 9.99989743e-01 -5.01454790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.812414037 meters 0.09320111105800195 Centerline is valid? [True, True] Translation: X:196.58, Y:-17.07, Z:-5.01 [[ 9.99986725e-01 -1.10648744e-03 -5.03235155e-03 1.96579057e+02] [ 1.10919066e-03 9.99999242e-01 5.34409567e-04 -1.70713756e+01] [ 5.03175641e-03 -5.39984310e-04 9.99987195e-01 -5.01333464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.842414037 meters 0.09710870997372123 Centerline is valid? [True, True] Translation: X:196.61, Y:-17.08, Z:-5.02 [[ 9.99988092e-01 -1.20412184e-03 -4.72919412e-03 1.96606367e+02] [ 1.20652780e-03 9.99999144e-01 5.05925881e-04 -1.70805914e+01] [ 4.72858088e-03 -5.11625761e-04 9.99988689e-01 -5.01609872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.872414037 meters 0.10208402697144718 Centerline is valid? [True, False] Translation: X:196.61, Y:-17.08, Z:-5.02 [[ 9.99987856e-01 -1.08871541e-03 -4.80658843e-03 1.96607034e+02] [ 1.09141996e-03 9.99999248e-01 5.60088805e-04 -1.70799239e+01] [ 4.80597504e-03 -5.65328009e-04 9.99988291e-01 -5.01685034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.902414037 meters 0.09625753181794028 Centerline is valid? [False, True] Translation: X:196.61, Y:-17.08, Z:-5.02 [[ 9.99987832e-01 -1.37366914e-03 -4.73794052e-03 1.96606667e+02] [ 1.37439397e-03 9.99999044e-01 1.49730314e-04 -1.70792087e+01] [ 4.73773031e-03 -1.56240289e-04 9.99988765e-01 -5.01650419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93241403699997 meters 0.096300172945592 Centerline is valid? [True, True] Translation: X:196.64, Y:-17.08, Z:-5.02 [[ 9.99988326e-01 -2.01061379e-03 -4.39379088e-03 1.96635383e+02] [ 2.01270749e-03 9.99997863e-01 4.72144175e-04 -1.70815796e+01] [ 4.39283219e-03 -4.80982079e-04 9.99990236e-01 -5.01752614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96241403699997 meters 0.09659780752541552 Centerline is valid? [True, True] Translation: X:196.66, Y:-17.08, Z:-5.02 [[ 9.99984084e-01 -3.23481474e-03 -4.62254086e-03 1.96664579e+02] [ 3.23714536e-03 9.99994637e-01 4.96793305e-04 -1.70843941e+01] [ 4.62090904e-03 -5.11749235e-04 9.99989193e-01 -5.01809705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99241403699997 meters 0.09708580662002705 Centerline is valid? [True, True] Translation: X:196.69, Y:-17.09, Z:-5.02 [[ 9.99976827e-01 -4.52696589e-03 -5.08458362e-03 1.96694387e+02] [ 4.52980713e-03 9.99989591e-01 5.47418555e-04 -1.70869972e+01] [ 5.08205254e-03 -5.70438053e-04 9.99986924e-01 -5.01944637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02241403699998 meters 0.10091092091944137 Centerline is valid? [True, False] Translation: X:196.69, Y:-17.09, Z:-5.02 [[ 9.99977597e-01 -4.35949955e-03 -5.07935871e-03 1.96694817e+02] [ 4.36362758e-03 9.99990158e-01 8.01909825e-04 -1.70870326e+01] [ 5.07581280e-03 -8.24056290e-04 9.99986778e-01 -5.02010179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05241403699998 meters 0.09917166854846517 Centerline is valid? [False, True] Translation: X:196.69, Y:-17.09, Z:-5.02 [[ 9.99978171e-01 -4.58826905e-03 -4.75442679e-03 1.96694187e+02] [ 4.59150810e-03 9.99989234e-01 6.70579577e-04 -1.70869965e+01] [ 4.75129881e-03 -6.92394928e-04 9.99988473e-01 -5.02012035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08241403699998 meters 0.10092437088438276 Centerline is valid? [True, False] Translation: X:196.69, Y:-17.09, Z:-5.02 [[ 9.99979159e-01 -4.39271413e-03 -4.73134924e-03 1.96694452e+02] [ 4.39747627e-03 9.99989834e-01 9.96573866e-04 -1.70874501e+01] [ 4.72692348e-03 -1.01735909e-03 9.99988311e-01 -5.02059275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11241403699998 meters 0.09854007254619503 Centerline is valid? [False, True] Translation: X:196.69, Y:-17.09, Z:-5.02 [[ 9.99979395e-01 -4.43444363e-03 -4.64168880e-03 1.96694323e+02] [ 4.43917880e-03 9.99989636e-01 1.01033581e-03 -1.70874293e+01] [ 4.63716042e-03 -1.03092027e-03 9.99988717e-01 -5.02066339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14241403699998 meters 0.10212191694712436 Centerline is valid? [True, False] Translation: X:196.69, Y:-17.09, Z:-5.02 [[ 9.99979089e-01 -4.47591530e-03 -4.66770493e-03 1.96694478e+02] [ 4.48028684e-03 9.99989534e-01 9.26515549e-04 -1.70868441e+01] [ 4.66350907e-03 -9.47408832e-04 9.99988677e-01 -5.02081280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17241403699998 meters 0.10281124617390162 Centerline is valid? [False, False] Translation: X:196.69, Y:-17.09, Z:-5.02 [[ 9.99979501e-01 -4.31318789e-03 -4.73215372e-03 1.96694931e+02] [ 4.31861392e-03 9.99990028e-01 1.13701359e-03 -1.70868695e+01] [ 4.72720238e-03 -1.15742663e-03 9.99988157e-01 -5.02126919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20241403699998 meters 0.10170509133613823 Centerline is valid? [False, False] Translation: X:196.69, Y:-17.09, Z:-5.02 [[ 9.99978274e-01 -4.68559642e-03 -4.63648041e-03 1.96694387e+02] [ 4.68858398e-03 9.99988808e-01 6.33699141e-04 -1.70859636e+01] [ 4.63345926e-03 -6.55423901e-04 9.99989051e-01 -5.02074360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23241403699998 meters 0.10375103983884298 Centerline is valid? [False, False] Translation: X:196.69, Y:-17.09, Z:-5.02 [[ 9.99978572e-01 -4.53608767e-03 -4.72008414e-03 1.96694861e+02] [ 4.53993554e-03 9.99989371e-01 8.04816468e-04 -1.70858666e+01] [ 4.71638325e-03 -8.26228100e-04 9.99988536e-01 -5.02119659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26241403699999 meters 0.10195316392391816 Centerline is valid? [False, False] Translation: X:196.70, Y:-17.09, Z:-5.02 [[ 9.99979023e-01 -4.36840227e-03 -4.78242055e-03 1.96695217e+02] [ 4.37332326e-03 9.99989918e-01 1.01899958e-03 -1.70860833e+01] [ 4.77792094e-03 -1.03989328e-03 9.99988045e-01 -5.02152500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.292414037 meters 0.10051965885756814 Centerline is valid? [False, False] Translation: X:196.70, Y:-17.09, Z:-5.02 [[ 9.99979399e-01 -4.32064108e-03 -4.74692830e-03 1.96695342e+02] [ 4.32592108e-03 9.99990035e-01 1.10259440e-03 -1.70861030e+01] [ 4.74211708e-03 -1.12310653e-03 9.99988125e-01 -5.02182098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.322414037 meters 0.09889151893753281 Centerline is valid? [False, True] Translation: X:196.70, Y:-17.09, Z:-5.02 [[ 9.99980001e-01 -4.09064135e-03 -4.82326036e-03 1.96695998e+02] [ 4.09740815e-03 9.99990634e-01 1.39390531e-03 -1.70861942e+01] [ 4.81751322e-03 -1.41364030e-03 9.99987397e-01 -5.02255541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.352414037 meters 0.1018407006014248 Centerline is valid? [True, False] Translation: X:196.70, Y:-17.09, Z:-5.02 [[ 9.99981324e-01 -3.78463173e-03 -4.79868498e-03 1.96696601e+02] [ 3.79360345e-03 9.99991071e-01 1.86189973e-03 -1.70866870e+01] [ 4.79159552e-03 -1.88006926e-03 9.99986753e-01 -5.02353468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.382414037 meters 0.09957810529842095 Centerline is valid? [False, True] Translation: X:196.70, Y:-17.09, Z:-5.02 [[ 9.99982119e-01 -3.58825680e-03 -4.78396877e-03 1.96696906e+02] [ 3.59865770e-03 9.99991176e-01 2.16728368e-03 -1.70871613e+01] [ 4.77614979e-03 -2.18446079e-03 9.99986208e-01 -5.02401311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.412414037 meters 0.10081494793315843 Centerline is valid? [True, False] Translation: X:196.70, Y:-17.09, Z:-5.02 [[ 9.99982047e-01 -3.83004673e-03 -4.60832101e-03 1.96696105e+02] [ 3.83919964e-03 9.99990672e-01 1.97896557e-03 -1.70874299e+01] [ 4.60069849e-03 -1.99662230e-03 9.99987423e-01 -5.02333697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.442414037 meters 0.10298243127911703 Centerline is valid? [False, False] Translation: X:196.70, Y:-17.09, Z:-5.02 [[ 9.99982499e-01 -3.58007591e-03 -4.71001599e-03 1.96696508e+02] [ 3.59107697e-03 9.99990839e-01 2.32929243e-03 -1.70879689e+01] [ 4.70163380e-03 -2.34616570e-03 9.99986195e-01 -5.02362263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.472414037 meters 0.10244124419708028 Centerline is valid? [False, False] Translation: X:196.70, Y:-17.09, Z:-5.02 [[ 9.99982270e-01 -3.56938113e-03 -4.76646048e-03 1.96696447e+02] [ 3.58055644e-03 9.99990856e-01 2.33810188e-03 -1.70881508e+01] [ 4.75807132e-03 -2.35512701e-03 9.99985907e-01 -5.02332589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.502414037 meters 0.09751725297086042 Centerline is valid? [False, True] Translation: X:196.70, Y:-17.09, Z:-5.02 [[ 9.99981482e-01 -3.62885667e-03 -4.88539664e-03 1.96696491e+02] [ 3.63965196e-03 9.99990951e-01 2.20263101e-03 -1.70880083e+01] [ 4.87735940e-03 -2.22037136e-03 9.99985641e-01 -5.02304115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.532414037 meters 0.10217462268563329 Centerline is valid? [True, False] Translation: X:196.70, Y:-17.09, Z:-5.02 [[ 9.99981844e-01 -3.33425498e-03 -5.01947684e-03 1.96697147e+02] [ 3.34715537e-03 9.99991112e-01 2.56386483e-03 -1.70883288e+01] [ 5.01088365e-03 -2.58061925e-03 9.99984116e-01 -5.02358727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.562414037 meters 0.10215340220244126 Centerline is valid? [False, False] Translation: X:196.70, Y:-17.09, Z:-5.02 [[ 9.99981330e-01 -3.36871110e-03 -5.09822113e-03 1.96697263e+02] [ 3.38134900e-03 9.99991227e-01 2.47229810e-03 -1.70881285e+01] [ 5.08984794e-03 -2.48949081e-03 9.99983948e-01 -5.02354282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.592414037 meters 0.10202681726700907 Centerline is valid? [False, False] Translation: X:196.70, Y:-17.09, Z:-5.02 [[ 9.99980682e-01 -3.28900271e-03 -5.27420672e-03 1.96697735e+02] [ 3.30192768e-03 9.99991563e-01 2.44376794e-03 -1.70879305e+01] [ 5.26612466e-03 -2.46113578e-03 9.99983105e-01 -5.02370601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.622414037 meters 0.10298066255628935 Centerline is valid? [False, False] Translation: X:196.70, Y:-17.09, Z:-5.03 [[ 9.99959285e-01 -6.58886973e-03 -6.16557868e-03 1.96700435e+02] [ 6.58181946e-03 9.99977663e-01 -1.16308102e-03 -1.70874622e+01] [ 6.17310435e-03 1.12245294e-03 9.99980316e-01 -5.02505213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.652414037 meters 0.1036914091029246 Centerline is valid? [False, False] Translation: X:196.70, Y:-17.09, Z:-5.03 [[ 9.99959931e-01 -6.50119679e-03 -6.15388598e-03 1.96700475e+02] [ 6.49519421e-03 9.99978411e-01 -9.94895421e-04 -1.70879322e+01] [ 6.16022114e-03 9.54884872e-04 9.99980570e-01 -5.02517755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68241403699997 meters 0.10112404800006645 Centerline is valid? [False, False] Translation: X:196.70, Y:-17.09, Z:-5.03 [[ 9.99961940e-01 -6.13582393e-03 -6.20244792e-03 1.96700995e+02] [ 6.13314272e-03 9.99981090e-01 -4.51211182e-04 -1.70887955e+01] [ 6.20509918e-03 4.13153510e-04 9.99980663e-01 -5.02581240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71241403699997 meters 0.10211073100413565 Centerline is valid? [False, False] Translation: X:196.70, Y:-17.09, Z:-5.03 [[ 9.99962180e-01 -5.90181755e-03 -6.38812000e-03 1.96701574e+02] [ 5.90062586e-03 9.99982570e-01 -2.05378397e-04 -1.70890112e+01] [ 6.38922076e-03 1.67676724e-04 9.99979575e-01 -5.02611516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74241403699997 meters 0.10236115701674423 Centerline is valid? [False, False] Translation: X:196.70, Y:-17.09, Z:-5.03 [[ 9.99961619e-01 -5.88554356e-03 -6.49005422e-03 1.96701676e+02] [ 5.88437131e-03 9.99982667e-01 -1.99702011e-04 -1.70890334e+01] [ 6.49111708e-03 1.61504457e-04 9.99978919e-01 -5.02598331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77241403699998 meters 0.10325933058142092 Centerline is valid? [False, False] Translation: X:196.70, Y:-17.09, Z:-5.02 [[ 9.99980724e-01 -2.27204596e-03 -5.77834421e-03 1.96699588e+02] [ 2.29344591e-03 9.99990527e-01 3.69954828e-03 -1.70899782e+01] [ 5.76988392e-03 -3.71272928e-03 9.99976462e-01 -5.02493146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80241403699998 meters 0.10447598515740641 Centerline is valid? [False, False] Translation: X:196.70, Y:-17.09, Z:-5.03 [[ 9.99980745e-01 -1.97255873e-03 -5.88377451e-03 1.96700177e+02] [ 1.99672315e-03 9.99989585e-01 4.10391623e-03 -1.70904644e+01] [ 5.87561802e-03 -4.11558548e-03 9.99974269e-01 -5.02547276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83241403699998 meters 0.09958884108931705 Centerline is valid? [False, True] Translation: X:196.70, Y:-17.09, Z:-5.03 [[ 9.99980438e-01 -1.91913795e-03 -5.95318640e-03 1.96700173e+02] [ 1.94396664e-03 9.99989426e-01 4.16767751e-03 -1.70910105e+01] [ 5.94512510e-03 -4.17916878e-03 9.99973595e-01 -5.02524480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86241403699998 meters 0.10599293204733391 Centerline is valid? [True, False] Translation: X:196.70, Y:-17.09, Z:-5.03 [[ 9.99981017e-01 -1.82002650e-03 -5.88675353e-03 1.96700117e+02] [ 1.84590085e-03 9.99988647e-01 4.39290792e-03 -1.70917015e+01] [ 5.87869149e-03 -4.40369089e-03 9.99973024e-01 -5.02536201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89241403699998 meters 0.10315687129296826 Centerline is valid? [False, False] Translation: X:196.70, Y:-17.09, Z:-5.03 [[ 9.99981455e-01 -1.55924108e-03 -5.88720795e-03 1.96700415e+02] [ 1.58752228e-03 9.99987209e-01 4.80222651e-03 -1.70925999e+01] [ 5.87964481e-03 -4.81148352e-03 9.99971139e-01 -5.02578954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92241403699998 meters 0.09994356015833758 Centerline is valid? [False, True] Translation: X:196.70, Y:-17.09, Z:-5.03 [[ 9.99981245e-01 -1.47586438e-03 -5.94398153e-03 1.96700473e+02] [ 1.50520902e-03 9.99986688e-01 4.93542267e-03 -1.70932272e+01] [ 5.93661839e-03 -4.94427704e-03 9.99970155e-01 -5.02571185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95241403699998 meters 0.10164281670914113 Centerline is valid? [True, False] Translation: X:196.70, Y:-17.09, Z:-5.03 [[ 9.99981139e-01 -1.45928709e-03 -5.96586832e-03 1.96700571e+02] [ 1.48886493e-03 9.99986609e-01 4.95641243e-03 -1.70931933e+01] [ 5.95855560e-03 -4.96520132e-03 9.99969921e-01 -5.02578964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98241403699998 meters 0.10345308744405607 Centerline is valid? [False, False] Translation: X:196.70, Y:-17.09, Z:-5.03 [[ 9.99980784e-01 -1.44465953e-03 -6.02858829e-03 1.96700707e+02] [ 1.47443868e-03 9.99986720e-01 4.93813838e-03 -1.70931622e+01] [ 6.02137430e-03 -4.94693228e-03 9.99969635e-01 -5.02579282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01241403699999 meters 0.10137330372211464 Centerline is valid? [False, False] Translation: X:196.70, Y:-17.09, Z:-5.03 [[ 9.99980377e-01 -1.57405552e-03 -6.06372074e-03 1.96700665e+02] [ 1.60268806e-03 9.99987577e-01 4.71998176e-03 -1.70927523e+01] [ 6.05621589e-03 -4.72960739e-03 9.99970476e-01 -5.02562055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.042414037 meters 0.09997441015308817 Centerline is valid? [False, True] Translation: X:196.70, Y:-17.09, Z:-5.03 [[ 9.99979860e-01 -1.73656714e-03 -6.10445769e-03 1.96700519e+02] [ 1.76347016e-03 9.99988745e-01 4.40449346e-03 -1.70922758e+01] [ 6.09674029e-03 -4.41516978e-03 9.99971668e-01 -5.02526301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.072414037 meters 0.0992814324773696 Centerline is valid? [True, True] Translation: X:196.73, Y:-17.09, Z:-5.02 [[ 9.99985463e-01 -1.35279427e-03 -5.21957598e-03 1.96729891e+02] [ 1.35588051e-03 9.99998908e-01 5.87788559e-04 -1.70924639e+01] [ 5.21877513e-03 -5.94857136e-04 9.99986205e-01 -5.02418262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.102414037 meters 0.0996312096754051 Centerline is valid? [True, True] Translation: X:196.76, Y:-17.10, Z:-5.02 [[ 9.99987080e-01 -1.15972803e-03 -4.94914658e-03 1.96758595e+02] [ 1.16249169e-03 9.99999170e-01 5.55571184e-04 -1.70962969e+01] [ 4.94849816e-03 -5.61317348e-04 9.99987599e-01 -5.02485763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.132414037 meters 0.09942018724298865 Centerline is valid? [True, True] Translation: X:196.79, Y:-17.10, Z:-5.03 [[ 9.99988066e-01 -1.40975291e-03 -4.67759406e-03 1.96787019e+02] [ 1.41221773e-03 9.99998866e-01 5.23679607e-04 -1.70989518e+01] [ 4.67685050e-03 -5.30279139e-04 9.99988923e-01 -5.02502479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.162414037 meters 0.099655154086148 Centerline is valid? [True, True] Translation: X:196.82, Y:-17.10, Z:-5.03 [[ 9.99986858e-01 -2.04077958e-03 -4.70310808e-03 1.96815362e+02] [ 2.04329328e-03 9.99997772e-01 5.29733989e-04 -1.71020248e+01] [ 4.70201653e-03 -5.39336856e-04 9.99988800e-01 -5.02592970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.192414037 meters 0.10114753823915838 Centerline is valid? [True, False] Translation: X:196.82, Y:-17.10, Z:-5.03 [[ 9.99987063e-01 -1.76837532e-03 -4.76925617e-03 1.96815873e+02] [ 1.77268992e-03 9.99998023e-01 9.00594648e-04 -1.71024479e+01] [ 4.76765415e-03 -9.09037410e-04 9.99988221e-01 -5.02647253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.222414037 meters 0.09698015353561067 Centerline is valid? [False, True] Translation: X:196.82, Y:-17.10, Z:-5.03 [[ 9.99987966e-01 -1.58477396e-03 -4.64298231e-03 1.96816024e+02] [ 1.59075050e-03 9.99997911e-01 1.28381102e-03 -1.71031357e+01] [ 4.64093806e-03 -1.29118140e-03 9.99988397e-01 -5.02706363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.252414037 meters 0.09773392198986328 Centerline is valid? [True, True] Translation: X:196.84, Y:-17.11, Z:-5.03 [[ 9.99988571e-01 -1.98326990e-03 -4.35021445e-03 1.96844266e+02] [ 1.98544459e-03 9.99997906e-01 4.95643712e-04 -1.71074235e+01] [ 4.34922235e-03 -5.04275157e-04 9.99990415e-01 -5.02766820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.282414037 meters 0.100762741340283 Centerline is valid? [True, False] Translation: X:196.84, Y:-17.11, Z:-5.03 [[ 9.99988990e-01 -1.76827159e-03 -4.34660281e-03 1.96844650e+02] [ 1.77190363e-03 9.99998084e-01 8.31896887e-04 -1.71078441e+01] [ 4.34512346e-03 -8.39589489e-04 9.99990207e-01 -5.02823843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.312414037 meters 0.09999578845370799 Centerline is valid? [False, True] Translation: X:196.85, Y:-17.11, Z:-5.03 [[ 9.99988357e-01 -1.67030924e-03 -4.52729657e-03 1.96845157e+02] [ 1.67419992e-03 9.99998232e-01 8.55729836e-04 -1.71074009e+01] [ 4.52585923e-03 -8.63299472e-04 9.99989386e-01 -5.02844033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.342414037 meters 0.09926017766224379 Centerline is valid? [True, True] Translation: X:196.87, Y:-17.11, Z:-5.03 [[ 9.99985483e-01 -1.77140156e-03 -5.08884317e-03 1.96874268e+02] [ 1.77434665e-03 9.99998261e-01 5.74278913e-04 -1.71081743e+01] [ 5.08781704e-03 -5.83299948e-04 9.99986887e-01 -5.02868400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.372414037 meters 0.09977571092766482 Centerline is valid? [True, True] Translation: X:196.90, Y:-17.11, Z:-5.03 [[ 9.99985878e-01 6.73952836e-05 -5.31397483e-03 1.96903335e+02] [-6.41850162e-05 9.99999815e-01 6.04286143e-04 -1.71108752e+01] [ 5.31401458e-03 -6.03936532e-04 9.99985698e-01 -5.03047320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.402414037 meters 0.09759626459532911 Centerline is valid? [True, True] Translation: X:196.93, Y:-17.11, Z:-5.03 [[ 9.99985582e-01 1.80066437e-04 -5.36687901e-03 1.96932201e+02] [-1.76825094e-04 9.99999802e-01 6.04421347e-04 -1.71098633e+01] [ 5.36698678e-03 -6.03463634e-04 9.99985416e-01 -5.03060332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43241403699997 meters 0.09661655910356383 Centerline is valid? [True, True] Translation: X:196.96, Y:-17.11, Z:-5.03 [[ 9.99985966e-01 3.85026592e-04 -5.28394816e-03 1.96961313e+02] [-3.81869806e-04 9.99999748e-01 5.98425287e-04 -1.71118396e+01] [ 5.28417724e-03 -5.96399109e-04 9.99985861e-01 -5.03184784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46241403699997 meters 0.09928834938864561 Centerline is valid? [True, True] Translation: X:196.99, Y:-17.12, Z:-5.03 [[ 9.99987291e-01 3.91810706e-04 -5.02639022e-03 1.96988679e+02] [-3.88958673e-04 9.99999763e-01 5.68376741e-04 -1.71200100e+01] [ 5.02661172e-03 -5.66414460e-04 9.99987206e-01 -5.03401646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49241403699997 meters 0.09996679610517656 Centerline is valid? [True, True] Translation: X:197.02, Y:-17.12, Z:-5.04 [[ 9.99990680e-01 6.62855141e-04 -4.26609941e-03 1.97017479e+02] [-6.60803791e-04 9.99999665e-01 4.82240725e-04 -1.71246958e+01] [ 4.26641763e-03 -4.79417176e-04 9.99990784e-01 -5.03531404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52241403699998 meters 0.09403816928946983 Centerline is valid? [True, True] Translation: X:197.05, Y:-17.12, Z:-5.03 [[ 9.99990209e-01 1.01603621e-03 -4.30680683e-03 1.97047850e+02] [-1.01397050e-03 9.99999370e-01 4.81794514e-04 -1.71152237e+01] [ 4.30729364e-03 -4.77422822e-04 9.99990610e-01 -5.03294614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55241403699998 meters 0.09338871672091399 Centerline is valid? [True, True] Translation: X:197.08, Y:-17.12, Z:-5.03 [[ 9.99990513e-01 1.38958033e-03 -4.12838634e-03 1.97076561e+02] [-1.38767141e-03 9.99998929e-01 4.65217206e-04 -1.71161670e+01] [ 4.12902838e-03 -4.59483949e-04 9.99991370e-01 -5.03273350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58241403699998 meters 0.09338871672091399 Centerline is valid? [True, True] Translation: X:197.10, Y:-17.12, Z:-5.03 [[ 9.99990608e-01 1.31885350e-03 -4.12841929e-03 1.97104872e+02] [-1.31694518e-03 9.99999025e-01 4.64925223e-04 -1.71193012e+01] [ 4.12902843e-03 -4.59483955e-04 9.99991370e-01 -5.03336112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61241403699998 meters 0.09537454702152569 Centerline is valid? [True, True] Translation: X:197.13, Y:-17.13, Z:-5.04 [[ 9.99989559e-01 1.98544050e-03 -4.11570847e-03 1.97132447e+02] [-1.98355066e-03 9.99997925e-01 4.63209126e-04 -1.71253816e+01] [ 4.11661961e-03 -4.55040574e-04 9.99991423e-01 -5.03511273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64241403699998 meters 0.09909787955826696 Centerline is valid? [True, True] Translation: X:197.16, Y:-17.13, Z:-5.04 [[ 9.99990956e-01 2.28837445e-03 -3.58486321e-03 1.97159210e+02] [-2.28694569e-03 9.99997304e-01 4.02600397e-04 -1.71337605e+01] [ 3.58577484e-03 -3.94398368e-04 9.99993493e-01 -5.03664132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67241403699998 meters 0.09662219286023142 Centerline is valid? [True, True] Translation: X:197.19, Y:-17.13, Z:-5.04 [[ 9.99985481e-01 2.72992372e-03 -4.64601517e-03 1.97188028e+02] [-2.72752568e-03 9.99996144e-01 5.22406958e-04 -1.71318853e+01] [ 4.64742338e-03 -5.09727247e-04 9.99989071e-01 -5.03646028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70241403699998 meters 0.09552149441512074 Centerline is valid? [True, True] Translation: X:197.22, Y:-17.13, Z:-5.04 [[ 9.99985477e-01 3.06933559e-03 -4.42992854e-03 1.97216753e+02] [-3.06716046e-03 9.99995172e-01 4.97719051e-04 -1.71327335e+01] [ 4.43143482e-03 -4.84124521e-04 9.99990064e-01 -5.03748486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73241403699998 meters 0.09900679158838195 Centerline is valid? [True, True] Translation: X:197.24, Y:-17.14, Z:-5.04 [[ 9.99983986e-01 2.85761702e-03 -4.88483909e-03 1.97243254e+02] [-2.85497509e-03 9.99995775e-01 5.47731283e-04 -1.71408396e+01] [ 4.88638365e-03 -5.33776418e-04 9.99987919e-01 -5.03996535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76241403699999 meters 0.09575793246631585 Centerline is valid? [True, True] Translation: X:197.27, Y:-17.14, Z:-5.04 [[ 9.99983570e-01 2.60902685e-03 -5.10409443e-03 1.97272742e+02] [-2.60613670e-03 9.99996440e-01 5.72808969e-04 -1.71374368e+01] [ 5.10557073e-03 -5.59497590e-04 9.99986810e-01 -5.03959942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.792414037 meters 0.09782422428473797 Centerline is valid? [True, True] Translation: X:197.30, Y:-17.14, Z:-5.04 [[ 9.99988929e-01 1.79308170e-03 -4.35059187e-03 1.97300025e+02] [-1.79097848e-03 9.99998277e-01 4.87281499e-04 -1.71433438e+01] [ 4.35145811e-03 -4.79484288e-04 9.99990417e-01 -5.04127158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.822414037 meters 0.09911084958184851 Centerline is valid? [True, True] Translation: X:197.33, Y:-17.15, Z:-5.04 [[ 9.99989646e-01 1.72519620e-03 -4.21087351e-03 1.97327390e+02] [-1.72322764e-03 9.99998404e-01 4.71076569e-04 -1.71485318e+01] [ 4.21167949e-03 -4.63815398e-04 9.99991023e-01 -5.04213457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.852414037 meters 0.09773521236156123 Centerline is valid? [True, True] Translation: X:197.36, Y:-17.15, Z:-5.04 [[ 9.99990103e-01 1.80530527e-03 -4.06633302e-03 1.97355934e+02] [-1.80346961e-03 9.99998270e-01 4.55050614e-04 -1.71484529e+01] [ 4.06714749e-03 -4.47712603e-04 9.99991629e-01 -5.04165378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.882414037 meters 0.09840255925435176 Centerline is valid? [True, True] Translation: X:197.39, Y:-17.15, Z:-5.04 [[ 9.99992588e-01 1.71799414e-03 -3.44575150e-03 1.97385130e+02] [-1.71667708e-03 9.99998452e-01 3.85148453e-04 -1.71500055e+01] [ 3.44640785e-03 -3.79230355e-04 9.99993989e-01 -5.04076673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.912414037 meters 0.09832532764222215 Centerline is valid? [True, True] Translation: X:197.41, Y:-17.15, Z:-5.04 [[ 9.99991715e-01 2.18651872e-03 -3.43348722e-03 1.97413535e+02] [-2.18521458e-03 9.99997539e-01 3.83536008e-04 -1.71520222e+01] [ 3.43431738e-03 -3.76029924e-04 9.99994032e-01 -5.04150884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.942414037 meters 0.09897647028269575 Centerline is valid? [True, True] Translation: X:197.44, Y:-17.16, Z:-5.04 [[ 9.99989868e-01 2.66190682e-03 -3.63023546e-03 1.97441785e+02] [-2.66045259e-03 9.99996379e-01 4.05361264e-04 -1.71554845e+01] [ 3.63130135e-03 -3.95699087e-04 9.99993329e-01 -5.04279122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.972414037 meters 0.09795308650504966 Centerline is valid? [True, True] Translation: X:197.47, Y:-17.16, Z:-5.04 [[ 9.99992154e-01 2.90240615e-03 -2.69603396e-03 1.97470964e+02] [-2.90160649e-03 9.99995745e-01 3.00471638e-04 -1.71558997e+01] [ 2.69689458e-03 -2.92646450e-04 9.99996321e-01 -5.04340997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.002414037 meters 0.09879156863468458 Centerline is valid? [True, True] Translation: X:197.50, Y:-17.16, Z:-5.04 [[ 9.99993331e-01 2.56928254e-03 -2.59557810e-03 1.97499615e+02] [-2.56854084e-03 9.99996660e-01 2.89048975e-04 -1.71596559e+01] [ 2.59631208e-03 -2.82380199e-04 9.99996590e-01 -5.04434451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.032414037 meters 0.09842735316016642 Centerline is valid? [True, True] Translation: X:197.53, Y:-17.16, Z:-5.05 [[ 9.99994561e-01 2.12390954e-03 -2.52320113e-03 1.97528033e+02] [-2.12320778e-03 9.99997707e-01 2.80767749e-04 -1.71616119e+01] [ 2.52379167e-03 -2.75408942e-04 9.99996777e-01 -5.04501249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.062414037 meters 0.09818520611997553 Centerline is valid? [True, True] Translation: X:197.56, Y:-17.16, Z:-5.05 [[ 9.99995407e-01 2.00087787e-03 -2.27634210e-03 1.97556576e+02] [-2.00030708e-03 9.99997967e-01 2.53001352e-04 -1.71635686e+01] [ 2.27684370e-03 -2.48446806e-04 9.99997377e-01 -5.04545626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.092414037 meters 0.09869296887125155 Centerline is valid? [True, True] Translation: X:197.59, Y:-17.17, Z:-5.05 [[ 9.99995580e-01 1.42007059e-03 -2.61215147e-03 1.97586322e+02] [-1.41931471e-03 9.99998950e-01 2.91202011e-04 -1.71650164e+01] [ 2.61256226e-03 -2.87493258e-04 9.99996546e-01 -5.04537695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.122414037 meters 0.09597453906950215 Centerline is valid? [True, True] Translation: X:197.62, Y:-17.16, Z:-5.04 [[ 9.99994927e-01 1.07515953e-03 -2.99820867e-03 1.97615432e+02] [-1.07416483e-03 9.99999368e-01 3.33353228e-04 -1.71616625e+01] [ 2.99856518e-03 -3.30130967e-04 9.99995450e-01 -5.04481184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.152414037 meters 0.10015284242468303 Centerline is valid? [True, False] Translation: X:197.62, Y:-17.16, Z:-5.05 [[ 9.99994793e-01 9.90981801e-04 -3.07116254e-03 1.97615887e+02] [-9.90733758e-04 9.99999506e-01 8.22854248e-05 -1.71603184e+01] [ 3.07124257e-03 -7.92422919e-05 9.99995281e-01 -5.04525904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18241403699997 meters 0.0973767843682314 Centerline is valid? [False, True] Translation: X:197.62, Y:-17.16, Z:-5.05 [[ 9.99994870e-01 1.09266914e-03 -3.01096905e-03 1.97616165e+02] [-1.09189921e-03 9.99999371e-01 2.57339311e-04 -1.71602537e+01] [ 3.01124834e-03 -2.54050316e-04 9.99995434e-01 -5.04585810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21241403699997 meters 0.10090277694764829 Centerline is valid? [True, False] Translation: X:197.62, Y:-17.16, Z:-5.05 [[ 9.99995104e-01 1.06833234e-03 -2.94136128e-03 1.97616395e+02] [-1.06769033e-03 9.99999406e-01 2.19834088e-04 -1.71596349e+01] [ 2.94159439e-03 -2.16692548e-04 9.99995650e-01 -5.04640488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24241403699997 meters 0.09950939110976846 Centerline is valid? [False, True] Translation: X:197.62, Y:-17.16, Z:-5.05 [[ 9.99995590e-01 8.98493672e-04 -2.83058465e-03 1.97616378e+02] [-8.98420510e-04 9.99999596e-01 2.71185437e-05 -1.71587646e+01] [ 2.83060788e-03 -2.45753688e-05 9.99995994e-01 -5.04673551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27241403699998 meters 0.0987277829106955 Centerline is valid? [True, True] Translation: X:197.65, Y:-17.16, Z:-5.05 [[ 9.99997804e-01 -5.35190646e-04 -2.02620229e-03 1.97646258e+02] [ 5.35656534e-04 9.99999830e-01 2.29395601e-04 -1.71589652e+01] [ 2.02607918e-03 -2.30480446e-04 9.99997921e-01 -5.04721473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30241403699998 meters 0.10387164552030931 Centerline is valid? [True, False] Translation: X:197.65, Y:-17.16, Z:-5.05 [[ 9.99997892e-01 -5.01326907e-04 -1.99110972e-03 1.97646598e+02] [ 5.01861014e-04 9.99999838e-01 2.67755262e-04 -1.71584079e+01] [ 1.99097516e-03 -2.68753958e-04 9.99997982e-01 -5.04781363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33241403699998 meters 0.10102107635970745 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.16, Z:-5.05 [[ 9.99997822e-01 -8.81233156e-04 -1.89175790e-03 1.97646129e+02] [ 8.80758036e-04 9.99999580e-01 -2.51970605e-04 -1.71573301e+01] [ 1.89197916e-03 2.50303875e-04 9.99998179e-01 -5.04743734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36241403699998 meters 0.10538786658013535 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.16, Z:-5.05 [[ 9.99997673e-01 -1.18506473e-03 -1.80276694e-03 1.97645789e+02] [ 1.18389932e-03 9.99999090e-01 -6.47381749e-04 -1.71562069e+01] [ 1.80353249e-03 6.45245948e-04 9.99998165e-01 -5.04720581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39241403699998 meters 0.10301030720123876 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.16, Z:-5.05 [[ 9.99997492e-01 -1.49987058e-03 -1.66328871e-03 1.97645287e+02] [ 1.49820904e-03 9.99998378e-01 -9.99744474e-04 -1.71554036e+01] [ 1.66478550e-03 9.97250012e-04 9.99998117e-01 -5.04693188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42241403699998 meters 0.10081397469365831 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.15, Z:-5.05 [[ 9.99997524e-01 -1.45747394e-03 -1.68142592e-03 1.97645609e+02] [ 1.45586960e-03 9.99998484e-01 -9.54982511e-04 -1.71549382e+01] [ 1.68281523e-03 9.52532210e-04 9.99998130e-01 -5.04736802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45241403699998 meters 0.10658274961706629 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.15, Z:-5.05 [[ 9.99997499e-01 -1.42542946e-03 -1.72353409e-03 1.97646259e+02] [ 1.42374605e-03 9.99998509e-01 -9.77553923e-04 -1.71539265e+01] [ 1.72492495e-03 9.75097603e-04 9.99998037e-01 -5.04820554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48241403699998 meters 0.10514790022316253 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.15, Z:-5.05 [[ 9.99997470e-01 -1.32851130e-03 -1.81535964e-03 1.97646848e+02] [ 1.32682715e-03 9.99998689e-01 -9.28613556e-04 -1.71534438e+01] [ 1.81659094e-03 9.26202538e-04 9.99997921e-01 -5.04878104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51241403699999 meters 0.10325691364180883 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.15, Z:-5.05 [[ 9.99997305e-01 -1.44569611e-03 -1.81674206e-03 1.97647270e+02] [ 1.44356697e-03 9.99998270e-01 -1.17272512e-03 -1.71521266e+01] [ 1.81843432e-03 1.17009937e-03 9.99997662e-01 -5.04940781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.542414037 meters 0.10477753588334693 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.15, Z:-5.05 [[ 9.99997381e-01 -1.38299439e-03 -1.82372403e-03 1.97647680e+02] [ 1.38091856e-03 9.99998398e-01 -1.13900757e-03 -1.71515952e+01] [ 1.82529635e-03 1.13648618e-03 9.99997688e-01 -5.04998091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.572414037 meters 0.1048320097834951 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.15, Z:-5.05 [[ 9.99996892e-01 -1.65148530e-03 -1.86767743e-03 1.97647534e+02] [ 1.64852323e-03 9.99997383e-01 -1.58639220e-03 -1.71505919e+01] [ 1.87029245e-03 1.58330836e-03 9.99996998e-01 -5.04963255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.602414037 meters 0.10436071799645322 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.15, Z:-5.05 [[ 9.99996598e-01 -1.56816405e-03 -2.08426048e-03 1.97648301e+02] [ 1.56469222e-03 9.99997388e-01 -1.66632410e-03 -1.71495311e+01] [ 2.08686811e-03 1.66305721e-03 9.99996440e-01 -5.05010803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.632414037 meters 0.10667104694586513 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.15, Z:-5.05 [[ 9.99996611e-01 -1.41821918e-03 -2.18311624e-03 1.97648800e+02] [ 1.41499129e-03 9.99997905e-01 -1.47940889e-03 -1.71493884e+01] [ 2.18520979e-03 1.47631479e-03 9.99996523e-01 -5.05057183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.662414037 meters 0.10532778233899084 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.15, Z:-5.05 [[ 9.99996612e-01 -1.54486369e-03 -2.09526092e-03 1.97648573e+02] [ 1.54149600e-03 9.99997519e-01 -1.60795374e-03 -1.71491348e+01] [ 2.09773979e-03 1.60471845e-03 9.99996512e-01 -5.05049497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.692414037 meters 0.106280111973084 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.15, Z:-5.05 [[ 9.99996844e-01 -1.42941320e-03 -2.06633153e-03 1.97648703e+02] [ 1.42655419e-03 9.99998024e-01 -1.38443234e-03 -1.71494337e+01] [ 2.06830638e-03 1.38148024e-03 9.99996907e-01 -5.05078203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.722414037 meters 0.10687150012165966 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.15, Z:-5.05 [[ 9.99997423e-01 -1.27666808e-03 -1.87744105e-03 1.97648596e+02] [ 1.27486630e-03 9.99998726e-01 -9.60587633e-04 -1.71504205e+01] [ 1.87866500e-03 9.58191671e-04 9.99997776e-01 -5.05120124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.752414037 meters 0.1084544325132712 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.15, Z:-5.05 [[ 9.99997757e-01 -1.06337540e-03 -1.83167631e-03 1.97648800e+02] [ 1.06238091e-03 9.99999288e-01 -5.43824630e-04 -1.71512482e+01] [ 1.83225329e-03 5.41877473e-04 9.99998175e-01 -5.05166010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.782414037 meters 0.10821702616294367 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.15, Z:-5.05 [[ 9.99998069e-01 -7.44246994e-04 -1.81869298e-03 1.97649220e+02] [ 7.44213695e-04 9.99999723e-01 -1.89863138e-05 -1.71521663e+01] [ 1.81870661e-03 1.76327809e-05 9.99998346e-01 -5.05234435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.812414037 meters 0.1107039110862838 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.15, Z:-5.05 [[ 9.99998350e-01 -9.38880450e-04 -1.55495636e-03 1.97648541e+02] [ 9.38837778e-04 9.99999559e-01 -2.81718803e-05 -1.71527258e+01] [ 1.55498213e-03 2.67119821e-05 9.99998791e-01 -5.05214639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.842414037 meters 0.10881306497926833 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.15, Z:-5.05 [[ 9.99998653e-01 -9.20315071e-04 -1.35895001e-03 1.97648345e+02] [ 9.20552813e-04 9.99999561e-01 1.74330596e-04 -1.71530875e+01] [ 1.35878897e-03 -1.75581346e-04 9.99999061e-01 -5.05244873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.872414037 meters 0.10905600374914753 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.15, Z:-5.05 [[ 9.99998903e-01 -6.04748876e-04 -1.35219248e-03 1.97648472e+02] [ 6.05775394e-04 9.99999529e-01 7.58869537e-04 -1.71545625e+01] [ 1.35173292e-03 -7.59687829e-04 9.99998798e-01 -5.05264905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.902414037 meters 0.11083790810328786 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.16, Z:-5.05 [[ 9.99998985e-01 -6.59945035e-04 -1.26265774e-03 1.97648061e+02] [ 6.60930075e-04 9.99999477e-01 7.79874170e-04 -1.71551025e+01] [ 1.26214240e-03 -7.80707907e-04 9.99998899e-01 -5.05231206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93241403699997 meters 0.10880573501688003 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.16, Z:-5.05 [[ 9.99999076e-01 -6.11683990e-04 -1.21432100e-03 1.97647852e+02] [ 6.12802320e-04 9.99999388e-01 9.20792371e-04 -1.71558564e+01] [ 1.21375702e-03 -9.21535659e-04 9.99998839e-01 -5.05214006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96241403699997 meters 0.10902625565712959 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.16, Z:-5.05 [[ 9.99999155e-01 -4.70186546e-04 -1.21239154e-03 1.97647799e+02] [ 4.71617036e-04 9.99999193e-01 1.17987463e-03 -1.71568164e+01] [ 1.21183580e-03 -1.18044541e-03 9.99998569e-01 -5.05207130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99241403699997 meters 0.1100579035627674 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.16, Z:-5.05 [[ 9.99999429e-01 -1.89337365e-04 -1.05182459e-03 1.97647487e+02] [ 1.91287196e-04 9.99998263e-01 1.85396923e-03 -1.71591689e+01] [ 1.05147174e-03 -1.85416938e-03 9.99997728e-01 -5.05208139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02241403699998 meters 0.11047570895044087 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.16, Z:-5.05 [[ 9.99999362e-01 2.05058227e-04 -1.11046552e-03 1.97647799e+02] [-2.02297542e-04 9.99996890e-01 2.48560336e-03 -1.71607845e+01] [ 1.11097176e-03 -2.48537713e-03 9.99996294e-01 -5.05235187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05241403699998 meters 0.11080656820444824 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.16, Z:-5.05 [[ 9.99999441e-01 3.53836940e-04 -9.96329414e-04 1.97647248e+02] [-3.50926567e-04 9.99995676e-01 2.91975650e-03 -1.71627060e+01] [ 9.97358223e-04 -2.91940523e-03 9.99995241e-01 -5.05186627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08241403699998 meters 0.10951576084257776 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.16, Z:-5.05 [[ 9.99999459e-01 3.40961109e-04 -9.82347613e-04 1.97646874e+02] [-3.38047920e-04 9.99995550e-01 2.96417938e-03 -1.71633845e+01] [ 9.83353911e-04 -2.96384570e-03 9.99995124e-01 -5.05134361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11241403699998 meters 0.10848156980628638 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.16, Z:-5.05 [[ 9.99999381e-01 3.85191744e-04 -1.04353343e-03 1.97646680e+02] [-3.82003295e-04 9.99995264e-01 3.05391382e-03 -1.71641137e+01] [ 1.04470483e-03 -3.05351330e-03 9.99994792e-01 -5.05085925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14241403699998 meters 0.1131514312247244 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.17, Z:-5.05 [[ 9.99999215e-01 6.13486816e-04 -1.09254231e-03 1.97646701e+02] [-6.09747312e-04 9.99993967e-01 3.41980488e-03 -1.71653161e+01] [ 1.09463372e-03 -3.41913602e-03 9.99993556e-01 -5.05073141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17241403699998 meters 0.10854524506895388 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.17, Z:-5.05 [[ 9.99998826e-01 1.12134165e-03 -1.04401157e-03 1.97646603e+02] [-1.11684062e-03 9.99990123e-01 4.30193194e-03 -1.71683470e+01] [ 1.04882519e-03 -4.30076089e-03 9.99990202e-01 -5.05067223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20241403699998 meters 0.10508943668527987 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.17, Z:-5.05 [[ 9.99998497e-01 1.39164179e-03 -1.03366514e-03 1.97646574e+02] [-1.38668861e-03 9.99987628e-01 4.77721955e-03 -1.71699809e+01] [ 1.04030053e-03 -4.77577900e-03 9.99988055e-01 -5.05065394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23241403699998 meters 0.10840671208889799 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.17, Z:-5.05 [[ 9.99997215e-01 2.07004334e-03 -1.13388694e-03 1.97646925e+02] [-2.06334171e-03 9.99980584e-01 5.87993918e-03 -1.71731947e+01] [ 1.14603666e-03 -5.87758321e-03 9.99982070e-01 -5.05087456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26241403699999 meters 0.10570787607792699 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.17, Z:-5.05 [[ 9.99996422e-01 2.36999679e-03 -1.24091088e-03 1.97647196e+02] [-2.36209258e-03 9.99977157e-01 6.33286314e-03 -1.71744444e+01] [ 1.25589140e-03 -6.32990933e-03 9.99979177e-01 -5.05095367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.292414037 meters 0.10406610178236056 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.17, Z:-5.05 [[ 9.99996564e-01 -1.33515267e-03 -2.25585773e-03 1.97649164e+02] [ 1.34006660e-03 9.99996730e-01 2.17819252e-03 -1.71738603e+01] [ 2.25294213e-03 -2.18120803e-03 9.99995083e-01 -5.05094410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.322414037 meters 0.10238013669476954 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.18, Z:-5.05 [[ 9.99996226e-01 -9.07172110e-04 -2.59319044e-03 1.97649621e+02] [ 9.14125611e-04 9.99995987e-01 2.68151997e-03 -1.71755203e+01] [ 2.59074743e-03 -2.68388035e-03 9.99993042e-01 -5.05059495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.352414037 meters 0.10162565977986515 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.18, Z:-5.05 [[ 9.99996054e-01 -7.47061883e-04 -2.70808695e-03 1.97649723e+02] [ 7.54856028e-04 9.99995573e-01 2.87822115e-03 -1.71763480e+01] [ 2.70592475e-03 -2.88025401e-03 9.99992191e-01 -5.05038897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.382414037 meters 0.1009901725053249 Centerline is valid? [False, False] Translation: X:197.65, Y:-17.18, Z:-5.05 [[ 9.99995713e-01 -1.99456336e-04 -2.92130298e-03 1.97650512e+02] [ 2.09969551e-04 9.99993502e-01 3.59894569e-03 -1.71777990e+01] [ 2.92056616e-03 -3.59954365e-03 9.99989257e-01 -5.05089556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.412414037 meters 0.09993107991515865 Centerline is valid? [False, True] Translation: X:197.65, Y:-17.18, Z:-5.05 [[ 9.99995493e-01 -1.46124758e-04 -2.99889304e-03 1.97650338e+02] [ 1.57091866e-04 9.99993300e-01 3.65714268e-03 -1.71785681e+01] [ 2.99833855e-03 -3.65759730e-03 9.99988816e-01 -5.05040085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.442414037 meters 0.0961511914230939 Centerline is valid? [True, True] Translation: X:197.68, Y:-17.18, Z:-5.05 [[ 9.99991706e-01 2.61685914e-03 -3.12097778e-03 1.97681459e+02] [-2.61573768e-03 9.99996513e-01 3.63357796e-04 -1.71770792e+01] [ 3.12191775e-03 -3.55191123e-04 9.99995064e-01 -5.04829480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.472414037 meters 0.0961511914230939 Centerline is valid? [True, True] Translation: X:197.71, Y:-17.18, Z:-5.05 [[ 9.99991884e-01 2.54765441e-03 -3.12117441e-03 1.97709766e+02] [-2.54653782e-03 9.99996692e-01 3.61668648e-04 -1.71803061e+01] [ 3.12208549e-03 -3.53717524e-04 9.99995064e-01 -5.04893195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.502414037 meters 0.10029202678434225 Centerline is valid? [True, False] Translation: X:197.71, Y:-17.18, Z:-5.05 [[ 9.99991218e-01 2.72262956e-03 -3.18611840e-03 1.97709785e+02] [-2.72051329e-03 9.99996076e-01 6.68362449e-04 -1.71813502e+01] [ 3.18792560e-03 -6.59688702e-04 9.99994701e-01 -5.04879952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.532414037 meters 0.09864666112917406 Centerline is valid? [False, True] Translation: X:197.71, Y:-17.18, Z:-5.05 [[ 9.99988832e-01 3.29329597e-03 -3.38963947e-03 1.97710246e+02] [-3.28835081e-03 9.99993523e-01 1.46344467e-03 -1.71836595e+01] [ 3.39443707e-03 -1.45228201e-03 9.99993184e-01 -5.04888368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.562414037 meters 0.09830465807207937 Centerline is valid? [True, True] Translation: X:197.74, Y:-17.19, Z:-5.05 [[ 9.99983179e-01 4.22544978e-03 -3.97327358e-03 1.97738998e+02] [-4.22368442e-03 9.99990978e-01 4.52594761e-04 -1.71873091e+01] [ 3.97515015e-03 -4.35805294e-04 9.99992004e-01 -5.04987612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.592414037 meters 0.10100993203463139 Centerline is valid? [True, False] Translation: X:197.74, Y:-17.19, Z:-5.05 [[ 9.99980738e-01 4.64469119e-03 -4.11713637e-03 1.97739714e+02] [-4.64051732e-03 9.99988710e-01 1.02275429e-03 -1.71883455e+01] [ 4.12184027e-03 -1.00362895e-03 9.99991002e-01 -5.05050012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.622414037 meters 0.09108288446666636 Centerline is valid? [False, True] Translation: X:197.74, Y:-17.19, Z:-5.05 [[ 9.99976637e-01 5.18581237e-03 -4.45332531e-03 1.97740522e+02] [-5.17834491e-03 9.99985170e-01 1.68672440e-03 -1.71900039e+01] [ 4.46200630e-03 -1.66362414e-03 9.99988661e-01 -5.05070881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.652414037 meters 0.09314756265082148 Centerline is valid? [True, True] Translation: X:197.77, Y:-17.20, Z:-5.05 [[ 9.99965739e-01 6.61902252e-03 -4.97079697e-03 1.97769206e+02] [-6.61635971e-03 9.99977959e-01 5.51943252e-04 -1.71974601e+01] [ 4.97434074e-03 -5.19035761e-04 9.99987493e-01 -5.05231715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68241403699997 meters 0.09329883885008702 Centerline is valid? [True, True] Translation: X:197.80, Y:-17.20, Z:-5.05 [[ 9.99960550e-01 7.85845497e-03 -4.14047340e-03 1.97798540e+02] [-7.85661906e-03 9.99969031e-01 4.59484067e-04 -1.72020284e+01] [ 4.14395600e-03 -4.26935818e-04 9.99991323e-01 -5.05338332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71241403699997 meters 0.09257421839977233 Centerline is valid? [True, True] Translation: X:197.83, Y:-17.21, Z:-5.05 [[ 9.99957911e-01 8.00261792e-03 -4.48718044e-03 1.97827543e+02] [-8.00046789e-03 9.99967872e-01 4.96895241e-04 -1.72059640e+01] [ 4.49101274e-03 -4.60974784e-04 9.99989809e-01 -5.05225229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74241403699997 meters 0.09236248794332387 Centerline is valid? [True, True] Translation: X:197.86, Y:-17.21, Z:-5.05 [[ 9.99964752e-01 7.80582662e-03 -3.09239850e-03 1.97856217e+02] [-7.80480679e-03 9.99969484e-01 3.41715628e-04 -1.72100355e+01] [ 3.09497151e-03 -3.17568011e-04 9.99995160e-01 -5.05209070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77241403699998 meters 0.09340067877196273 Centerline is valid? [True, True] Translation: X:197.88, Y:-17.22, Z:-5.05 [[ 9.99968321e-01 7.07297440e-03 -3.65099097e-03 1.97883818e+02] [-7.07154519e-03 9.99974915e-01 4.04220001e-04 -1.72166042e+01] [ 3.65375842e-03 -3.78389049e-04 9.99993253e-01 -5.05351844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80241403699998 meters 0.09115170212449421 Centerline is valid? [True, True] Translation: X:197.91, Y:-17.22, Z:-5.05 [[ 9.99974907e-01 5.33159849e-03 -4.66475461e-03 1.97914201e+02] [-5.32924375e-03 9.99985666e-01 5.17078262e-04 -1.72179712e+01] [ 4.66744460e-03 -4.92205673e-04 9.99988986e-01 -5.05397249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83241403699998 meters 0.09538339916617694 Centerline is valid? [True, True] Translation: X:197.94, Y:-17.23, Z:-5.06 [[ 9.99973911e-01 4.54557840e-03 -5.61375014e-03 1.97941776e+02] [-4.54216081e-03 9.99989491e-01 6.21388257e-04 -1.72304614e+01] [ 5.61651572e-03 -5.95873490e-04 9.99984050e-01 -5.05785560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86241403699998 meters 0.09539044146275713 Centerline is valid? [True, True] Translation: X:197.97, Y:-17.23, Z:-5.06 [[ 9.99975376e-01 3.46702701e-03 -6.10141474e-03 1.97971084e+02] [-3.46296798e-03 9.99993776e-01 6.75700285e-04 -1.72347186e+01] [ 6.10371944e-03 -6.54554643e-04 9.99981158e-01 -5.05908950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89241403699998 meters 0.0957728268810386 Centerline is valid? [True, True] Translation: X:198.00, Y:-17.24, Z:-5.06 [[ 9.99976468e-01 1.89602381e-03 -6.59299991e-03 1.98000841e+02] [-1.89124825e-03 9.99997945e-01 7.30496723e-04 -1.72398274e+01] [ 6.59437140e-03 -7.18010533e-04 9.99977999e-01 -5.06046725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92241403699998 meters 0.09657544621088347 Centerline is valid? [True, True] Translation: X:198.03, Y:-17.24, Z:-5.06 [[ 9.99977823e-01 1.59010157e-03 -6.46726873e-03 1.98028995e+02] [-1.58551085e-03 9.99998488e-01 7.14904215e-04 -1.72445647e+01] [ 6.46839572e-03 -7.04634436e-04 9.99978831e-01 -5.06131534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95241403699998 meters 0.09671432133391346 Centerline is valid? [True, True] Translation: X:198.06, Y:-17.25, Z:-5.06 [[ 9.99990278e-01 1.44349817e-03 -4.16661261e-03 1.98057484e+02] [-1.44159503e-03 9.99998855e-01 4.59726095e-04 -1.72479722e+01] [ 4.16727146e-03 -4.53715058e-04 9.99991214e-01 -5.05955221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98241403699998 meters 0.09578591957030178 Centerline is valid? [True, True] Translation: X:198.09, Y:-17.25, Z:-5.06 [[ 9.99989169e-01 1.77603340e-03 -4.30203879e-03 1.98086293e+02] [-1.77400866e-03 9.99998314e-01 4.74417140e-04 -1.72490935e+01] [ 4.30287411e-03 -4.66780148e-04 9.99990634e-01 -5.05942672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01241403699999 meters 0.09539159570828683 Centerline is valid? [True, True] Translation: X:198.12, Y:-17.25, Z:-5.06 [[ 9.99988911e-01 2.13559671e-03 -4.19735679e-03 1.98115387e+02] [-2.13367382e-03 9.99997617e-01 4.62541728e-04 -1.72512002e+01] [ 4.19833459e-03 -4.53580808e-04 9.99991084e-01 -5.06016799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.042414037 meters 0.09317738506207805 Centerline is valid? [True, True] Translation: X:198.14, Y:-17.25, Z:-5.06 [[ 9.99987280e-01 2.28756259e-03 -4.49528677e-03 1.98144466e+02] [-2.28535961e-03 9.99997266e-01 4.95141045e-04 -1.72495634e+01] [ 4.49640714e-03 -4.84861400e-04 9.99989774e-01 -5.05941267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.072414037 meters 0.09306659893441624 Centerline is valid? [True, True] Translation: X:198.17, Y:-17.25, Z:-5.06 [[ 9.99988383e-01 2.63272335e-03 -4.03757253e-03 1.98173675e+02] [-2.63094880e-03 9.99996440e-01 4.44757656e-04 -1.72514133e+01] [ 4.03872908e-03 -4.34129843e-04 9.99991750e-01 -5.06025867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.102414037 meters 0.09582912758586178 Centerline is valid? [True, True] Translation: X:198.20, Y:-17.26, Z:-5.06 [[ 9.99988068e-01 2.95563235e-03 -3.88937040e-03 1.98201168e+02] [-2.95399088e-03 9.99995545e-01 4.27717273e-04 -1.72591591e+01] [ 3.89061725e-03 -4.16223005e-04 9.99992345e-01 -5.06179758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.132414037 meters 0.09381400498533982 Centerline is valid? [True, True] Translation: X:198.23, Y:-17.26, Z:-5.06 [[ 9.99985042e-01 3.52901394e-03 -4.17869733e-03 1.98230571e+02] [-3.52712480e-03 9.99993674e-01 4.59372216e-04 -1.72572418e+01] [ 4.18029203e-03 -4.44626558e-04 9.99991164e-01 -5.06213676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.162414037 meters 0.09497420256917162 Centerline is valid? [True, True] Translation: X:198.26, Y:-17.26, Z:-5.06 [[ 9.99982320e-01 4.07584494e-03 -4.32988899e-03 1.98258032e+02] [-4.07382474e-03 9.99991589e-01 4.75288730e-04 -1.72617894e+01] [ 4.33178978e-03 -4.57641117e-04 9.99990513e-01 -5.06446809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.192414037 meters 0.0943844797956456 Centerline is valid? [True, True] Translation: X:198.29, Y:-17.26, Z:-5.07 [[ 9.99974065e-01 4.43570465e-03 -5.67387968e-03 1.98287204e+02] [-4.43223774e-03 9.99989983e-01 6.23458092e-04 -1.72636543e+01] [ 5.67658832e-03 -5.98293939e-04 9.99983709e-01 -5.06561991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.222414037 meters 0.09423103726387236 Centerline is valid? [True, True] Translation: X:198.32, Y:-17.27, Z:-5.07 [[ 9.99967245e-01 5.19498716e-03 -6.20658892e-03 1.98315687e+02] [-5.19085482e-03 9.99986295e-01 6.81723204e-04 -1.72657246e+01] [ 6.21004540e-03 -6.49483371e-04 9.99980507e-01 -5.06713164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.252414037 meters 0.09381100675736181 Centerline is valid? [True, True] Translation: X:198.34, Y:-17.27, Z:-5.07 [[ 9.99965370e-01 5.16195591e-03 -6.52784927e-03 1.98344365e+02] [-5.15738643e-03 9.99986444e-01 7.16636690e-04 -1.72671114e+01] [ 6.53146002e-03 -6.82945232e-04 9.99978437e-01 -5.06781675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.282414037 meters 0.09463849572783786 Centerline is valid? [True, True] Translation: X:198.37, Y:-17.27, Z:-5.07 [[ 9.99970513e-01 5.40104393e-03 -5.45913265e-03 1.98372034e+02] [-5.39785787e-03 9.99985253e-01 5.98185572e-04 -1.72712458e+01] [ 5.46228296e-03 -5.68700311e-04 9.99984920e-01 -5.06862738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.312414037 meters 0.09208021006444116 Centerline is valid? [True, True] Translation: X:198.40, Y:-17.27, Z:-5.07 [[ 9.99971487e-01 5.38225490e-03 -5.29689620e-03 1.98401547e+02] [-5.37925549e-03 9.99985363e-01 5.80341439e-04 -1.72693291e+01] [ 5.29994221e-03 -5.51831533e-04 9.99985803e-01 -5.06742089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.342414037 meters 0.0954513428914649 Centerline is valid? [True, True] Translation: X:198.43, Y:-17.28, Z:-5.07 [[ 9.99975635e-01 5.12793201e-03 -4.73636533e-03 1.98428501e+02] [-5.12553661e-03 9.99986730e-01 5.17745713e-04 -1.72787305e+01] [ 4.73895744e-03 -4.93456684e-04 9.99988649e-01 -5.06854806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.372414037 meters 0.09397203601304314 Centerline is valid? [True, True] Translation: X:198.46, Y:-17.28, Z:-5.07 [[ 9.99983567e-01 4.44819784e-03 -3.61657561e-03 1.98457754e+02] [-4.44679749e-03 9.99990035e-01 3.95152434e-04 -1.72792741e+01] [ 3.61829729e-03 -3.79063761e-04 9.99993382e-01 -5.06921810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.402414037 meters 0.09649326608092748 Centerline is valid? [True, True] Translation: X:198.49, Y:-17.29, Z:-5.07 [[ 9.99987437e-01 3.48560025e-03 -3.60217444e-03 1.98485218e+02] [-3.48420573e-03 9.99993853e-01 3.93336400e-04 -1.72868460e+01] [ 3.60352331e-03 -3.80780742e-04 9.99993435e-01 -5.07041518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43241403699997 meters 0.0950542102609282 Centerline is valid? [True, True] Translation: X:198.52, Y:-17.29, Z:-5.07 [[ 9.99994495e-01 1.66160796e-03 -2.87216904e-03 1.98515372e+02] [-1.66071157e-03 9.99998572e-01 3.14453952e-04 -1.72871764e+01] [ 2.87268744e-03 -3.09682376e-04 9.99995826e-01 -5.06945899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46241403699997 meters 0.09589181743052495 Centerline is valid? [True, True] Translation: X:198.54, Y:-17.29, Z:-5.07 [[ 9.99993042e-01 8.76247322e-04 -3.62608358e-03 1.98544952e+02] [-8.74814998e-04 9.99999539e-01 3.96573136e-04 -1.72907835e+01] [ 3.62642941e-03 -3.93398224e-04 9.99993347e-01 -5.07076247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49241403699997 meters 0.09774071817487051 Centerline is valid? [True, True] Translation: X:198.57, Y:-17.30, Z:-5.07 [[ 9.99994184e-01 -3.75595204e-05 -3.41041667e-03 1.98572844e+02] [ 3.88325488e-05 9.99999930e-01 3.73211044e-04 -1.72954087e+01] [ 3.41040242e-03 -3.73341309e-04 9.99994115e-01 -5.07220174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52241403699998 meters 0.09803126007783725 Centerline is valid? [True, True] Translation: X:198.60, Y:-17.30, Z:-5.07 [[ 9.99994059e-01 -2.99451800e-04 -3.43411247e-03 1.98601268e+02] [ 3.00739433e-04 9.99999885e-01 3.74443368e-04 -1.72981651e+01] [ 3.43399995e-03 -3.75473916e-04 9.99994033e-01 -5.07365311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55241403699998 meters 0.09569338289770152 Centerline is valid? [True, True] Translation: X:198.63, Y:-17.30, Z:-5.07 [[ 9.99995113e-01 -3.06983898e-04 -3.11137633e-03 1.98630990e+02] [ 3.08041114e-04 9.99999895e-01 3.39316974e-04 -1.72963355e+01] [ 3.11127184e-03 -3.40273747e-04 9.99995102e-01 -5.07324290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58241403699998 meters 0.09576240880435159 Centerline is valid? [True, True] Translation: X:198.66, Y:-17.30, Z:-5.08 [[ 9.99984467e-01 -1.01198144e-04 -5.57278500e-03 1.98660413e+02] [ 1.04593219e-04 9.99999809e-01 6.08935979e-04 -1.72973890e+01] [ 5.57272231e-03 -6.09509396e-04 9.99984287e-01 -5.07522679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61241403699998 meters 0.09813800008660828 Centerline is valid? [True, True] Translation: X:198.69, Y:-17.30, Z:-5.08 [[ 9.99987651e-01 3.88609361e-04 -4.95450129e-03 1.98687793e+02] [-3.85940338e-04 9.99999780e-01 5.39651393e-04 -1.73034083e+01] [ 4.95470991e-03 -5.37732587e-04 9.99987581e-01 -5.07663406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64241403699998 meters 0.09692703273688584 Centerline is valid? [True, True] Translation: X:198.72, Y:-17.30, Z:-5.08 [[ 9.99984652e-01 6.16708072e-04 -5.50589971e-03 1.98716813e+02] [-6.13441174e-04 9.99999635e-01 5.95014191e-04 -1.73024977e+01] [ 5.50626465e-03 -5.91627513e-04 9.99984665e-01 -5.07709485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67241403699998 meters 0.09574707090924586 Centerline is valid? [True, True] Translation: X:198.75, Y:-17.30, Z:-5.08 [[ 9.99988616e-01 1.78784743e-03 -4.42388299e-03 1.98747249e+02] [-1.78573483e-03 9.99998290e-01 4.81448634e-04 -1.73014850e+01] [ 4.42473618e-03 -4.73543271e-04 9.99990099e-01 -5.07745208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70241403699998 meters 0.0967514337486181 Centerline is valid? [True, True] Translation: X:198.77, Y:-17.31, Z:-5.08 [[ 9.99987779e-01 1.97249254e-03 -4.53335305e-03 1.98774900e+02] [-1.97028229e-03 9.99997938e-01 4.91966788e-04 -1.73059336e+01] [ 4.53431410e-03 -4.83028790e-04 9.99989603e-01 -5.07865219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73241403699998 meters 0.09375211041017545 Centerline is valid? [True, True] Translation: X:198.80, Y:-17.30, Z:-5.08 [[ 9.99987910e-01 2.58708946e-03 -4.18182817e-03 1.98804223e+02] [-2.58521437e-03 9.99996555e-01 4.53733534e-04 -1.73032633e+01] [ 4.18298761e-03 -4.42917126e-04 9.99991153e-01 -5.07811968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76241403699999 meters 0.09413964275955312 Centerline is valid? [True, True] Translation: X:198.83, Y:-17.31, Z:-5.08 [[ 9.99988980e-01 3.05268675e-03 -3.56671652e-03 1.98832513e+02] [-3.05132735e-03 9.99995270e-01 3.86513960e-04 -1.73064476e+01] [ 3.56787955e-03 -3.75626481e-04 9.99993565e-01 -5.07931546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.792414037 meters 0.09548101853673956 Centerline is valid? [True, True] Translation: X:198.86, Y:-17.31, Z:-5.08 [[ 9.99989409e-01 4.00683424e-03 -2.26449517e-03 1.98860896e+02] [-4.00628790e-03 9.99991945e-01 2.45746458e-04 -1.73097292e+01] [ 2.26546160e-03 -2.36671636e-04 9.99997406e-01 -5.08024645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.822414037 meters 0.09310735669902384 Centerline is valid? [True, True] Translation: X:198.89, Y:-17.31, Z:-5.08 [[ 9.99987721e-01 4.49736773e-03 -2.08115759e-03 1.98890339e+02] [-4.49690984e-03 9.99989864e-01 2.24643512e-04 -1.73070682e+01] [ 2.08214680e-03 -2.15281975e-04 9.99997809e-01 -5.07990658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.852414037 meters 0.09382394310201041 Centerline is valid? [True, True] Translation: X:198.92, Y:-17.31, Z:-5.08 [[ 9.99985460e-01 5.10857472e-03 -1.72718762e-03 1.98918346e+02] [-5.10826091e-03 9.99986935e-01 1.86050471e-04 -1.73101549e+01] [ 1.72811551e-03 -1.77224841e-04 9.99998491e-01 -5.08112568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.882414037 meters 0.09634067553731124 Centerline is valid? [True, True] Translation: X:198.95, Y:-17.32, Z:-5.08 [[ 9.99985444e-01 5.28034615e-03 -1.10860134e-03 1.98945270e+02] [-5.28021815e-03 9.99986053e-01 1.18355606e-04 -1.73170180e+01] [ 1.10921084e-03 -1.12500226e-04 9.99999378e-01 -5.08332217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.912414037 meters 0.09642451108079943 Centerline is valid? [True, True] Translation: X:198.97, Y:-17.32, Z:-5.08 [[ 9.99986492e-01 4.94964385e-03 -1.58664284e-03 1.98973965e+02] [-4.94937938e-03 9.99987737e-01 1.70572909e-04 -1.73201625e+01] [ 1.58746766e-03 -1.62717708e-04 9.99998727e-01 -5.08474944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.942414037 meters 0.09424853872015722 Centerline is valid? [True, True] Translation: X:199.00, Y:-17.32, Z:-5.09 [[ 9.99987590e-01 4.37403298e-03 -2.38494251e-03 1.99003972e+02] [-4.37343024e-03 9.99990403e-01 2.57888045e-04 -1.73180218e+01] [ 2.38604764e-03 -2.47454465e-04 9.99997123e-01 -5.08506090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.972414037 meters 0.09636214756148896 Centerline is valid? [True, True] Translation: X:199.03, Y:-17.32, Z:-5.09 [[ 9.99991687e-01 3.05609588e-03 -2.69912343e-03 1.99031576e+02] [-3.05531966e-03 9.99995290e-01 2.91660645e-04 -1.73235602e+01] [ 2.70000206e-03 -2.83411536e-04 9.99996315e-01 -5.08629277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.002414037 meters 0.09711761347446064 Centerline is valid? [True, True] Translation: X:199.06, Y:-17.33, Z:-5.09 [[ 9.99993851e-01 2.44672648e-03 -2.51211481e-03 1.99060154e+02] [-2.44605430e-03 9.99996972e-01 2.70614775e-04 -1.73264445e+01] [ 2.51276933e-03 -2.64468342e-04 9.99996808e-01 -5.08733632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.032414037 meters 0.09681464856295909 Centerline is valid? [True, True] Translation: X:199.09, Y:-17.33, Z:-5.09 [[ 9.99994949e-01 8.74370824e-04 -3.05577843e-03 1.99090861e+02] [-8.73363003e-04 9.99999564e-01 3.31127108e-04 -1.73266960e+01] [ 3.05606663e-03 -3.28456632e-04 9.99995276e-01 -5.08734399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.062414037 meters 0.095887590001406 Centerline is valid? [True, True] Translation: X:199.12, Y:-17.33, Z:-5.09 [[ 9.99996981e-01 5.32378886e-04 -2.39905285e-03 1.99119816e+02] [-5.31761052e-04 9.99999825e-01 2.58162972e-04 -1.73269136e+01] [ 2.39918987e-03 -2.56886470e-04 9.99997089e-01 -5.08736342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.092414037 meters 0.09588348237481553 Centerline is valid? [True, True] Translation: X:199.15, Y:-17.33, Z:-5.09 [[ 9.99997871e-01 2.18179566e-04 -2.05176245e-03 1.99149171e+02] [-2.17725971e-04 9.99999952e-01 2.21296525e-04 -1.73272440e+01] [ 2.05181063e-03 -2.20849332e-04 9.99997871e-01 -5.08753788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.122414037 meters 0.09800935884127551 Centerline is valid? [True, True] Translation: X:199.18, Y:-17.33, Z:-5.09 [[ 9.99997784e-01 9.70385495e-04 -1.86802213e-03 1.99177894e+02] [-9.70011057e-04 9.99999509e-01 2.01341866e-04 -1.73322305e+01] [ 1.86821660e-03 -1.99529417e-04 9.99998235e-01 -5.08932452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.152414037 meters 0.09688499127963433 Centerline is valid? [True, True] Translation: X:199.21, Y:-17.33, Z:-5.09 [[ 9.99998011e-01 1.45512121e-03 -1.36434331e-03 1.99207458e+02] [-1.45492871e-03 9.99998931e-01 1.42074505e-04 -1.73316208e+01] [ 1.36454859e-03 -1.40089200e-04 9.99999059e-01 -5.08944496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18241403699997 meters 0.09747122487302476 Centerline is valid? [True, True] Translation: X:199.24, Y:-17.33, Z:-5.09 [[ 9.99995148e-01 3.03428709e-03 -7.05286670e-04 1.99236346e+02] [-3.03423487e-03 9.99995394e-01 7.51045579e-05 -1.73327556e+01] [ 7.05511310e-04 -7.29641881e-05 9.99999748e-01 -5.09053788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21241403699997 meters 0.09720589831806947 Centerline is valid? [True, True] Translation: X:199.27, Y:-17.33, Z:-5.09 [[ 9.99992099e-01 3.97324831e-03 -1.20171437e-04 1.99266453e+02] [-3.97324692e-03 9.99992107e-01 1.18168302e-05 -1.73345419e+01] [ 1.20217439e-04 -1.13392660e-05 9.99999993e-01 -5.09088762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24241403699997 meters 0.09428209646877593 Centerline is valid? [True, True] Translation: X:199.30, Y:-17.33, Z:-5.09 [[ 9.99990255e-01 4.25232566e-03 1.18661217e-03 1.99296314e+02] [-4.25217576e-03 9.99990951e-01 -1.28822329e-04 -1.73316562e+01] [-1.18714923e-03 1.23775390e-04 9.99999288e-01 -5.09089115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27241403699998 meters 0.09645353775834062 Centerline is valid? [True, True] Translation: X:199.33, Y:-17.34, Z:-5.09 [[ 9.99992111e-01 3.80085145e-03 1.15375188e-03 1.99325450e+02] [-3.80070991e-03 9.99992769e-01 -1.24844402e-04 -1.73383806e+01] [-1.15421805e-03 1.20458341e-04 9.99999327e-01 -5.09174453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30241403699998 meters 0.09867048125258727 Centerline is valid? [True, True] Translation: X:199.35, Y:-17.35, Z:-5.09 [[ 9.99994898e-01 2.99527709e-03 1.11051599e-03 1.99353942e+02] [-2.99514506e-03 9.99995507e-01 -1.20536822e-04 -1.73456711e+01] [-1.11087204e-03 1.17210050e-04 9.99999376e-01 -5.09307021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33241403699998 meters 0.09862667812948366 Centerline is valid? [True, True] Translation: X:199.38, Y:-17.35, Z:-5.09 [[ 9.99999457e-01 4.21732119e-05 1.04151049e-03 1.99383708e+02] [-4.20559300e-05 9.99999993e-01 -1.12629108e-04 -1.73495385e+01] [-1.04151523e-03 1.12585245e-04 9.99999451e-01 -5.09278035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36241403699998 meters 0.09981509019652533 Centerline is valid? [True, True] Translation: X:199.41, Y:-17.36, Z:-5.09 [[ 9.99998876e-01 -1.49868951e-03 -4.39466666e-05 1.99414400e+02] [ 1.49868974e-03 9.99998877e-01 5.14082631e-06 -1.73553930e+01] [ 4.39389127e-05 -5.20668295e-06 9.99999999e-01 -5.09434730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39241403699998 meters 0.09981509019652533 Centerline is valid? [True, True] Translation: X:199.45, Y:-17.36, Z:-5.10 [[ 9.99998926e-01 -1.46467691e-03 -4.39031279e-05 1.99445249e+02] [ 1.46467715e-03 9.99998927e-01 5.54450602e-06 -1.73587561e+01] [ 4.38949599e-05 -5.60880397e-06 9.99999999e-01 -5.09508151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42241403699998 meters 0.10222971716542717 Centerline is valid? [True, False] Translation: X:199.45, Y:-17.36, Z:-5.10 [[ 9.99999124e-01 -1.32232416e-03 5.48371089e-05 1.99445125e+02] [ 1.32230348e-03 9.99999055e-01 3.75488521e-04 -1.73599051e+01] [-5.53335746e-05 -3.75415680e-04 9.99999928e-01 -5.09519722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45241403699998 meters 0.10100806717184632 Centerline is valid? [False, False] Translation: X:199.44, Y:-17.36, Z:-5.10 [[ 9.99999122e-01 -1.23982192e-03 4.68158134e-04 1.99444477e+02] [ 1.23933959e-03 9.99998702e-01 1.02915355e-03 -1.73620228e+01] [-4.69433493e-04 -1.02857244e-03 9.99999361e-01 -5.09545798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48241403699998 meters 0.10133202538062562 Centerline is valid? [False, False] Translation: X:199.44, Y:-17.36, Z:-5.10 [[ 9.99999389e-01 -9.81398114e-04 5.08523644e-04 1.99444692e+02] [ 9.80623738e-04 9.99998363e-01 1.52081176e-03 -1.73630623e+01] [-5.10015334e-04 -1.52031216e-03 9.99998714e-01 -5.09591378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51241403699999 meters 0.10377710345677842 Centerline is valid? [False, False] Translation: X:199.44, Y:-17.36, Z:-5.10 [[ 9.99999207e-01 -9.15847121e-04 8.64956831e-04 1.99444098e+02] [ 9.14054828e-04 9.99997439e-01 2.07024612e-03 -1.73649432e+01] [-8.66850646e-04 -2.06945386e-03 9.99997483e-01 -5.09608642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.542414037 meters 0.10101993312345454 Centerline is valid? [False, False] Translation: X:199.44, Y:-17.37, Z:-5.10 [[ 9.99999031e-01 -1.01601910e-03 9.51729036e-04 1.99443720e+02] [ 1.01409392e-03 9.99997443e-01 2.02112275e-03 -1.73652815e+01] [-9.53780103e-04 -2.02015565e-03 9.99997505e-01 -5.09578004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.572414037 meters 0.10444330995231367 Centerline is valid? [False, False] Translation: X:199.44, Y:-17.37, Z:-5.10 [[ 9.99999203e-01 -8.53566723e-04 9.30641295e-04 1.99443883e+02] [ 8.51459512e-04 9.99997078e-01 2.26230750e-03 -1.73658491e+01] [-9.32569606e-04 -2.26151329e-03 9.99997008e-01 -5.09594223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.602414037 meters 0.10493674806297426 Centerline is valid? [False, False] Translation: X:199.44, Y:-17.37, Z:-5.10 [[ 9.99999111e-01 -9.78514585e-04 9.06166633e-04 1.99443396e+02] [ 9.76614155e-04 9.99997328e-01 2.09529212e-03 -1.73663756e+01] [-9.08214485e-04 -2.09440528e-03 9.99997394e-01 -5.09511641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.632414037 meters 0.10362660671968725 Centerline is valid? [False, False] Translation: X:199.44, Y:-17.37, Z:-5.10 [[ 9.99999311e-01 -8.57421518e-04 8.02117181e-04 1.99443610e+02] [ 8.55667011e-04 9.99997247e-01 2.18513608e-03 -1.73667212e+01] [-8.03988555e-04 -2.18444823e-03 9.99997291e-01 -5.09508938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.662414037 meters 0.10721614730132323 Centerline is valid? [False, False] Translation: X:199.44, Y:-17.37, Z:-5.10 [[ 9.99999572e-01 -6.52836971e-04 6.55563288e-04 1.99444065e+02] [ 6.51252753e-04 9.99996875e-01 2.41388863e-03 -1.73670461e+01] [-6.57137115e-04 -2.41346065e-03 9.99996872e-01 -5.09533226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.692414037 meters 0.1034350589676224 Centerline is valid? [False, False] Translation: X:199.44, Y:-17.37, Z:-5.10 [[ 9.99999588e-01 -6.84002931e-04 5.96199228e-04 1.99444057e+02] [ 6.82632934e-04 9.99997133e-01 2.29506588e-03 -1.73669879e+01] [-5.97767350e-04 -2.29465795e-03 9.99997189e-01 -5.09513337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.722414037 meters 0.10506057380102268 Centerline is valid? [False, False] Translation: X:199.44, Y:-17.37, Z:-5.10 [[ 9.99999746e-01 -5.50495375e-04 4.53617042e-04 1.99444383e+02] [ 5.49401059e-04 9.99996947e-01 2.40902619e-03 -1.73671097e+01] [-4.54941815e-04 -2.40877636e-03 9.99996995e-01 -5.09519070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.752414037 meters 0.10215911358146275 Centerline is valid? [False, False] Translation: X:199.44, Y:-17.37, Z:-5.09 [[ 9.99999740e-01 -6.21091097e-04 3.66751475e-04 1.99444126e+02] [ 6.20263220e-04 9.99997269e-01 2.25313956e-03 -1.73672517e+01] [-3.68149879e-04 -2.25291149e-03 9.99997394e-01 -5.09454917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.782414037 meters 0.10222425621640621 Centerline is valid? [False, False] Translation: X:199.44, Y:-17.37, Z:-5.09 [[ 9.99999871e-01 -4.61549634e-04 2.14253681e-04 1.99444292e+02] [ 4.61033091e-04 9.99997002e-01 2.40471802e-03 -1.73679311e+01] [-2.15362935e-04 -2.40461893e-03 9.99997086e-01 -5.09430695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.812414037 meters 0.0973024584050075 Centerline is valid? [False, True] Translation: X:199.44, Y:-17.37, Z:-5.09 [[ 9.99999897e-01 -3.90767605e-04 2.30273252e-04 1.99444088e+02] [ 3.90177293e-04 9.99996652e-01 2.55802063e-03 -1.73687528e+01] [-2.31272072e-04 -2.55793052e-03 9.99996702e-01 -5.09403918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.842414037 meters 0.1011784703759684 Centerline is valid? [True, False] Translation: X:199.45, Y:-17.37, Z:-5.10 [[ 9.99993890e-01 -3.41874883e-03 -7.29924796e-04 1.99446747e+02] [ 3.41834357e-03 9.99994003e-01 -5.55727460e-04 -1.73701088e+01] [ 7.31820312e-04 5.53228930e-04 9.99999579e-01 -5.09510466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.872414037 meters 0.09770494424068354 Centerline is valid? [False, True] Translation: X:199.45, Y:-17.37, Z:-5.10 [[ 9.99995429e-01 -2.91273160e-03 -8.11727855e-04 1.99447447e+02] [ 2.91291814e-03 9.99995731e-01 2.28726457e-04 -1.73715172e+01] [ 8.11058171e-04 -2.31089909e-04 9.99999644e-01 -5.09590667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.902414037 meters 0.09906411939176049 Centerline is valid? [True, True] Translation: X:199.48, Y:-17.38, Z:-5.10 [[ 9.99995169e-01 -2.66730685e-03 -1.59604638e-03 1.99477116e+02] [ 2.66759627e-03 9.99996426e-01 1.79232338e-04 -1.73781403e+01] [ 1.59556261e-03 -1.83489080e-04 9.99998710e-01 -5.09769109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93241403699997 meters 0.10215992220367359 Centerline is valid? [True, False] Translation: X:199.48, Y:-17.38, Z:-5.10 [[ 9.99996854e-01 -1.88338700e-03 -1.65646150e-03 1.99477927e+02] [ 1.88576332e-03 9.99997193e-01 1.43418582e-03 -1.73808426e+01] [ 1.65375572e-03 -1.43730500e-03 9.99997600e-01 -5.09872034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96241403699997 meters 0.09965918486166389 Centerline is valid? [False, True] Translation: X:199.48, Y:-17.38, Z:-5.10 [[ 9.99997203e-01 -1.76833332e-03 -1.57086264e-03 1.99477676e+02] [ 1.77104419e-03 9.99996942e-01 1.72600341e-03 -1.73819996e+01] [ 1.56780569e-03 -1.72878065e-03 9.99997277e-01 -5.09858921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99241403699997 meters 0.102195762794091 Centerline is valid? [True, False] Translation: X:199.48, Y:-17.38, Z:-5.10 [[ 9.99997821e-01 -1.55167505e-03 -1.39617906e-03 1.99477158e+02] [ 1.55493763e-03 9.99996056e-01 2.33875041e-03 -1.73842541e+01] [ 1.39254457e-03 -2.34091629e-03 9.99996290e-01 -5.09834433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02241403699998 meters 0.09829944454935471 Centerline is valid? [False, True] Translation: X:199.48, Y:-17.39, Z:-5.10 [[ 9.99998197e-01 -1.23167456e-03 -1.44543141e-03 1.99477474e+02] [ 1.23578221e-03 9.99995191e-01 2.84437465e-03 -1.73853939e+01] [ 1.44192111e-03 -2.84615576e-03 9.99994910e-01 -5.09865796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05241403699998 meters 0.09968627849641049 Centerline is valid? [True, True] Translation: X:199.51, Y:-17.39, Z:-5.10 [[ 9.99997474e-01 -1.51654056e-03 -1.65883429e-03 1.99506478e+02] [ 1.51685689e-03 9.99998832e-01 1.89453480e-04 -1.73909239e+01] [ 1.65854504e-03 -1.91969216e-04 9.99998606e-01 -5.09898453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08241403699998 meters 0.09938105483240475 Centerline is valid? [True, True] Translation: X:199.54, Y:-17.39, Z:-5.10 [[ 9.99998348e-01 -1.16358426e-03 -1.39654519e-03 1.99536934e+02] [ 1.16380868e-03 9.99999310e-01 1.59895376e-04 -1.73944514e+01] [ 1.39635817e-03 -1.61520424e-04 9.99999012e-01 -5.09923684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11241403699998 meters 0.09926765784898925 Centerline is valid? [True, True] Translation: X:199.57, Y:-17.40, Z:-5.10 [[ 9.99997875e-01 -1.20973737e-03 -1.66917219e-03 1.99567138e+02] [ 1.21005803e-03 9.99999250e-01 1.91109401e-04 -1.73985175e+01] [ 1.66893974e-03 -1.93128790e-04 9.99998589e-01 -5.10034718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14241403699998 meters 0.10617486990418502 Centerline is valid? [True, False] Translation: X:199.57, Y:-17.40, Z:-5.10 [[ 9.99998255e-01 -8.85085025e-04 -1.64519179e-03 1.99567498e+02] [ 8.86280834e-04 9.99999344e-01 7.26263995e-04 -1.73994881e+01] [ 1.64454790e-03 -7.27720829e-04 9.99998383e-01 -5.10095670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17241403699998 meters 0.10112841580132598 Centerline is valid? [False, False] Translation: X:199.57, Y:-17.40, Z:-5.10 [[ 9.99998531e-01 -6.52397554e-04 -1.58535787e-03 1.99567275e+02] [ 6.54313544e-04 9.99999056e-01 1.20833527e-03 -1.74012881e+01] [ 1.58456806e-03 -1.20937082e-03 9.99998013e-01 -5.10079723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20241403699998 meters 0.10123657166514267 Centerline is valid? [False, False] Translation: X:199.57, Y:-17.40, Z:-5.10 [[ 9.99998527e-01 -5.98593215e-04 -1.60846566e-03 1.99567156e+02] [ 6.00704778e-04 9.99998958e-01 1.31261910e-03 -1.74019341e+01] [ 1.60767826e-03 -1.31358338e-03 9.99997845e-01 -5.10054741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23241403699998 meters 0.10248849055230215 Centerline is valid? [False, False] Translation: X:199.57, Y:-17.40, Z:-5.10 [[ 9.99998549e-01 -5.65302761e-04 -1.60727583e-03 1.99567244e+02] [ 5.67508638e-04 9.99998897e-01 1.37230785e-03 -1.74019735e+01] [ 1.60649829e-03 -1.37321800e-03 9.99997767e-01 -5.10068557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26241403699999 meters 0.10085674234344898 Centerline is valid? [False, False] Translation: X:199.57, Y:-17.40, Z:-5.10 [[ 9.99998414e-01 -4.51610702e-04 -1.72287000e-03 1.99567372e+02] [ 4.54225677e-04 9.99998745e-01 1.51771243e-03 -1.74024335e+01] [ 1.72218243e-03 -1.51849259e-03 9.99997364e-01 -5.10051157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.292414037 meters 0.09786334866968117 Centerline is valid? [False, True] Translation: X:199.57, Y:-17.40, Z:-5.10 [[ 9.99998431e-01 -4.28928344e-04 -1.71846150e-03 1.99567245e+02] [ 4.31705784e-04 9.99998601e-01 1.61619142e-03 -1.74030006e+01] [ 1.71776586e-03 -1.61693075e-03 9.99997217e-01 -5.10035383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.322414037 meters 0.1010959120807305 Centerline is valid? [True, False] Translation: X:199.57, Y:-17.40, Z:-5.10 [[ 9.99989835e-01 -3.75080214e-03 -2.50214603e-03 1.99569547e+02] [ 3.74620832e-03 9.99991294e-01 -1.83812155e-03 -1.74033478e+01] [ 2.50901868e-03 1.82872930e-03 9.99995180e-01 -5.10144772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.352414037 meters 0.09874550501056527 Centerline is valid? [False, True] Translation: X:199.57, Y:-17.41, Z:-5.10 [[ 9.99991812e-01 -3.48712301e-03 -2.05342491e-03 1.99568490e+02] [ 3.48537923e-03 9.99993563e-01 -8.52171196e-04 -1.74072157e+01] [ 2.05638332e-03 8.45007253e-04 9.99997529e-01 -5.10117222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.382414037 meters 0.10469265118337945 Centerline is valid? [True, False] Translation: X:199.57, Y:-17.41, Z:-5.10 [[ 9.99993008e-01 -3.23357794e-03 -1.87808928e-03 1.99568147e+02] [ 3.23318435e-03 9.99994751e-01 -2.12568750e-04 -1.74092667e+01] [ 1.87876677e-03 2.06495055e-04 9.99998214e-01 -5.10120180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.412414037 meters 0.09734415790470335 Centerline is valid? [False, True] Translation: X:199.57, Y:-17.41, Z:-5.10 [[ 9.99994998e-01 -2.75721320e-03 -1.54959803e-03 1.99567716e+02] [ 2.75887264e-03 9.99995622e-01 1.06976912e-03 -1.74128847e+01] [ 1.54664166e-03 -1.07403892e-03 9.99998227e-01 -5.10147483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.442414037 meters 0.10042043869178047 Centerline is valid? [True, False] Translation: X:199.57, Y:-17.41, Z:-5.10 [[ 9.99995850e-01 -2.45890616e-03 -1.50113047e-03 1.99567689e+02] [ 2.46142075e-03 9.99995567e-01 1.67558663e-03 -1.74146174e+01] [ 1.49700370e-03 -1.67927459e-03 9.99997470e-01 -5.10158064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.472414037 meters 0.10351311224030281 Centerline is valid? [False, False] Translation: X:199.57, Y:-17.42, Z:-5.10 [[ 9.99997135e-01 -1.83967217e-03 -1.53159274e-03 1.99568178e+02] [ 1.84385211e-03 9.99994568e-01 2.73222692e-03 -1.74168912e+01] [ 1.52655802e-03 -2.73504312e-03 9.99995095e-01 -5.10224959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.502414037 meters 0.09901853846696787 Centerline is valid? [False, True] Translation: X:199.57, Y:-17.42, Z:-5.10 [[ 9.99998100e-01 -1.47992521e-03 -1.26883907e-03 1.99567655e+02] [ 1.48460142e-03 9.99992081e-01 3.69243567e-03 -1.74200435e+01] [ 1.26336449e-03 -3.69431238e-03 9.99992378e-01 -5.10225294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.532414037 meters 0.10320725833872801 Centerline is valid? [True, False] Translation: X:199.57, Y:-17.42, Z:-5.10 [[ 9.99998372e-01 -1.33961131e-03 -1.20918666e-03 1.99567465e+02] [ 1.34446827e-03 9.99990996e-01 4.02487987e-03 -1.74212169e+01] [ 1.20378399e-03 -4.02649902e-03 9.99991169e-01 -5.10215013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.562414037 meters 0.10093820710202295 Centerline is valid? [False, False] Translation: X:199.57, Y:-17.42, Z:-5.10 [[ 9.99998724e-01 -1.01573584e-03 -1.23308753e-03 1.99567681e+02] [ 1.02136178e-03 9.99989034e-01 4.57045913e-03 -1.74224755e+01] [ 1.22843163e-03 -4.57171272e-03 9.99988795e-01 -5.10240156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.592414037 meters 0.10439004406923694 Centerline is valid? [False, False] Translation: X:199.57, Y:-17.42, Z:-5.10 [[ 9.99998981e-01 -7.24981283e-04 -1.22946297e-03 1.99567674e+02] [ 7.31216313e-04 9.99986837e-01 5.07850032e-03 -1.74239811e+01] [ 1.22576497e-03 -5.07939415e-03 9.99986349e-01 -5.10235589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.622414037 meters 0.0991682155887239 Centerline is valid? [False, True] Translation: X:199.57, Y:-17.42, Z:-5.10 [[ 9.99999057e-01 -6.50471093e-04 -1.20911767e-03 1.99567536e+02] [ 6.56806041e-04 9.99986022e-01 5.24632205e-03 -1.74246479e+01] [ 1.20568818e-03 -5.24711126e-03 9.99985507e-01 -5.10221095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.652414037 meters 0.10144539879710676 Centerline is valid? [True, False] Translation: X:199.57, Y:-17.43, Z:-5.10 [[ 9.99990376e-01 -3.90041285e-03 -2.00849509e-03 1.99569969e+02] [ 3.90430035e-03 9.99990506e-01 1.93525903e-03 -1.74252524e+01] [ 2.00092771e-03 -1.94308217e-03 9.99996110e-01 -5.10347602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68241403699997 meters 0.10557758103055188 Centerline is valid? [False, False] Translation: X:199.57, Y:-17.43, Z:-5.10 [[ 9.99991957e-01 -3.41796275e-03 -2.09820887e-03 1.99570636e+02] [ 3.42352365e-03 9.99990622e-01 2.65245912e-03 -1.74265893e+01] [ 2.08912318e-03 -2.65962105e-03 9.99994281e-01 -5.10419776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71241403699997 meters 0.10879613895328782 Centerline is valid? [False, False] Translation: X:199.57, Y:-17.43, Z:-5.10 [[ 9.99992840e-01 -3.09015922e-03 -2.18420564e-03 1.99571073e+02] [ 3.09701998e-03 9.99990260e-01 3.14470639e-03 -1.74276267e+01] [ 2.17446672e-03 -3.15144841e-03 9.99992670e-01 -5.10458722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74241403699997 meters 0.10005623153718052 Centerline is valid? [False, False] Translation: X:199.57, Y:-17.43, Z:-5.10 [[ 9.99992541e-01 -3.20578278e-03 -2.15420467e-03 1.99570708e+02] [ 3.21223754e-03 9.99990342e-01 2.99960398e-03 -1.74277400e+01] [ 2.14456778e-03 -3.00650142e-03 9.99993181e-01 -5.10412020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77241403699998 meters 0.0977380794013884 Centerline is valid? [False, True] Translation: X:199.57, Y:-17.43, Z:-5.10 [[ 9.99991628e-01 -3.39639997e-03 -2.28235038e-03 1.99570559e+02] [ 3.40241179e-03 9.99990739e-01 2.63534801e-03 -1.74271464e+01] [ 2.27337855e-03 -2.64309144e-03 9.99993923e-01 -5.10352658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80241403699998 meters 0.10353191327430969 Centerline is valid? [True, False] Translation: X:199.57, Y:-17.43, Z:-5.10 [[ 9.99991793e-01 -3.16070250e-03 -2.53458259e-03 1.99571298e+02] [ 3.16787060e-03 9.99990980e-01 2.82910651e-03 -1.74270740e+01] [ 2.52561777e-03 -2.83711252e-03 9.99992786e-01 -5.10386722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83241403699998 meters 0.10312036274718016 Centerline is valid? [False, False] Translation: X:199.57, Y:-17.43, Z:-5.10 [[ 9.99991245e-01 -3.21772041e-03 -2.67504602e-03 1.99571432e+02] [ 3.22480113e-03 9.99991297e-01 2.64686682e-03 -1.74267369e+01] [ 2.66650587e-03 -2.65547014e-03 9.99992919e-01 -5.10366306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86241403699998 meters 0.099938134332814 Centerline is valid? [False, True] Translation: X:199.57, Y:-17.43, Z:-5.10 [[ 9.99990901e-01 -3.12289213e-03 -2.90610147e-03 1.99572001e+02] [ 3.13040734e-03 9.99991759e-01 2.58506593e-03 -1.74263718e+01] [ 2.89800463e-03 -2.59413969e-03 9.99992436e-01 -5.10385316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89241403699998 meters 0.10027615647406392 Centerline is valid? [True, False] Translation: X:199.57, Y:-17.43, Z:-5.10 [[ 9.99991281e-01 -2.80748976e-03 -3.09137446e-03 1.99572740e+02] [ 2.81653042e-03 9.99991759e-01 2.92401990e-03 -1.74268176e+01] [ 3.08313983e-03 -2.93270135e-03 9.99990947e-01 -5.10437081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92241403699998 meters 0.09611713116413972 Centerline is valid? [False, True] Translation: X:199.57, Y:-17.43, Z:-5.10 [[ 9.99991021e-01 -2.82638322e-03 -3.15744806e-03 1.99572700e+02] [ 2.83537142e-03 9.99991931e-01 2.84582760e-03 -1.74269262e+01] [ 3.14937918e-03 -2.85475459e-03 9.99990966e-01 -5.10412665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95241403699998 meters 0.09802455939684508 Centerline is valid? [True, True] Translation: X:199.60, Y:-17.43, Z:-5.11 [[ 9.99992042e-01 -2.06522314e-03 -3.41321739e-03 1.99601637e+02] [ 2.06651993e-03 9.99997794e-01 3.76450956e-04 -1.74330168e+01] [ 3.41243241e-03 -3.83501442e-04 9.99994104e-01 -5.10540174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98241403699998 meters 0.0997518802949442 Centerline is valid? [True, True] Translation: X:199.63, Y:-17.44, Z:-5.11 [[ 9.99990209e-01 -2.15019524e-03 -3.86757537e-03 1.99630300e+02] [ 2.15186092e-03 9.99997594e-01 4.26568422e-04 -1.74393117e+01] [ 3.86664886e-03 -4.34886730e-04 9.99992430e-01 -5.10679910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01241403699999 meters 0.0990707320101319 Centerline is valid? [True, True] Translation: X:199.66, Y:-17.44, Z:-5.11 [[ 9.99988560e-01 -1.76811019e-03 -4.44452292e-03 1.99659962e+02] [ 1.77030376e-03 9.99998313e-01 4.89658635e-04 -1.74418799e+01] [ 4.44364966e-03 -4.97521189e-04 9.99990003e-01 -5.10720116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.042414037 meters 0.09926323520045705 Centerline is valid? [True, True] Translation: X:199.69, Y:-17.45, Z:-5.11 [[ 9.99985681e-01 -1.87717409e-03 -5.01140026e-03 1.99689572e+02] [ 1.87996400e-03 9.99998080e-01 5.52059374e-04 -1.74461460e+01] [ 5.01035433e-03 -5.61472721e-04 9.99987290e-01 -5.10866652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.072414037 meters 0.09930607443904041 Centerline is valid? [True, True] Translation: X:199.72, Y:-17.45, Z:-5.11 [[ 9.99981701e-01 -2.42844957e-03 -5.54070892e-03 1.99717798e+02] [ 2.43186164e-03 9.99996857e-01 6.09165210e-04 -1.74498054e+01] [ 5.53921218e-03 -6.22628301e-04 9.99984465e-01 -5.10981018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.102414037 meters 0.0986259964402572 Centerline is valid? [True, True] Translation: X:199.75, Y:-17.45, Z:-5.11 [[ 9.99968296e-01 -4.14251918e-03 -6.80052844e-03 1.99747461e+02] [ 4.14771054e-03 9.99991117e-01 7.49449410e-04 -1.74527861e+01] [ 6.79736342e-03 -7.77632273e-04 9.99976595e-01 -5.10990708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.132414037 meters 0.10024578679108645 Centerline is valid? [True, False] Translation: X:199.75, Y:-17.45, Z:-5.11 [[ 9.99968953e-01 -4.07463764e-03 -6.74462798e-03 1.99747511e+02] [ 4.08085077e-03 9.99991261e-01 9.07691513e-04 -1.74530935e+01] [ 6.74087053e-03 -9.35187153e-04 9.99976843e-01 -5.11014391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.162414037 meters 0.10084389189219635 Centerline is valid? [False, False] Translation: X:199.75, Y:-17.45, Z:-5.11 [[ 9.99968635e-01 -4.23441420e-03 -6.69316594e-03 1.99747404e+02] [ 4.23918176e-03 9.99990771e-01 6.98275706e-04 -1.74525505e+01] [ 6.69014738e-03 -7.26627351e-04 9.99977357e-01 -5.11013258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.192414037 meters 0.09736797366383906 Centerline is valid? [False, True] Translation: X:199.75, Y:-17.45, Z:-5.11 [[ 9.99968575e-01 -4.09615271e-03 -6.78751723e-03 1.99747915e+02] [ 4.10192725e-03 9.99991237e-01 8.37056087e-04 -1.74523562e+01] [ 6.78402904e-03 -8.64871685e-04 9.99976614e-01 -5.11061423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.222414037 meters 0.10109027642061931 Centerline is valid? [True, False] Translation: X:199.75, Y:-17.45, Z:-5.11 [[ 9.99968541e-01 -4.14186028e-03 -6.76470286e-03 1.99747934e+02] [ 4.14706052e-03 9.99991116e-01 7.54884399e-04 -1.74519835e+01] [ 6.76151614e-03 -7.82914283e-04 9.99976834e-01 -5.11068326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.252414037 meters 0.09541508279381927 Centerline is valid? [False, True] Translation: X:199.75, Y:-17.45, Z:-5.11 [[ 9.99966197e-01 -4.49044659e-03 -6.88770610e-03 1.99747979e+02] [ 4.49089206e-03 9.99989915e-01 4.92109160e-05 -1.74500856e+01] [ 6.88741566e-03 -8.01411972e-05 9.99976278e-01 -5.11040368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.282414037 meters 0.09541508279381927 Centerline is valid? [True, True] Translation: X:199.78, Y:-17.45, Z:-5.11 [[ 9.99965488e-01 -4.75964712e-03 -6.80942863e-03 1.99776205e+02] [ 4.76486892e-03 9.99988366e-01 7.50831574e-04 -1.74534949e+01] [ 6.80577572e-03 -7.83251696e-04 9.99976534e-01 -5.11143274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.312414037 meters 0.0993536164577713 Centerline is valid? [True, True] Translation: X:199.80, Y:-17.46, Z:-5.11 [[ 9.99967111e-01 -3.87393735e-03 -7.12521069e-03 1.99803525e+02] [ 3.87966737e-03 9.99992162e-01 7.90542750e-04 -1.74625198e+01] [ 7.12209232e-03 -8.18160198e-04 9.99974303e-01 -5.11486688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.342414037 meters 0.10061601322144217 Centerline is valid? [True, False] Translation: X:199.81, Y:-17.46, Z:-5.12 [[ 9.99964270e-01 -3.64002147e-03 -7.62949745e-03 1.99805137e+02] [ 3.64450713e-03 9.99993194e-01 5.74115728e-04 -1.74603940e+01] [ 7.62735573e-03 -6.01900972e-04 9.99970730e-01 -5.11577215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.372414037 meters 0.09579980131140628 Centerline is valid? [False, True] Translation: X:199.81, Y:-17.46, Z:-5.12 [[ 9.99962632e-01 -3.90292808e-03 -7.71376832e-03 1.99805202e+02] [ 3.90321982e-03 9.99992382e-01 2.27667203e-05 -1.74589649e+01] [ 7.71362070e-03 -5.28744030e-05 9.99970248e-01 -5.11560591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.402414037 meters 0.09630503912480355 Centerline is valid? [True, True] Translation: X:199.83, Y:-17.46, Z:-5.12 [[ 9.99975181e-01 -3.06354944e-03 -6.34451766e-03 1.99834957e+02] [ 3.06800796e-03 9.99995053e-01 6.93122253e-04 -1.74629911e+01] [ 6.34236286e-03 -7.12570081e-04 9.99979633e-01 -5.11689832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43241403699997 meters 0.09797288144656104 Centerline is valid? [True, True] Translation: X:199.86, Y:-17.47, Z:-5.12 [[ 9.99987388e-01 -2.67341913e-03 -4.25176794e-03 1.99863752e+02] [ 2.67541456e-03 9.99996314e-01 4.63698385e-04 -1.74681976e+01] [ 4.25051260e-03 -4.75067779e-04 9.99990854e-01 -5.11807376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46241403699997 meters 0.09791761217729235 Centerline is valid? [True, True] Translation: X:199.89, Y:-17.47, Z:-5.12 [[ 9.99991368e-01 -2.59905133e-03 -3.24177622e-03 1.99892967e+02] [ 2.60020986e-03 9.99996557e-01 3.53211735e-04 -1.74705951e+01] [ 3.24084704e-03 -3.61637985e-04 9.99994683e-01 -5.11823645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49241403699997 meters 0.0990949404037896 Centerline is valid? [True, True] Translation: X:199.92, Y:-17.47, Z:-5.12 [[ 9.99993798e-01 -2.23763189e-03 -2.71979926e-03 1.99921868e+02] [ 2.23844539e-03 9.99997451e-01 2.96096103e-04 -1.74748479e+01] [ 2.71912977e-03 -3.02182389e-04 9.99996258e-01 -5.11944773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52241403699998 meters 0.09626736263111889 Centerline is valid? [True, True] Translation: X:199.95, Y:-17.47, Z:-5.12 [[ 9.99995020e-01 -1.56953525e-03 -2.73796381e-03 1.99951790e+02] [ 1.57035689e-03 9.99998723e-01 2.97967678e-04 -1.74724552e+01] [ 2.73749265e-03 -3.02265775e-04 9.99996207e-01 -5.11883272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55241403699998 meters 0.09256192239009955 Centerline is valid? [True, True] Translation: X:199.98, Y:-17.47, Z:-5.12 [[ 9.99991367e-01 -1.90726882e-03 -3.69175114e-03 1.99982493e+02] [ 1.90876887e-03 9.99998097e-01 4.02843590e-04 -1.74680936e+01] [ 3.69097579e-03 -4.09886812e-04 9.99993104e-01 -5.11763721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58241403699998 meters 0.10005075187122361 Centerline is valid? [True, False] Translation: X:199.98, Y:-17.47, Z:-5.12 [[ 9.99991089e-01 -1.68927465e-03 -3.86892159e-03 1.99983092e+02] [ 1.69162165e-03 9.99998387e-01 6.03434836e-04 -1.74681398e+01] [ 3.86789598e-03 -6.09974210e-04 9.99992334e-01 -5.11797521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61241403699998 meters 0.09734877246793497 Centerline is valid? [False, True] Translation: X:199.98, Y:-17.47, Z:-5.12 [[ 9.99991159e-01 -1.68269853e-03 -3.85354275e-03 1.99983163e+02] [ 1.68511620e-03 9.99998385e-01 6.24229441e-04 -1.74681366e+01] [ 3.85248613e-03 -6.30717589e-04 9.99992380e-01 -5.11811864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64241403699998 meters 0.09711444410698127 Centerline is valid? [True, True] Translation: X:200.01, Y:-17.47, Z:-5.12 [[ 9.99988404e-01 -1.72254911e-03 -4.49714659e-03 2.00012299e+02] [ 1.72476611e-03 9.99998393e-01 4.89146473e-04 -1.74704245e+01] [ 4.49629679e-03 -4.96897327e-04 9.99989768e-01 -5.11848604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67241403699998 meters 0.09426787200480352 Centerline is valid? [True, True] Translation: X:200.04, Y:-17.47, Z:-5.12 [[ 9.99985014e-01 -1.79001520e-03 -5.17376316e-03 2.00042393e+02] [ 1.79295011e-03 9.99998234e-01 5.62684841e-04 -1.74667523e+01] [ 5.17274681e-03 -5.71952708e-04 9.99986458e-01 -5.11850023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70241403699998 meters 0.09840897249424196 Centerline is valid? [True, True] Translation: X:200.07, Y:-17.48, Z:-5.12 [[ 9.99986404e-01 -1.64408114e-03 -4.94868394e-03 2.00069735e+02] [ 1.64676042e-03 9.99998500e-01 5.37386081e-04 -1.74773746e+01] [ 4.94779301e-03 -5.45528071e-04 9.99987611e-01 -5.12184332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73241403699998 meters 0.09782701503964399 Centerline is valid? [True, True] Translation: X:200.10, Y:-17.48, Z:-5.12 [[ 9.99986893e-01 -2.21425451e-03 -4.61642476e-03 2.00098760e+02] [ 2.21656075e-03 9.99997421e-01 4.94515940e-04 -1.74790157e+01] [ 4.61531787e-03 -5.04742045e-04 9.99989222e-01 -5.12260855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76241403699999 meters 0.09885906173649461 Centerline is valid? [True, True] Translation: X:200.13, Y:-17.48, Z:-5.12 [[ 9.99990954e-01 -3.25598654e-03 -2.73685742e-03 2.00127457e+02] [ 3.25680799e-03 9.99994653e-01 2.95739995e-04 -1.74841274e+01] [ 2.73587986e-03 -3.04650739e-04 9.99996211e-01 -5.12292231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.792414037 meters 0.09635399680747388 Centerline is valid? [True, True] Translation: X:200.16, Y:-17.48, Z:-5.12 [[ 9.99992477e-01 -3.46864825e-03 -1.73607028e-03 2.00158003e+02] [ 3.46897982e-03 9.99993965e-01 1.88014130e-04 -1.74827198e+01] [ 1.73540765e-03 -1.94035109e-04 9.99998475e-01 -5.12168850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.822414037 meters 0.09820779300382232 Centerline is valid? [True, True] Translation: X:200.19, Y:-17.49, Z:-5.12 [[ 9.99993208e-01 -3.67970685e-03 2.08506319e-04 2.00188146e+02] [ 3.67971126e-03 9.99993230e-01 -2.07716359e-05 -1.74877146e+01] [-2.08428474e-04 2.15387378e-05 9.99999978e-01 -5.12298777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.852414037 meters 0.09497044175350874 Centerline is valid? [True, True] Translation: X:200.22, Y:-17.48, Z:-5.12 [[ 9.99992775e-01 -3.76961086e-03 -4.90486657e-04 2.00220194e+02] [ 3.76963797e-03 9.99992893e-01 5.43620061e-05 -1.74838973e+01] [ 4.90278248e-04 -5.62105704e-05 9.99999878e-01 -5.12220197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.882414037 meters 0.09889615982152525 Centerline is valid? [True, True] Translation: X:200.25, Y:-17.49, Z:-5.12 [[ 9.99995401e-01 -3.03266639e-03 -3.68660164e-05 2.00249285e+02] [ 3.03266656e-03 9.99995401e-01 4.52757468e-06 -1.74935493e+01] [ 3.68521162e-05 -4.63935619e-06 9.99999999e-01 -5.12492168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.912414037 meters 0.09717807056381544 Centerline is valid? [True, True] Translation: X:200.28, Y:-17.49, Z:-5.13 [[ 9.99997651e-01 -2.16447669e-03 1.10469594e-04 2.00280344e+02] [ 2.16447798e-03 9.99997657e-01 -1.15000130e-05 -1.74926359e+01] [-1.10444444e-04 1.17390950e-05 9.99999994e-01 -5.12618483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.942414037 meters 0.09701560440742014 Centerline is valid? [True, True] Translation: X:200.31, Y:-17.50, Z:-5.13 [[ 9.99999000e-01 -1.38441235e-03 2.87306542e-04 2.00311243e+02] [ 1.38442109e-03 9.99999041e-01 -3.02206349e-05 -1.74958887e+01] [-2.87264428e-04 3.06183579e-05 9.99999958e-01 -5.12681545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.972414037 meters 0.09734206033097627 Centerline is valid? [True, True] Translation: X:200.34, Y:-17.50, Z:-5.13 [[ 9.99999377e-01 3.57980724e-04 1.05714554e-03 2.00340560e+02] [-3.57861281e-04 9.99999930e-01 -1.13173348e-04 -1.74980257e+01] [-1.05718598e-03 1.12794966e-04 9.99999435e-01 -5.12774508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.002414037 meters 0.09254001567567462 Centerline is valid? [True, True] Translation: X:200.37, Y:-17.49, Z:-5.13 [[ 9.99998872e-01 1.46303003e-03 3.40390570e-04 2.00372104e+02] [-1.46301750e-03 9.99998929e-01 -3.70444406e-05 -1.74910791e+01] [-3.40444403e-04 3.65464015e-05 9.99999941e-01 -5.12645232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.032414037 meters 0.0975933361080115 Centerline is valid? [True, True] Translation: X:200.40, Y:-17.50, Z:-5.13 [[ 9.99997017e-01 2.44091690e-03 9.14047034e-05 2.00400819e+02] [-2.44091600e-03 9.99997021e-01 -9.94750264e-06 -1.75020227e+01] [-9.14287121e-05 9.72436176e-06 9.99999996e-01 -5.13032902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.062414037 meters 0.09364758090153014 Centerline is valid? [True, True] Translation: X:200.43, Y:-17.50, Z:-5.13 [[ 9.99994209e-01 3.39271206e-03 2.66137331e-04 2.00431795e+02] [-3.39270404e-03 9.99994244e-01 -3.06097028e-05 -1.74971192e+01] [-2.66239649e-04 2.97066003e-05 9.99999964e-01 -5.12974554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.092414037 meters 0.09650184217792841 Centerline is valid? [True, True] Translation: X:200.46, Y:-17.50, Z:-5.13 [[ 9.99987880e-01 4.84302278e-03 -8.86017867e-04 2.00460292e+02] [-4.84294021e-03 9.99988268e-01 9.53218748e-05 -1.75039750e+01] [ 8.86469118e-04 -9.10297880e-05 9.99999603e-01 -5.13354664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.122414037 meters 0.09473900722937963 Centerline is valid? [True, True] Translation: X:200.49, Y:-17.50, Z:-5.13 [[ 9.99985743e-01 5.33285451e-03 -2.73876319e-04 2.00489366e+02] [-5.33284711e-03 9.99985780e-01 2.77330551e-05 -1.75037360e+01] [ 2.74020321e-04 -2.62721192e-05 9.99999962e-01 -5.13397541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.152414037 meters 0.09475108862243148 Centerline is valid? [True, True] Translation: X:200.52, Y:-17.51, Z:-5.14 [[ 9.99989288e-01 4.62458227e-03 -1.91122136e-04 2.00518595e+02] [-4.62457858e-03 9.99989306e-01 1.97459524e-05 -1.75062304e+01] [ 1.91211409e-04 -1.88618815e-05 9.99999982e-01 -5.13506030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18241403699997 meters 0.09359638810281314 Centerline is valid? [True, True] Translation: X:200.55, Y:-17.51, Z:-5.13 [[ 9.99990852e-01 4.15105371e-03 1.03188524e-03 2.00547514e+02] [-4.15093817e-03 9.99991378e-01 -1.14084382e-04 -1.75063747e+01] [-1.03234992e-03 1.09800046e-04 9.99999461e-01 -5.13463431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21241403699997 meters 0.09463662464995225 Centerline is valid? [True, True] Translation: X:200.58, Y:-17.51, Z:-5.13 [[ 9.99992157e-01 3.52061313e-03 1.81410905e-03 2.00576825e+02] [-3.52025983e-03 9.99993784e-01 -1.97908174e-04 -1.75105856e+01] [-1.81479453e-03 1.91520486e-04 9.99998335e-01 -5.13498563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24241403699997 meters 0.09441284701365076 Centerline is valid? [True, True] Translation: X:200.61, Y:-17.51, Z:-5.13 [[ 9.99997803e-01 9.69963476e-04 1.85810396e-03 2.00607739e+02] [-9.69590294e-04 9.99999510e-01 -2.01730734e-04 -1.75119953e+01] [-1.85829872e-03 1.99928692e-04 9.99998253e-01 -5.13456046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27241403699998 meters 0.0942490405601573 Centerline is valid? [True, True] Translation: X:200.64, Y:-17.51, Z:-5.14 [[ 9.99996906e-01 -1.52884305e-05 2.48763529e-03 2.00638388e+02] [ 1.59561282e-05 9.99999964e-01 -2.68386936e-04 -1.75149603e+01] [-2.48763110e-03 2.68425798e-04 9.99996870e-01 -5.13540038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30241403699998 meters 0.09554347590894356 Centerline is valid? [True, True] Translation: X:200.67, Y:-17.52, Z:-5.14 [[ 9.99997126e-01 -1.94573877e-03 1.40058299e-03 2.00668231e+02] [ 1.94595352e-03 9.99998095e-01 -1.51976489e-04 -1.75204764e+01] [-1.40028462e-03 1.54701522e-04 9.99999008e-01 -5.13726239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33241403699998 meters 0.10191656367601501 Centerline is valid? [True, False] Translation: X:200.67, Y:-17.52, Z:-5.14 [[ 9.99996637e-01 -1.95075271e-03 1.70922217e-03 2.00668043e+02] [ 1.95060729e-03 9.99998094e-01 8.67407072e-05 -1.75208517e+01] [-1.70938812e-03 -8.34063942e-05 9.99998536e-01 -5.13789606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36241403699998 meters 0.09806126751478941 Centerline is valid? [False, True] Translation: X:200.67, Y:-17.52, Z:-5.14 [[ 9.99995766e-01 -2.30783807e-03 1.77275037e-03 2.00667617e+02] [ 2.30857658e-03 9.99997249e-01 -4.14653526e-04 -1.75199464e+01] [-1.77178854e-03 4.18744300e-04 9.99998343e-01 -5.13744523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39241403699998 meters 0.09956797160437249 Centerline is valid? [True, True] Translation: X:200.70, Y:-17.52, Z:-5.14 [[ 9.99991941e-01 -3.82419164e-03 1.22183738e-03 2.00697087e+02] [ 3.82436306e-03 9.99992678e-01 -1.37992788e-04 -1.75244883e+01] [-1.22130073e-03 1.42664425e-04 9.99999244e-01 -5.13795845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42241403699998 meters 0.1015951675118153 Centerline is valid? [True, False] Translation: X:200.70, Y:-17.52, Z:-5.14 [[ 9.99990919e-01 -4.09312243e-03 1.18683370e-03 2.00697321e+02] [ 4.09385985e-03 9.99991428e-01 -6.19569151e-04 -1.75226420e+01] [-1.18428755e-03 6.24422255e-04 9.99999104e-01 -5.13818396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45241403699998 meters 0.10238838766944634 Centerline is valid? [False, False] Translation: X:200.70, Y:-17.52, Z:-5.14 [[ 9.99991299e-01 -4.02394777e-03 1.10006981e-03 2.00697748e+02] [ 4.02460357e-03 9.99991724e-01 -5.94585060e-04 -1.75222951e+01] [-1.09766813e-03 5.99007231e-04 9.99999218e-01 -5.13855856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48241403699998 meters 0.09891169929476325 Centerline is valid? [False, True] Translation: X:200.70, Y:-17.52, Z:-5.14 [[ 9.99992109e-01 -3.82780078e-03 1.06329284e-03 2.00698330e+02] [ 3.82818306e-03 9.99992608e-01 -3.57728822e-04 -1.75222276e+01] [-1.06191566e-03 3.61796479e-04 9.99999371e-01 -5.13932275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51241403699999 meters 0.10309111549633376 Centerline is valid? [True, False] Translation: X:200.70, Y:-17.52, Z:-5.14 [[ 9.99992706e-01 -3.69116225e-03 9.81465604e-04 2.00699020e+02] [ 3.69138905e-03 9.99993160e-01 -2.29372841e-04 -1.75218833e+01] [-9.80612239e-04 2.32994139e-04 9.99999492e-01 -5.14011049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.542414037 meters 0.10058706687143149 Centerline is valid? [False, False] Translation: X:200.70, Y:-17.52, Z:-5.14 [[ 9.99992926e-01 -3.64140931e-03 9.42740193e-04 2.00699406e+02] [ 3.64161459e-03 9.99993346e-01 -2.16118672e-04 -1.75214067e+01] [-9.41946944e-04 2.19550240e-04 9.99999532e-01 -5.14055850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.572414037 meters 0.10216937572303264 Centerline is valid? [False, False] Translation: X:200.70, Y:-17.52, Z:-5.14 [[ 9.99998846e-01 -6.08449231e-06 1.51914145e-03 2.00697989e+02] [ 7.52673749e-07 9.99993841e-01 3.50973371e-03 -1.75207453e+01] [-1.51915345e-03 -3.50972851e-03 9.99992687e-01 -5.14015816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.602414037 meters 0.10421260188822953 Centerline is valid? [False, False] Translation: X:200.70, Y:-17.52, Z:-5.14 [[ 9.99998973e-01 -3.84922374e-05 1.43294764e-03 2.00698311e+02] [ 3.36878223e-05 9.99994379e-01 3.35269290e-03 -1.75198727e+01] [-1.43306864e-03 -3.35264119e-03 9.99993353e-01 -5.14036085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.632414037 meters 0.10306786072061423 Centerline is valid? [False, False] Translation: X:200.70, Y:-17.52, Z:-5.14 [[ 9.99999007e-01 -3.24861776e-04 1.37095768e-03 2.00698121e+02] [ 3.20956517e-04 9.99995893e-01 2.84782211e-03 -1.75188398e+01] [-1.37187720e-03 -2.84737927e-03 9.99995005e-01 -5.13988340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.662414037 meters 0.09866050961046481 Centerline is valid? [False, True] Translation: X:200.70, Y:-17.52, Z:-5.14 [[ 9.99999038e-01 -4.88546865e-04 1.29787955e-03 2.00698032e+02] [ 4.85243130e-04 9.99996645e-01 2.54458324e-03 -1.75182031e+01] [-1.29911835e-03 -2.54395100e-03 9.99995920e-01 -5.13953676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.692414037 meters 0.10183023686675101 Centerline is valid? [True, False] Translation: X:200.70, Y:-17.52, Z:-5.14 [[ 9.99999349e-01 -3.93553658e-04 1.07091158e-03 2.00698395e+02] [ 3.90855826e-04 9.99996753e-01 2.51823677e-03 -1.75179034e+01] [-1.07189916e-03 -2.51781656e-03 9.99996256e-01 -5.13938439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.722414037 meters 0.10313483241276832 Centerline is valid? [False, False] Translation: X:200.70, Y:-17.52, Z:-5.14 [[ 9.99999272e-01 -6.09629941e-04 1.04111977e-03 2.00698101e+02] [ 6.07382736e-04 9.99997488e-01 2.15740396e-03 -1.75174312e+01] [-1.04243237e-03 -2.15677003e-03 9.99997131e-01 -5.13885649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.752414037 meters 0.1032185428096727 Centerline is valid? [False, False] Translation: X:200.70, Y:-17.52, Z:-5.14 [[ 9.99999451e-01 -6.65658711e-04 8.09103457e-04 2.00698482e+02] [ 6.64153849e-04 9.99998052e-01 1.85876081e-03 -1.75166042e+01] [-8.10339181e-04 -1.85822242e-03 9.99997945e-01 -5.13869263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.782414037 meters 0.10168674456862702 Centerline is valid? [False, False] Translation: X:200.70, Y:-17.52, Z:-5.14 [[ 9.99999665e-01 -5.92723365e-04 5.64102407e-04 2.00699051e+02] [ 5.91715475e-04 9.99998231e-01 1.78520827e-03 -1.75161367e+01] [-5.65159544e-04 -1.78487388e-03 9.99998247e-01 -5.13879288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.812414037 meters 0.09945054878827773 Centerline is valid? [False, True] Translation: X:200.70, Y:-17.52, Z:-5.14 [[ 9.99999778e-01 -5.51237847e-04 3.75387457e-04 2.00699455e+02] [ 5.50596187e-04 9.99998391e-01 1.70728851e-03 -1.75158430e+01] [-3.76327975e-04 -1.70708144e-03 9.99998472e-01 -5.13883256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.842414037 meters 0.10102341085384448 Centerline is valid? [True, False] Translation: X:200.70, Y:-17.52, Z:-5.14 [[ 9.99999958e-01 7.40163185e-05 -2.79067490e-04 2.00701550e+02] [-7.34257438e-05 9.99997759e-01 2.11566010e-03 -1.75154082e+01] [ 2.79223458e-04 -2.11563952e-03 9.99997723e-01 -5.14003149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.872414037 meters 0.1018812024558695 Centerline is valid? [False, False] Translation: X:200.70, Y:-17.52, Z:-5.14 [[ 9.99999812e-01 3.36029780e-04 -5.13022558e-04 2.00702416e+02] [-3.34842659e-04 9.99997271e-01 2.31230868e-03 -1.75153177e+01] [ 5.13798162e-04 -2.31213646e-03 9.99997195e-01 -5.14060049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.902414037 meters 0.10191079758880912 Centerline is valid? [False, False] Translation: X:200.70, Y:-17.51, Z:-5.14 [[ 9.99999616e-01 3.42238411e-04 -8.06530247e-04 2.00703018e+02] [-3.40600886e-04 9.99997882e-01 2.02959652e-03 -1.75144706e+01] [ 8.07223145e-04 -2.02932103e-03 9.99997615e-01 -5.14062627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93241403699997 meters 0.09756453848515227 Centerline is valid? [False, True] Translation: X:200.70, Y:-17.51, Z:-5.14 [[ 9.99999562e-01 2.27846178e-04 -9.07620864e-04 2.00703088e+02] [-2.26232866e-04 9.99998395e-01 1.77722387e-03 -1.75138938e+01] [ 9.08024341e-04 -1.77701776e-03 9.99998009e-01 -5.14042594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96241403699997 meters 0.0980553602062083 Centerline is valid? [True, True] Translation: X:200.73, Y:-17.52, Z:-5.14 [[ 9.99999135e-01 9.47017611e-04 -9.13085796e-04 2.00732187e+02] [-9.46925556e-04 9.99999547e-01 1.01244682e-04 -1.75171935e+01] [ 9.13181262e-04 -1.00379970e-04 9.99999578e-01 -5.14094265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99241403699997 meters 0.09880055017092379 Centerline is valid? [True, True] Translation: X:200.76, Y:-17.52, Z:-5.14 [[ 9.99998115e-01 1.91658972e-03 -3.11779630e-04 2.00761169e+02] [-1.91657866e-03 9.99998163e-01 3.57660624e-05 -1.75220374e+01] [ 3.11847606e-04 -3.51684448e-05 9.99999951e-01 -5.14133322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02241403699998 meters 0.09861824691462069 Centerline is valid? [True, True] Translation: X:200.79, Y:-17.53, Z:-5.14 [[ 9.99997742e-01 2.12356726e-03 8.63528907e-05 2.00790806e+02] [-2.12356634e-03 9.99997745e-01 -1.07224870e-05 -1.75255290e+01] [-8.63754659e-05 1.05390867e-05 9.99999996e-01 -5.14121444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05241403699998 meters 0.09680363522184356 Centerline is valid? [True, True] Translation: X:200.82, Y:-17.53, Z:-5.14 [[ 9.99997298e-01 2.27090487e-03 4.97233207e-04 2.00820374e+02] [-2.27087703e-03 9.99997420e-01 -5.65327132e-05 -1.75257805e+01] [-4.97360305e-04 5.54034049e-05 9.99999875e-01 -5.14016867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08241403699998 meters 0.09729110598251046 Centerline is valid? [True, True] Translation: X:200.85, Y:-17.53, Z:-5.14 [[ 9.99995480e-01 2.59457287e-03 1.51929918e-03 2.00849377e+02] [-2.59431777e-03 9.99996620e-01 -1.69853938e-04 -1.75302765e+01] [-1.51973475e-03 1.65911626e-04 9.99998831e-01 -5.14081893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11241403699998 meters 0.098751499173001 Centerline is valid? [True, True] Translation: X:200.88, Y:-17.54, Z:-5.14 [[ 9.99995330e-01 2.59866452e-03 1.60829108e-03 2.00879108e+02] [-2.59837961e-03 9.99996608e-01 -1.79217937e-04 -1.75365600e+01] [-1.60875135e-03 1.75038149e-04 9.99998691e-01 -5.14283761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14241403699998 meters 0.09615220613175701 Centerline is valid? [True, True] Translation: X:200.91, Y:-17.54, Z:-5.14 [[ 9.99996755e-01 2.12772624e-03 1.40112951e-03 2.00909802e+02] [-2.12750954e-03 9.99997725e-01 -1.56133143e-04 -1.75359318e+01] [-1.40145853e-03 1.53151720e-04 9.99999006e-01 -5.14244979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17241403699998 meters 0.09895117191064313 Centerline is valid? [True, True] Translation: X:200.94, Y:-17.54, Z:-5.14 [[ 9.99998144e-01 1.57250088e-03 1.11295137e-03 2.00938576e+02] [-1.57236388e-03 9.99998756e-01 -1.23963863e-04 -1.75446069e+01] [-1.11314492e-03 1.22213668e-04 9.99999373e-01 -5.14496438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20241403699998 meters 0.09895117191064313 Centerline is valid? [True, True] Translation: X:200.97, Y:-17.55, Z:-5.15 [[ 9.99998144e-01 1.57250275e-03 1.11294493e-03 2.00968569e+02] [-1.57236568e-03 9.99998756e-01 -1.24021696e-04 -1.75479492e+01] [-1.11313857e-03 1.22271509e-04 9.99999373e-01 -5.14593168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23241403699998 meters 0.09997843285178003 Centerline is valid? [True, True] Translation: X:201.00, Y:-17.55, Z:-5.15 [[ 9.99999840e-01 3.73355082e-04 -4.23983958e-04 2.00998544e+02] [-3.73335083e-04 9.99999929e-01 4.72469107e-05 -1.75544026e+01] [ 4.24001568e-04 -4.70886151e-05 9.99999909e-01 -5.14889974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26241403699999 meters 0.10195207652900831 Centerline is valid? [True, False] Translation: X:201.00, Y:-17.56, Z:-5.15 [[ 9.99999809e-01 4.82007019e-04 -3.86298968e-04 2.00998537e+02] [-4.81887812e-04 9.99999836e-01 3.08620093e-04 -1.75552513e+01] [ 3.86447662e-04 -3.08433882e-04 9.99999878e-01 -5.14900646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.292414037 meters 0.10092617241957595 Centerline is valid? [False, False] Translation: X:201.00, Y:-17.56, Z:-5.15 [[ 9.99999792e-01 5.62911440e-04 -3.14745293e-04 2.00998439e+02] [-5.62749138e-04 9.99999709e-01 5.15513959e-04 -1.75559772e+01] [ 3.15035390e-04 -5.15336729e-04 9.99999818e-01 -5.14908229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.322414037 meters 0.0985325030380531 Centerline is valid? [False, True] Translation: X:201.00, Y:-17.56, Z:-5.15 [[ 9.99999557e-01 8.18242553e-04 -4.65911802e-04 2.00998997e+02] [-8.17851970e-04 9.99999315e-01 8.37893854e-04 -1.75564754e+01] [ 4.66597083e-04 -8.37512436e-04 9.99999540e-01 -5.14944358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.352414037 meters 0.09653313542411031 Centerline is valid? [True, True] Translation: X:201.03, Y:-17.56, Z:-5.15 [[ 9.99999166e-01 1.26348552e-03 -2.67470574e-04 2.01028838e+02] [-1.26347780e-03 9.99999201e-01 2.90105229e-05 -1.75557225e+01] [ 2.67507015e-04 -2.86725556e-05 9.99999964e-01 -5.14920534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.382414037 meters 0.09803893575614848 Centerline is valid? [True, True] Translation: X:201.06, Y:-17.56, Z:-5.15 [[ 9.99999405e-01 1.07469083e-03 -1.84956926e-04 2.01057692e+02] [-1.07468710e-03 9.99999422e-01 2.02851943e-05 -1.75621975e+01] [ 1.84978619e-04 -2.00864114e-05 9.99999983e-01 -5.15009794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.412414037 meters 0.09892394160177773 Centerline is valid? [True, True] Translation: X:201.09, Y:-17.57, Z:-5.15 [[ 9.99999735e-01 7.21679135e-04 9.16798676e-05 2.01087195e+02] [-7.21678448e-04 9.99999740e-01 -7.52517190e-06 -1.75673663e+01] [-9.16852745e-05 7.45900653e-06 9.99999996e-01 -5.15090825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.442414037 meters 0.09625987440155374 Centerline is valid? [True, True] Translation: X:201.12, Y:-17.57, Z:-5.15 [[ 9.99998467e-01 4.54950987e-04 1.69114152e-03 2.01118214e+02] [-4.54628839e-04 9.99999878e-01 -1.90871051e-04 -1.75660200e+01] [-1.69122815e-03 1.90101917e-04 9.99998552e-01 -5.15018002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.472414037 meters 0.09672022907681348 Centerline is valid? [True, True] Translation: X:201.15, Y:-17.57, Z:-5.15 [[ 9.99997281e-01 5.58888559e-04 2.26382636e-03 2.01148942e+02] [-5.58313978e-04 9.99999812e-01 -2.54433483e-04 -1.75705776e+01] [-2.26396813e-03 2.53168866e-04 9.99997405e-01 -5.15078336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.502414037 meters 0.10076438551346195 Centerline is valid? [True, False] Translation: X:201.15, Y:-17.57, Z:-5.15 [[ 9.99997384e-01 6.12799698e-04 2.20378177e-03 2.01149054e+02] [-6.12284899e-04 9.99999785e-01 -2.34265172e-04 -1.75706787e+01] [-2.20392485e-03 2.32915217e-04 9.99997544e-01 -5.15074035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.532414037 meters 0.10061297021667835 Centerline is valid? [False, False] Translation: X:201.15, Y:-17.57, Z:-5.15 [[ 9.99997594e-01 6.44423433e-04 2.09686184e-03 2.01149343e+02] [-6.43866590e-04 9.99999757e-01 -2.66224494e-04 -1.75703771e+01] [-2.09703290e-03 2.64873754e-04 9.99997766e-01 -5.15084161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.562414037 meters 0.09988222641380347 Centerline is valid? [False, True] Translation: X:201.15, Y:-17.57, Z:-5.15 [[ 9.99997944e-01 7.75191279e-04 1.87376545e-03 2.01149997e+02] [-7.74750646e-04 9.99999672e-01 -2.35873709e-04 -1.75699221e+01] [-1.87394768e-03 2.34421523e-04 9.99998217e-01 -5.15112011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.592414037 meters 0.10047454097487683 Centerline is valid? [True, False] Translation: X:201.15, Y:-17.57, Z:-5.15 [[ 9.99998248e-01 5.29834684e-04 1.79512366e-03 2.01149895e+02] [-5.28604714e-04 9.99999625e-01 -6.85577817e-04 -1.75690616e+01] [-1.79548623e-03 6.84627705e-04 9.99998154e-01 -5.15071441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.622414037 meters 0.09964230909217764 Centerline is valid? [False, True] Translation: X:201.15, Y:-17.57, Z:-5.15 [[ 9.99998430e-01 7.74763335e-04 1.59388038e-03 2.01150660e+02] [-7.74053917e-04 9.99999601e-01 -4.45657629e-04 -1.75689965e+01] [-1.59422502e-03 4.44423180e-04 9.99998630e-01 -5.15123802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.652414037 meters 0.09926526886264689 Centerline is valid? [True, True] Translation: X:201.18, Y:-17.57, Z:-5.15 [[ 9.99997832e-01 1.55453372e-03 1.38579079e-03 2.01181270e+02] [-1.55431738e-03 9.99998780e-01 -1.57178926e-04 -1.75720190e+01] [-1.38603344e-03 1.55024626e-04 9.99999027e-01 -5.15321026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68241403699997 meters 0.0978854844442234 Centerline is valid? [True, True] Translation: X:201.21, Y:-17.57, Z:-5.15 [[ 9.99999103e-01 9.87920353e-04 9.04476702e-04 2.01211847e+02] [-9.87827964e-04 9.99999507e-01 -1.02587402e-04 -1.75731242e+01] [-9.04577604e-04 1.01693842e-04 9.99999586e-01 -5.15366538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71241403699997 meters 0.10461180732740058 Centerline is valid? [True, False] Translation: X:201.21, Y:-17.57, Z:-5.15 [[ 9.99999127e-01 9.77052415e-04 8.89308386e-04 2.01211872e+02] [-9.76960140e-04 9.99999517e-01 -1.04188751e-04 -1.75732178e+01] [-8.89409755e-04 1.03319841e-04 9.99999599e-01 -5.15365871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74241403699997 meters 0.1018780272518927 Centerline is valid? [False, False] Translation: X:201.21, Y:-17.57, Z:-5.15 [[ 9.99998890e-01 1.16916633e-03 9.23966241e-04 2.01212084e+02] [-1.16936510e-03 9.99999293e-01 2.14614777e-04 -1.75737719e+01] [-9.23714668e-04 -2.15694993e-04 9.99999550e-01 -5.15406667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77241403699998 meters 0.10064444516728331 Centerline is valid? [False, False] Translation: X:201.21, Y:-17.57, Z:-5.15 [[ 9.99998627e-01 1.39220861e-03 8.98771200e-04 2.01212499e+02] [-1.39270809e-03 9.99998876e-01 5.55350485e-04 -1.75740859e+01] [-8.97997026e-04 -5.56601449e-04 9.99999442e-01 -5.15459405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80241403699998 meters 0.09945170565718098 Centerline is valid? [False, True] Translation: X:201.21, Y:-17.57, Z:-5.15 [[ 9.99998836e-01 1.20216163e-03 9.39254860e-04 2.01212151e+02] [-1.20245891e-03 9.99999227e-01 3.16006220e-04 -1.75738868e+01] [-9.38874244e-04 -3.17135268e-04 9.99999509e-01 -5.15419832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83241403699998 meters 0.1017136586723499 Centerline is valid? [True, False] Translation: X:201.21, Y:-17.57, Z:-5.15 [[ 9.99998609e-01 1.37937029e-03 9.37417158e-04 2.01212448e+02] [-1.37991277e-03 9.99998881e-01 5.78298760e-04 -1.75742167e+01] [-9.36618421e-04 -5.79591510e-04 9.99999393e-01 -5.15462053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86241403699998 meters 0.1002858262311008 Centerline is valid? [False, False] Translation: X:201.21, Y:-17.57, Z:-5.15 [[ 9.99998805e-01 1.19361533e-03 9.82693326e-04 2.01212162e+02] [-1.19393275e-03 9.99999235e-01 3.22492322e-04 -1.75738552e+01] [-9.82307643e-04 -3.23665206e-04 9.99999465e-01 -5.15432999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89241403699998 meters 0.10918688016525072 Centerline is valid? [False, False] Translation: X:201.21, Y:-17.57, Z:-5.15 [[ 9.99998823e-01 1.20711926e-03 9.46888662e-04 2.01212187e+02] [-1.20741218e-03 9.99999223e-01 3.08836636e-04 -1.75739910e+01] [-9.46515124e-04 -3.09979558e-04 9.99999504e-01 -5.15421303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92241403699998 meters 0.1041464659147087 Centerline is valid? [False, False] Translation: X:201.21, Y:-17.57, Z:-5.15 [[ 9.99999053e-01 1.00131443e-03 9.44144722e-04 2.01211828e+02] [-1.00133706e-03 9.99999498e-01 2.35050630e-05 -1.75736951e+01] [-9.44120712e-04 -2.44504479e-05 9.99999554e-01 -5.15368901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95241403699998 meters 0.10371834303538209 Centerline is valid? [False, False] Translation: X:201.21, Y:-17.57, Z:-5.15 [[ 9.99998934e-01 1.15879878e-03 8.88127617e-04 2.01212259e+02] [-1.15901500e-03 9.99999299e-01 2.42981892e-04 -1.75737657e+01] [-8.87845427e-04 -2.44010986e-04 9.99999576e-01 -5.15416038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98241403699998 meters 0.101582354612204 Centerline is valid? [False, False] Translation: X:201.21, Y:-17.57, Z:-5.15 [[ 9.99998977e-01 1.11795489e-03 8.92333872e-04 2.01212260e+02] [-1.11813841e-03 9.99999354e-01 2.05194117e-04 -1.75736626e+01] [-8.92103897e-04 -2.06191659e-04 9.99999581e-01 -5.15416720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01241403699999 meters 0.1027757522466917 Centerline is valid? [False, False] Translation: X:201.21, Y:-17.57, Z:-5.15 [[ 9.99999062e-01 9.62016320e-04 9.74988703e-04 2.01212001e+02] [-9.62048349e-04 9.99999537e-01 3.23827813e-05 -1.75735229e+01] [-9.74957099e-04 -3.33207372e-05 9.99999524e-01 -5.15401973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.042414037 meters 0.10714575131583864 Centerline is valid? [False, False] Translation: X:201.21, Y:-17.57, Z:-5.15 [[ 9.99998755e-01 1.26610859e-03 9.41862606e-04 2.01212450e+02] [-1.26657837e-03 9.99999074e-01 4.98341898e-04 -1.75743136e+01] [-9.41230779e-04 -4.99534221e-04 9.99999432e-01 -5.15457808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.072414037 meters 0.10354555222090661 Centerline is valid? [False, False] Translation: X:201.21, Y:-17.57, Z:-5.15 [[ 9.99998469e-01 1.40282233e-03 1.04600858e-03 2.01212499e+02] [-1.40365485e-03 9.99998698e-01 7.95599588e-04 -1.75749462e+01] [-1.04489113e-03 -7.97066605e-04 9.99999136e-01 -5.15496212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.102414037 meters 0.10262445176584725 Centerline is valid? [False, False] Translation: X:201.21, Y:-17.57, Z:-5.15 [[ 9.99998683e-01 1.18713508e-03 1.10653832e-03 2.01212073e+02] [-1.18770508e-03 9.99999162e-01 5.14607784e-04 -1.75746847e+01] [-1.10592649e-03 -5.15921348e-04 9.99999255e-01 -5.15451502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.132414037 meters 0.10454019670532853 Centerline is valid? [False, False] Translation: X:201.21, Y:-17.57, Z:-5.15 [[ 9.99998651e-01 1.23337611e-03 1.08478201e-03 2.01212131e+02] [-1.23399249e-03 9.99999077e-01 5.67719242e-04 -1.75747049e+01] [-1.08408079e-03 -5.69057089e-04 9.99999250e-01 -5.15452668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.162414037 meters 0.10435818117521044 Centerline is valid? [False, False] Translation: X:201.21, Y:-17.57, Z:-5.15 [[ 9.99998820e-01 1.09388410e-03 1.07820497e-03 2.01211905e+02] [-1.09422861e-03 9.99999350e-01 3.18981458e-04 -1.75744589e+01] [-1.07785534e-03 -3.20160884e-04 9.99999368e-01 -5.15414333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.192414037 meters 0.10099117223418762 Centerline is valid? [False, False] Translation: X:201.21, Y:-17.57, Z:-5.15 [[ 9.99998742e-01 1.28312521e-03 9.32508447e-04 2.01212462e+02] [-1.28360140e-03 9.99999046e-01 5.10239949e-04 -1.75745529e+01] [-9.31852856e-04 -5.11436276e-04 9.99999435e-01 -5.15452512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.222414037 meters 0.10223416801106074 Centerline is valid? [False, False] Translation: X:201.21, Y:-17.57, Z:-5.15 [[ 9.99998766e-01 1.28824590e-03 8.98808682e-04 2.01212523e+02] [-1.28868529e-03 9.99999050e-01 4.88451199e-04 -1.75746296e+01] [-8.98178584e-04 -4.89608878e-04 9.99999477e-01 -5.15452373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.252414037 meters 0.10216994955966612 Centerline is valid? [False, False] Translation: X:201.21, Y:-17.58, Z:-5.15 [[ 9.99998704e-01 1.31468869e-03 9.29188931e-04 2.01212305e+02] [-1.31525086e-03 9.99998952e-01 6.04665209e-04 -1.75753288e+01] [-9.28393011e-04 -6.05886542e-04 9.99999385e-01 -5.15427988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.282414037 meters 0.1016060271402159 Centerline is valid? [False, False] Translation: X:201.21, Y:-17.58, Z:-5.15 [[ 9.99998716e-01 1.29800186e-03 9.40050483e-04 2.01212214e+02] [-1.29857622e-03 9.99998970e-01 6.10634329e-04 -1.75754319e+01] [-9.39256911e-04 -6.11854272e-04 9.99999372e-01 -5.15415697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.312414037 meters 0.10018447258279067 Centerline is valid? [False, False] Translation: X:201.21, Y:-17.58, Z:-5.15 [[ 9.99998931e-01 1.10377871e-03 9.58810764e-04 2.01211824e+02] [-1.10410956e-03 9.99999331e-01 3.44602325e-04 -1.75752408e+01] [-9.58429758e-04 -3.45660589e-04 9.99999481e-01 -5.15362043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.342414037 meters 0.09922097407427426 Centerline is valid? [False, True] Translation: X:201.21, Y:-17.58, Z:-5.15 [[ 9.99998939e-01 1.06797360e-03 9.90238282e-04 2.01211607e+02] [-1.06837904e-03 9.99999346e-01 4.08992834e-04 -1.75757178e+01] [-9.89800840e-04 -4.10050350e-04 9.99999426e-01 -5.15340415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.372414037 meters 0.10076537240038501 Centerline is valid? [True, False] Translation: X:201.21, Y:-17.58, Z:-5.15 [[ 9.99998598e-01 1.41244727e-03 8.99086572e-04 2.01212111e+02] [-1.41326114e-03 9.99998592e-01 9.05224384e-04 -1.75766616e+01] [-8.97806724e-04 -9.06493759e-04 9.99999186e-01 -5.15387450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.402414037 meters 0.10492811079593274 Centerline is valid? [False, False] Translation: X:201.21, Y:-17.58, Z:-5.16 [[ 9.99998183e-01 -1.89148840e-03 2.38072888e-04 2.01214274e+02] [ 1.89206013e-03 9.99995271e-01 -2.42462339e-03 -1.75775490e+01] [-2.33485615e-04 2.42506944e-03 9.99997032e-01 -5.15513736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43241403699997 meters 0.09981779792260055 Centerline is valid? [False, True] Translation: X:201.21, Y:-17.58, Z:-5.16 [[ 9.99998436e-01 -1.75019996e-03 2.52663665e-04 2.01214317e+02] [ 1.75074202e-03 9.99996132e-01 -2.16134649e-03 -1.75783346e+01] [-2.48879899e-04 2.16178546e-03 9.99997632e-01 -5.15527416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46241403699997 meters 0.10245786735992873 Centerline is valid? [True, False] Translation: X:201.21, Y:-17.58, Z:-5.16 [[ 9.99998958e-01 -1.43549984e-03 1.55109208e-04 2.01214977e+02] [ 1.43576840e-03 9.99997446e-01 -1.74540635e-03 -1.75787634e+01] [-1.52603281e-04 1.74562723e-03 9.99998465e-01 -5.15595575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49241403699997 meters 0.10224188644442173 Centerline is valid? [False, False] Translation: X:201.22, Y:-17.58, Z:-5.16 [[ 9.99998873e-01 -1.50043242e-03 5.67245870e-05 2.01215062e+02] [ 1.50053799e-03 9.99997051e-01 -1.90935845e-03 -1.75784796e+01] [-5.38595564e-05 1.90944141e-03 9.99998176e-01 -5.15577985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52241403699998 meters 0.10168482663249699 Centerline is valid? [False, False] Translation: X:201.22, Y:-17.58, Z:-5.16 [[ 9.99998961e-01 -1.43356510e-03 -1.53250012e-04 2.01215629e+02] [ 1.43325352e-03 9.99996944e-01 -2.01428780e-03 -1.75778206e+01] [ 1.56137157e-04 2.01406606e-03 9.99997960e-01 -5.15601270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55241403699998 meters 0.10126398633126697 Centerline is valid? [False, False] Translation: X:201.22, Y:-17.58, Z:-5.16 [[ 9.99999234e-01 -1.19655623e-03 -3.16517757e-04 2.01216275e+02] [ 1.19598863e-03 9.99997687e-01 -1.78742920e-03 -1.75778601e+01] [ 3.18655785e-04 1.78704928e-03 9.99998352e-01 -5.15647395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58241403699998 meters 0.10135780163250742 Centerline is valid? [False, False] Translation: X:201.22, Y:-17.58, Z:-5.16 [[ 9.99999418e-01 -9.64575905e-04 -4.83126456e-04 2.01216825e+02] [ 9.63798695e-04 9.99998245e-01 -1.60636557e-03 -1.75777443e+01] [ 4.84675069e-04 1.60589900e-03 9.99998593e-01 -5.15679905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61241403699998 meters 0.10223113849308316 Centerline is valid? [False, False] Translation: X:201.22, Y:-17.58, Z:-5.16 [[ 9.99999395e-01 -9.41988018e-04 -5.68753180e-04 2.01216955e+02] [ 9.41070945e-04 9.99998260e-01 -1.61054868e-03 -1.75776471e+01] [ 5.70269308e-04 1.61001247e-03 9.99998541e-01 -5.15675673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64241403699998 meters 0.10312062727416098 Centerline is valid? [False, False] Translation: X:201.22, Y:-17.58, Z:-5.16 [[ 9.99999306e-01 -8.49313538e-04 -8.15909680e-04 2.01217564e+02] [ 8.47892687e-04 9.99998126e-01 -1.74020242e-03 -1.75767858e+01] [ 8.17386129e-04 1.73950941e-03 9.99998153e-01 -5.15687713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67241403699998 meters 0.1037160825397252 Centerline is valid? [False, False] Translation: X:201.22, Y:-17.58, Z:-5.16 [[ 9.99999233e-01 -8.46790729e-04 -9.04008242e-04 2.01217932e+02] [ 8.45143436e-04 9.99997985e-01 -1.82103913e-03 -1.75760660e+01] [ 9.05548459e-04 1.82027372e-03 9.99997933e-01 -5.15717468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70241403699998 meters 0.10464977416000103 Centerline is valid? [False, False] Translation: X:201.22, Y:-17.58, Z:-5.16 [[ 9.99999135e-01 -6.60248781e-04 -1.13735385e-03 2.01218710e+02] [ 6.58289953e-04 9.99998301e-01 -1.72178178e-03 -1.75756686e+01] [ 1.13848872e-03 1.72103159e-03 9.99997871e-01 -5.15764130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73241403699998 meters 0.09688520003606482 Centerline is valid? [False, True] Translation: X:201.22, Y:-17.58, Z:-5.16 [[ 9.99998972e-01 -4.80253746e-04 -1.35068808e-03 2.01219493e+02] [ 4.78074049e-04 9.99998584e-01 -1.61362765e-03 -1.75752179e+01] [ 1.35146112e-03 1.61298026e-03 9.99997786e-01 -5.15818237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76241403699999 meters 0.09725815189907783 Centerline is valid? [True, True] Translation: X:201.25, Y:-17.58, Z:-5.16 [[ 9.99996979e-01 6.62157174e-04 -2.36699987e-03 2.01249507e+02] [-6.61548141e-04 9.99999748e-01 2.58075412e-04 -1.75789798e+01] [ 2.36717016e-03 -2.56508748e-04 9.99997165e-01 -5.16175653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.792414037 meters 0.09568100127670257 Centerline is valid? [True, True] Translation: X:201.28, Y:-17.58, Z:-5.16 [[ 9.99993808e-01 9.80689598e-04 -3.37972329e-03 2.01279651e+02] [-9.79452648e-04 9.99999453e-01 3.67627105e-04 -1.75783759e+01] [ 3.38008197e-03 -3.64314550e-04 9.99994221e-01 -5.16194199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.822414037 meters 0.09963895250897284 Centerline is valid? [True, True] Translation: X:201.31, Y:-17.59, Z:-5.16 [[ 9.99993114e-01 2.52408070e-03 -2.72047252e-03 2.01307684e+02] [-2.52328553e-03 9.99996773e-01 2.95684185e-04 -1.75874016e+01] [ 2.72121007e-03 -2.88817620e-04 9.99996256e-01 -5.16493161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.852414037 meters 0.09661783835603206 Centerline is valid? [True, True] Translation: X:201.34, Y:-17.58, Z:-5.16 [[ 9.99991954e-01 3.49984070e-03 -1.96013593e-03 2.01338501e+02] [-3.49942949e-03 9.99993854e-01 2.13176427e-04 -1.75843992e+01] [ 1.96086997e-03 -2.06315354e-04 9.99998056e-01 -5.16417640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.882414037 meters 0.09579816546445691 Centerline is valid? [True, True] Translation: X:201.37, Y:-17.58, Z:-5.16 [[ 9.99991038e-01 4.03751920e-03 -1.27363061e-03 2.01368018e+02] [-4.03734845e-03 9.99991841e-01 1.36612256e-04 -1.75849146e+01] [ 1.27417180e-03 -1.31468941e-04 9.99999180e-01 -5.16437495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.912414037 meters 0.09696530839476662 Centerline is valid? [True, True] Translation: X:201.40, Y:-17.59, Z:-5.17 [[ 9.99988360e-01 4.77409852e-03 -6.99165887e-04 2.01396149e+02] [-4.77404753e-03 9.99988601e-01 7.45793933e-05 -1.75887495e+01] [ 6.99513967e-04 -7.12406740e-05 9.99999753e-01 -5.16518812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.942414037 meters 0.0950816165909321 Centerline is valid? [True, True] Translation: X:201.42, Y:-17.59, Z:-5.17 [[ 9.99986305e-01 5.22312458e-03 -3.30037959e-04 2.01424909e+02] [-5.22311351e-03 9.99986359e-01 3.43977044e-05 -1.75878866e+01] [ 3.30213120e-04 -3.26734076e-05 9.99999945e-01 -5.16582362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.972414037 meters 0.09717473960589527 Centerline is valid? [True, True] Translation: X:201.45, Y:-17.59, Z:-5.17 [[ 9.99985110e-01 5.45326865e-03 2.02478430e-04 2.01453195e+02] [-5.45326418e-03 9.99985131e-01 -2.25935972e-05 -1.75940088e+01] [-2.02598629e-04 2.14890925e-05 9.99999979e-01 -5.16714371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.002414037 meters 0.09606713192670698 Centerline is valid? [True, True] Translation: X:201.48, Y:-17.59, Z:-5.17 [[ 9.99983687e-01 5.68573245e-03 5.46805906e-04 2.01481878e+02] [-5.68570001e-03 9.99983834e-01 -6.08562790e-05 -1.75933103e+01] [-5.47143079e-04 5.77463119e-05 9.99999849e-01 -5.16714386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.032414037 meters 0.09633485848300956 Centerline is valid? [True, True] Translation: X:201.51, Y:-17.60, Z:-5.17 [[ 9.99984265e-01 5.57837567e-03 5.92626210e-04 2.01510339e+02] [-5.57833765e-03 9.99984439e-01 -6.57922762e-05 -1.75962771e+01] [-5.92984002e-04 6.24853719e-05 9.99999822e-01 -5.16759596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.062414037 meters 0.09802272838904816 Centerline is valid? [True, True] Translation: X:201.54, Y:-17.60, Z:-5.17 [[ 9.99983440e-01 5.66722652e-03 1.00069493e-03 2.01538782e+02] [-5.66711959e-03 9.99983936e-01 -1.09663173e-04 -1.76015555e+01] [-1.00130034e-03 1.03990299e-04 9.99999493e-01 -5.16842088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.092414037 meters 0.09802272838904816 Centerline is valid? [True, True] Translation: X:201.57, Y:-17.60, Z:-5.17 [[ 9.99983814e-01 5.60089870e-03 1.00066550e-03 2.01567078e+02] [-5.60079147e-03 9.99984309e-01 -1.09934824e-04 -1.76045537e+01] [-1.00126553e-03 1.04328525e-04 9.99999493e-01 -5.16903334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.122414037 meters 0.09569699496264052 Centerline is valid? [True, True] Translation: X:201.60, Y:-17.60, Z:-5.17 [[ 9.99986072e-01 5.21729261e-03 7.97636826e-04 2.01596239e+02] [-5.21722413e-03 9.99986386e-01 -8.79019066e-05 -1.76032967e+01] [-7.98084578e-04 8.37392322e-05 9.99999678e-01 -5.16870241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.152414037 meters 0.09733368672961165 Centerline is valid? [True, True] Translation: X:201.62, Y:-17.61, Z:-5.17 [[ 9.99988251e-01 4.71581182e-03 1.12216567e-03 2.01624123e+02] [-4.71567713e-03 9.99988874e-01 -1.22636781e-04 -1.76088765e+01] [-1.12273151e-03 1.17343570e-04 9.99999363e-01 -5.17018012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18241403699997 meters 0.09936477386279592 Centerline is valid? [True, True] Translation: X:201.65, Y:-17.62, Z:-5.17 [[ 9.99993623e-01 3.55655929e-03 3.24072028e-04 2.01653784e+02] [-3.55654798e-03 9.99993675e-01 -3.54558025e-05 -1.76150241e+01] [-3.24196079e-04 3.43029986e-05 9.99999947e-01 -5.17150622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21241403699997 meters 0.09860339168933663 Centerline is valid? [True, True] Translation: X:201.68, Y:-17.62, Z:-5.17 [[ 9.99997139e-01 2.27433412e-03 -7.40566311e-04 2.01684520e+02] [-2.27427534e-03 9.99997411e-01 8.01966240e-05 -1.76159369e+01] [ 7.40746787e-04 -7.85121429e-05 9.99999723e-01 -5.17256736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24241403699997 meters 0.09787682728069146 Centerline is valid? [True, True] Translation: X:201.71, Y:-17.62, Z:-5.17 [[ 9.99998466e-01 1.51569210e-03 -8.77719122e-04 2.01714081e+02] [-1.51560992e-03 9.99998847e-01 9.42829096e-05 -1.76173962e+01] [ 8.77861014e-04 -9.29524852e-05 9.99999610e-01 -5.17319254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27241403699998 meters 0.10641570207248517 Centerline is valid? [True, False] Translation: X:201.72, Y:-17.62, Z:-5.17 [[ 9.99996289e-01 -2.29258553e-03 -1.47176065e-03 2.01715965e+02] [ 2.28659321e-03 9.99989142e-01 -4.06038374e-03 -1.76160259e+01] [ 1.48105345e-03 4.05700336e-03 9.99990674e-01 -5.17423220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30241403699998 meters 0.10424941952463512 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.62, Z:-5.17 [[ 9.99996640e-01 -2.09580107e-03 -1.52593142e-03 2.01716418e+02] [ 2.09003675e-03 9.99990712e-01 -3.76941928e-03 -1.76162777e+01] [ 1.53381720e-03 3.76621736e-03 9.99991731e-01 -5.17476294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33241403699998 meters 0.09910533529214695 Centerline is valid? [False, True] Translation: X:201.72, Y:-17.62, Z:-5.18 [[ 9.99996645e-01 -2.07893966e-03 -1.54554737e-03 2.01716691e+02] [ 2.07311066e-03 9.99990769e-01 -3.76356261e-03 -1.76157529e+01] [ 1.55335733e-03 3.76034589e-03 9.99991723e-01 -5.17513693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36241403699998 meters 0.10561891814087222 Centerline is valid? [True, False] Translation: X:201.72, Y:-17.62, Z:-5.18 [[ 9.99996548e-01 -2.05301881e-03 -1.63970255e-03 2.01717082e+02] [ 2.04675082e-03 9.99990627e-01 -3.81521602e-03 -1.76151669e+01] [ 1.64751989e-03 3.81184679e-03 9.99991378e-01 -5.17541212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39241403699998 meters 0.10560905567573729 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.61, Z:-5.18 [[ 9.99996438e-01 -2.02000158e-03 -1.74483212e-03 2.01717412e+02] [ 2.01326081e-03 9.99990537e-01 -3.85643230e-03 -1.76146712e+01] [ 1.75260561e-03 3.85290576e-03 9.99991042e-01 -5.17558590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42241403699998 meters 0.10804479207386751 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.61, Z:-5.18 [[ 9.99996128e-01 -1.98644557e-03 -1.94870165e-03 2.01718063e+02] [ 1.97851803e-03 9.99989794e-01 -4.06164330e-03 -1.76133748e+01] [ 1.95675000e-03 4.05777203e-03 9.99989853e-01 -5.17591948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45241403699998 meters 0.10181686085486835 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.61, Z:-5.18 [[ 9.99996070e-01 -1.82508830e-03 -2.12808773e-03 2.01718726e+02] [ 1.81659612e-03 9.99990407e-01 -3.98564839e-03 -1.76130092e+01] [ 2.13534147e-03 3.98176685e-03 9.99989793e-01 -5.17635105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48241403699998 meters 0.1014550939821454 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.61, Z:-5.18 [[ 9.99996056e-01 -1.66589365e-03 -2.26105232e-03 2.01719262e+02] [ 1.65714393e-03 9.99991153e-01 -3.86612752e-03 -1.76128352e+01] [ 2.26747288e-03 3.86236539e-03 9.99989970e-01 -5.17674983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51241403699999 meters 0.10077675788026866 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.61, Z:-5.18 [[ 9.99995947e-01 -1.46319059e-03 -2.44223980e-03 2.01719928e+02] [ 1.45407843e-03 9.99991991e-01 -3.72868229e-03 -1.76126507e+01] [ 2.44767602e-03 3.72511597e-03 9.99990066e-01 -5.17718551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.542414037 meters 0.10203757503452769 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.61, Z:-5.18 [[ 9.99995621e-01 -1.36153092e-03 -2.62758136e-03 2.01720684e+02] [ 1.35151648e-03 9.99991831e-01 -3.80929922e-03 -1.76117106e+01] [ 2.63274638e-03 3.80573132e-03 9.99989292e-01 -5.17773167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.572414037 meters 0.10358791010371658 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.61, Z:-5.18 [[ 9.99995811e-01 2.27730234e-03 -1.78666102e-03 2.01718757e+02] [-2.27688265e-03 9.99997380e-01 2.36904075e-04 -1.76125205e+01] [ 1.78719584e-03 -2.32835066e-04 9.99998376e-01 -5.17735880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.602414037 meters 0.10431517181181454 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.61, Z:-5.18 [[ 9.99997252e-01 1.07379445e-03 -2.08417834e-03 2.01721731e+02] [-1.07629917e-03 9.99998700e-01 -1.20102573e-03 -1.76121912e+01] [ 2.08288597e-03 1.20326563e-03 9.99997107e-01 -5.18011108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.632414037 meters 0.10661683911557772 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.61, Z:-5.18 [[ 9.99997257e-01 1.14303711e-03 -2.04430786e-03 2.01721791e+02] [-1.14516240e-03 9.99998805e-01 -1.03874508e-03 -1.76125921e+01] [ 2.04311809e-03 1.04108329e-03 9.99997371e-01 -5.18032862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.662414037 meters 0.10721979984023684 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.61, Z:-5.18 [[ 9.99996783e-01 1.45473805e-03 -2.07793560e-03 2.01722237e+02] [-1.45586678e-03 9.99998793e-01 -5.41791691e-04 -1.76134051e+01] [ 2.07714493e-03 5.44815145e-04 9.99997694e-01 -5.18092012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.692414037 meters 0.10975698974173746 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.61, Z:-5.18 [[ 9.99997022e-01 1.49484466e-03 -1.92899238e-03 2.01722012e+02] [-1.49535582e-03 9.99998847e-01 -2.63572753e-04 -1.76140321e+01] [ 1.92859616e-03 2.66456498e-04 9.99998105e-01 -5.18102688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.722414037 meters 0.11000004577195807 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.61, Z:-5.18 [[ 9.99997609e-01 1.23434186e-03 -1.80496166e-03 2.01721402e+02] [-1.23531771e-03 9.99999091e-01 -5.39637691e-04 -1.76138539e+01] [ 1.80429392e-03 5.41866102e-04 9.99998225e-01 -5.18047693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.752414037 meters 0.11169778872764108 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.61, Z:-5.18 [[ 9.99997652e-01 1.30276689e-03 -1.73194945e-03 2.01721380e+02] [-1.30336143e-03 9.99999092e-01 -3.42194266e-04 -1.76142123e+01] [ 1.73150207e-03 3.44450819e-04 9.99998442e-01 -5.18066545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.782414037 meters 0.1125609278360699 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.62, Z:-5.18 [[ 9.99997326e-01 1.57254748e-03 -1.69580343e-03 2.01721679e+02] [-1.57229231e-03 9.99998752e-01 1.51792979e-04 -1.76151217e+01] [ 1.69604002e-03 -1.49126275e-04 9.99998551e-01 -5.18120670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.812414037 meters 0.11712530545952989 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.62, Z:-5.18 [[ 9.99997918e-01 1.56914762e-03 -1.30474266e-03 2.01720920e+02] [-1.56834391e-03 9.99998580e-01 6.16787329e-04 -1.76170370e+01] [ 1.30570864e-03 -6.14739760e-04 9.99998959e-01 -5.18127649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.842414037 meters 0.11806209952846991 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.62, Z:-5.18 [[ 9.99997809e-01 1.71602480e-03 -1.19859453e-03 2.01720949e+02] [-1.71486340e-03 9.99998060e-01 9.69330217e-04 -1.76179012e+01] [ 1.20025560e-03 -9.67272668e-04 9.99998812e-01 -5.18166094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.872414037 meters 0.11913701801324075 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.62, Z:-5.18 [[ 9.99998175e-01 1.62723985e-03 -1.00130509e-03 2.01720633e+02] [-1.62625706e-03 9.99998196e-01 9.81541295e-04 -1.76181719e+01] [ 1.00290049e-03 -9.79911124e-04 9.99999017e-01 -5.18176776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.902414037 meters 0.11981624786340983 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.62, Z:-5.18 [[ 9.99997918e-01 1.72157569e-03 -1.09589277e-03 2.01720992e+02] [-1.72042014e-03 9.99997964e-01 1.05451255e-03 -1.76180279e+01] [ 1.09770596e-03 -1.05262496e-03 9.99998844e-01 -5.18199896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93241403699997 meters 0.12069557937759753 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.62, Z:-5.18 [[ 9.99997972e-01 1.67187720e-03 -1.12297530e-03 2.01720952e+02] [-1.67077897e-03 9.99998126e-01 9.78195284e-04 -1.76178906e+01] [ 1.12460862e-03 -9.76317056e-04 9.99998891e-01 -5.18185046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96241403699997 meters 0.12144045546929566 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.62, Z:-5.18 [[ 9.99998148e-01 1.54874064e-03 -1.14239005e-03 2.01720709e+02] [-1.54784194e-03 9.99998492e-01 7.87149255e-04 -1.76178071e+01] [ 1.14360742e-03 -7.85379558e-04 9.99999038e-01 -5.18144301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99241403699997 meters 0.1051489979280304 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.62, Z:-5.18 [[ 9.99998111e-01 1.56001572e-03 -1.15907403e-03 2.01720731e+02] [-1.55910422e-03 9.99998475e-01 7.86893669e-04 -1.76178467e+01] [ 1.16029983e-03 -7.85085066e-04 9.99999019e-01 -5.18141661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02241403699998 meters 0.10300675714003832 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.62, Z:-5.18 [[ 9.99998074e-01 1.57522354e-03 -1.17114707e-03 2.01720534e+02] [-1.57425057e-03 9.99998415e-01 8.31241909e-04 -1.76182005e+01] [ 1.17245460e-03 -8.29396629e-04 9.99998969e-01 -5.18108129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05241403699998 meters 0.1023652089357689 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.62, Z:-5.18 [[ 9.99998210e-01 1.47416352e-03 -1.18646476e-03 2.01720315e+02] [-1.47331905e-03 9.99998661e-01 7.12315270e-04 -1.76181803e+01] [ 1.18751324e-03 -7.10565953e-04 9.99999042e-01 -5.18071620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08241403699998 meters 0.1038714447465325 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.62, Z:-5.18 [[ 9.99998195e-01 1.46703207e-03 -1.20705058e-03 2.01720139e+02] [-1.46616735e-03 9.99998668e-01 7.16963974e-04 -1.76186067e+01] [ 1.20810078e-03 -7.15192942e-04 9.99999014e-01 -5.18038376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11241403699998 meters 0.10089051139276844 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.62, Z:-5.18 [[ 9.99998033e-01 1.58937412e-03 -1.18664737e-03 2.01720111e+02] [-1.58824312e-03 9.99998284e-01 9.53437923e-04 -1.76193751e+01] [ 1.18816070e-03 -9.51551363e-04 9.99998841e-01 -5.18042068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14241403699998 meters 0.09993010753330216 Centerline is valid? [False, True] Translation: X:201.72, Y:-17.62, Z:-5.18 [[ 9.99996455e-01 -1.68081267e-03 -2.06493871e-03 2.01722591e+02] [ 1.67582432e-03 9.99995679e-01 -2.41509686e-03 -1.76202127e+01] [ 2.06898911e-03 2.41162782e-03 9.99994952e-01 -5.18152454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17241403699998 meters 0.10292043242289056 Centerline is valid? [True, False] Translation: X:201.72, Y:-17.62, Z:-5.18 [[ 9.99996726e-01 -1.46242971e-03 -2.09970500e-03 2.01722885e+02] [ 1.45809351e-03 9.99996804e-01 -2.06519545e-03 -1.76210415e+01] [ 2.10271849e-03 2.06212712e-03 9.99995663e-01 -5.18188251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20241403699998 meters 0.10210267798249235 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.62, Z:-5.18 [[ 9.99997274e-01 -9.96927385e-04 -2.11162742e-03 2.01723399e+02] [ 9.94271800e-04 9.99998714e-01 -1.25827766e-03 -1.76227696e+01] [ 2.11287912e-03 1.25617470e-03 9.99996979e-01 -5.18265532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23241403699998 meters 0.10262890278230742 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.62, Z:-5.18 [[ 9.99997431e-01 -7.50071952e-04 -2.13917671e-03 2.01723658e+02] [ 7.48242856e-04 9.99999354e-01 -8.55718905e-04 -1.76236611e+01] [ 2.13981718e-03 8.54116083e-04 9.99997346e-01 -5.18297200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26241403699999 meters 0.10110266685773094 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.62, Z:-5.18 [[ 9.99997517e-01 -5.08251535e-04 -2.16952320e-03 2.01723914e+02] [ 5.07249837e-04 9.99999765e-01 -4.62238618e-04 -1.76245191e+01] [ 2.16975762e-03 4.61136980e-04 9.99997540e-01 -5.18326016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.292414037 meters 0.10263349130151574 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.63, Z:-5.18 [[ 9.99997608e-01 -3.85067595e-04 -2.15314436e-03 2.01723609e+02] [ 3.84667942e-04 9.99999909e-01 -1.86024803e-04 -1.76257751e+01] [ 2.15321579e-03 1.85196112e-04 9.99997665e-01 -5.18285768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.322414037 meters 0.10120903502028882 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.63, Z:-5.18 [[ 9.99997624e-01 -2.60807402e-04 -2.16401992e-03 2.01723569e+02] [ 2.60884700e-04 9.99999965e-01 3.54371542e-05 -1.76265466e+01] [ 2.16401060e-03 -3.60016297e-05 9.99997658e-01 -5.18276343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.352414037 meters 0.09965743520176214 Centerline is valid? [False, True] Translation: X:201.72, Y:-17.63, Z:-5.18 [[ 9.99997882e-01 -2.85145609e-04 -2.03833427e-03 2.01723209e+02] [ 2.85377736e-04 9.99999953e-01 1.13590672e-04 -1.76270744e+01] [ 2.03830178e-03 -1.14172126e-04 9.99997916e-01 -5.18258897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.382414037 meters 0.10052764177384625 Centerline is valid? [True, False] Translation: X:201.72, Y:-17.63, Z:-5.18 [[ 9.99997911e-01 -1.69465430e-04 -2.03700361e-03 2.01723179e+02] [ 1.70160930e-04 9.99999927e-01 3.41264390e-04 -1.76277668e+01] [ 2.03694562e-03 -3.41610295e-04 9.99997867e-01 -5.18254351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.412414037 meters 0.10149733917855534 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.63, Z:-5.18 [[ 9.99998248e-01 -1.36820381e-04 -1.86682252e-03 2.01722683e+02] [ 1.37920450e-04 9.99999817e-01 5.89157720e-04 -1.76289297e+01] [ 1.86674157e-03 -5.89414161e-04 9.99998084e-01 -5.18230328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.442414037 meters 0.09996548948573741 Centerline is valid? [False, True] Translation: X:201.72, Y:-17.63, Z:-5.18 [[ 9.99998175e-01 2.40787377e-04 -1.89550239e-03 2.01723097e+02] [-2.38487091e-04 9.99999235e-01 1.21368184e-03 -1.76301656e+01] [ 1.89579318e-03 -1.21322757e-03 9.99997467e-01 -5.18285794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.472414037 meters 0.10017213442973015 Centerline is valid? [True, False] Translation: X:201.72, Y:-17.63, Z:-5.18 [[ 9.99998516e-01 1.96795535e-04 -1.71160972e-03 2.01722519e+02] [-1.94408971e-04 9.99999009e-01 1.39439343e-03 -1.76313295e+01] [ 1.71188243e-03 -1.39405861e-03 9.99997563e-01 -5.18255862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.502414037 meters 0.1052346405877788 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.63, Z:-5.18 [[ 9.99998558e-01 2.60378690e-04 -1.67789725e-03 2.01722431e+02] [-2.57769139e-04 9.99998757e-01 1.55527949e-03 -1.76319579e+01] [ 1.67830013e-03 -1.55484474e-03 9.99997383e-01 -5.18253446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.532414037 meters 0.10250350360947325 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.63, Z:-5.18 [[ 9.99998623e-01 2.98713549e-04 -1.63240464e-03 2.01722346e+02] [-2.95970582e-04 9.99998544e-01 1.68030651e-03 -1.76324249e+01] [ 1.63290420e-03 -1.67982106e-03 9.99997256e-01 -5.18255610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.562414037 meters 0.10369842160713963 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.63, Z:-5.18 [[ 9.99998593e-01 4.41249510e-04 -1.61835081e-03 2.01722356e+02] [-4.38067168e-04 9.99997971e-01 1.96623797e-03 -1.76333924e+01] [ 1.61921513e-03 -1.96552626e-03 9.99996757e-01 -5.18262974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.592414037 meters 0.10477689621171461 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.63, Z:-5.18 [[ 9.99998597e-01 4.45344210e-04 -1.61493297e-03 2.01722278e+02] [-4.42106908e-04 9.99997893e-01 2.00440822e-03 -1.76336617e+01] [ 1.61582222e-03 -2.00369144e-03 9.99996687e-01 -5.18252698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.622414037 meters 0.10555964944163596 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.63, Z:-5.18 [[ 9.99998584e-01 5.01771939e-04 -1.60622446e-03 2.01722234e+02] [-4.98349179e-04 9.99997606e-01 2.13062670e-03 -1.76341405e+01] [ 1.60728970e-03 -2.12982323e-03 9.99996440e-01 -5.18247934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.652414037 meters 0.10475696080794779 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.64, Z:-5.18 [[ 9.99998413e-01 7.04439122e-04 -1.63637639e-03 2.01722289e+02] [-7.00370511e-04 9.99996666e-01 2.48559748e-03 -1.76353349e+01] [ 1.63812189e-03 -2.48444747e-03 9.99995572e-01 -5.18248436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68241403699997 meters 0.1008317839411704 Centerline is valid? [False, False] Translation: X:201.72, Y:-17.64, Z:-5.18 [[ 9.99998275e-01 7.79572005e-04 -1.68575860e-03 2.01722297e+02] [-7.75185847e-04 9.99996317e-01 2.60097965e-03 -1.76358603e+01] [ 1.68778004e-03 -2.59966839e-03 9.99995197e-01 -5.18234733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71241403699997 meters 0.09923242933134829 Centerline is valid? [False, True] Translation: X:201.72, Y:-17.64, Z:-5.18 [[ 9.99998143e-01 8.05937313e-04 -1.75031900e-03 2.01722280e+02] [-8.01316321e-04 9.99996196e-01 2.63918469e-03 -1.76362232e+01] [ 1.75243935e-03 -2.63777723e-03 9.99994986e-01 -5.18212752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74241403699997 meters 0.10569178056359732 Centerline is valid? [True, False] Translation: X:201.72, Y:-17.64, Z:-5.18 [[ 9.99997807e-01 9.03835539e-04 -1.88933509e-03 2.01722387e+02] [-8.98683148e-04 9.99995880e-01 2.72616480e-03 -1.76367324e+01] [ 1.89179131e-03 -2.72446091e-03 9.99994499e-01 -5.18184665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77241403699998 meters 0.09825732080352262 Centerline is valid? [False, True] Translation: X:201.72, Y:-17.64, Z:-5.18 [[ 9.99997716e-01 8.67142115e-04 -1.95323501e-03 2.01722316e+02] [-8.62030367e-04 9.99996206e-01 2.61639127e-03 -1.76368008e+01] [ 1.95549638e-03 -2.61470155e-03 9.99994670e-01 -5.18153267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80241403699998 meters 0.09945453301657026 Centerline is valid? [True, True] Translation: X:201.75, Y:-17.64, Z:-5.18 [[ 9.99993890e-01 2.53089848e-03 -2.41122458e-03 2.01750438e+02] [-2.53025968e-03 9.99996763e-01 2.67941211e-04 -1.76417065e+01] [ 2.41189491e-03 -2.61838549e-04 9.99997057e-01 -5.18271036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83241403699998 meters 0.09547220735733708 Centerline is valid? [True, True] Translation: X:201.78, Y:-17.64, Z:-5.18 [[ 9.99991940e-01 3.01746351e-03 -2.64849441e-03 2.01779492e+02] [-3.01669576e-03 9.99995407e-01 2.93825665e-04 -1.76385525e+01] [ 2.64936885e-03 -2.85833595e-04 9.99996450e-01 -5.18290527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86241403699998 meters 0.09838336540508032 Centerline is valid? [True, True] Translation: X:201.81, Y:-17.65, Z:-5.19 [[ 9.99991086e-01 3.37378429e-03 -2.53898011e-03 2.01806921e+02] [-3.37308044e-03 9.99994272e-01 2.81450307e-04 -1.76479980e+01] [ 2.53991512e-03 -2.72883614e-04 9.99996737e-01 -5.18528723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89241403699998 meters 0.09652023475485068 Centerline is valid? [True, True] Translation: X:201.84, Y:-17.65, Z:-5.19 [[ 9.99993585e-01 2.16002065e-03 -2.85749207e-03 2.01836554e+02] [-2.15912182e-03 9.99997619e-01 3.17597716e-04 -1.76495886e+01] [ 2.85817128e-03 -3.11426005e-04 9.99995867e-01 -5.18564900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92241403699998 meters 0.09565277139965911 Centerline is valid? [True, True] Translation: X:201.87, Y:-17.65, Z:-5.19 [[ 9.99995636e-01 1.46397242e-03 -2.56620114e-03 2.01865389e+02] [-1.46324788e-03 9.99998889e-01 2.84194682e-04 -1.76518558e+01] [ 2.56661434e-03 -2.80438453e-04 9.99996667e-01 -5.18600307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95241403699998 meters 0.09819181278565663 Centerline is valid? [True, True] Translation: X:201.89, Y:-17.66, Z:-5.19 [[ 9.99994903e-01 8.61875582e-04 -3.07420896e-03 2.01893585e+02] [-8.60831341e-04 9.99999571e-01 3.40984941e-04 -1.76601979e+01] [ 3.07450153e-03 -3.38336828e-04 9.99995216e-01 -5.18782427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98241403699998 meters 0.10038964422358798 Centerline is valid? [True, False] Translation: X:201.89, Y:-17.66, Z:-5.19 [[ 9.99995137e-01 9.57089301e-04 -2.96821125e-03 2.01893463e+02] [-9.55192417e-04 9.99999339e-01 6.40418196e-04 -1.76610876e+01] [ 2.96882222e-03 -6.37579869e-04 9.99995390e-01 -5.18796033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01241403699999 meters 0.10038964422358798 Centerline is valid? [False, False] Translation: X:201.89, Y:-17.66, Z:-5.19 [[ 9.99995137e-01 9.57089301e-04 -2.96821125e-03 2.01893463e+02] [-9.55192417e-04 9.99999339e-01 6.40418196e-04 -1.76610876e+01] [ 2.96882222e-03 -6.37579869e-04 9.99995390e-01 -5.18796033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.042414037 meters 0.09881804048514323 Centerline is valid? [False, True] Translation: X:201.89, Y:-17.66, Z:-5.19 [[ 9.99994803e-01 1.06821129e-03 -3.04200026e-03 2.01893783e+02] [-1.06590400e-03 9.99999143e-01 7.59996497e-04 -1.76611348e+01] [ 3.04280949e-03 -7.56750067e-04 9.99995084e-01 -5.18819549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.072414037 meters 0.09583748264707997 Centerline is valid? [True, True] Translation: X:201.92, Y:-17.66, Z:-5.19 [[ 9.99994492e-01 1.21514218e-03 -3.08848320e-03 2.01922797e+02] [-1.21407731e-03 9.99999203e-01 3.46640497e-04 -1.76584993e+01] [ 3.08890196e-03 -3.42888930e-04 9.99995171e-01 -5.18765076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.102414037 meters 0.10101562294061249 Centerline is valid? [True, False] Translation: X:201.92, Y:-17.66, Z:-5.19 [[ 9.99995352e-01 9.61096269e-04 -2.89362079e-03 2.01922266e+02] [-9.60775054e-04 9.99999532e-01 1.12396244e-04 -1.76582023e+01] [ 2.89372746e-03 -1.09615602e-04 9.99995807e-01 -5.18743699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.132414037 meters 0.0988373860938049 Centerline is valid? [False, True] Translation: X:201.92, Y:-17.66, Z:-5.19 [[ 9.99995136e-01 1.13128287e-03 -2.90652806e-03 2.01922604e+02] [-1.13022485e-03 9.99999294e-01 3.65629162e-04 -1.76584097e+01] [ 2.90693964e-03 -3.62342353e-04 9.99995709e-01 -5.18789577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.162414037 meters 0.09649498328132682 Centerline is valid? [True, True] Translation: X:201.95, Y:-17.66, Z:-5.19 [[ 9.99997334e-01 9.54786223e-04 -2.10236469e-03 2.01951766e+02] [-9.54286935e-04 9.99999516e-01 2.38479043e-04 -1.76575074e+01] [ 2.10259137e-03 -2.36472148e-04 9.99997762e-01 -5.18738061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.192414037 meters 0.09839273472148262 Centerline is valid? [True, True] Translation: X:201.98, Y:-17.66, Z:-5.19 [[ 9.99997745e-01 -2.00834886e-04 -2.11404465e-03 2.01980022e+02] [ 2.01343766e-04 9.99999951e-01 2.40504170e-04 -1.76645734e+01] [ 2.11399624e-03 -2.40929278e-04 9.99997736e-01 -5.18874094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.222414037 meters 0.09844212713387862 Centerline is valid? [True, True] Translation: X:202.01, Y:-17.67, Z:-5.19 [[ 9.99998320e-01 -6.23121798e-04 -1.72369610e-03 2.02009791e+02] [ 6.23461081e-04 9.99999786e-01 1.96304119e-04 -1.76684503e+01] [ 1.72357341e-03 -1.97378447e-04 9.99998495e-01 -5.18917491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.252414037 meters 0.1004619575591962 Centerline is valid? [True, False] Translation: X:202.01, Y:-17.67, Z:-5.19 [[ 9.99998505e-01 -5.89236791e-04 -1.62584462e-03 2.02009731e+02] [ 5.89751711e-04 9.99999776e-01 3.16247787e-04 -1.76687050e+01] [ 1.62565791e-03 -3.17206159e-04 9.99998628e-01 -5.18939483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.282414037 meters 0.10227994160355658 Centerline is valid? [False, False] Translation: X:202.01, Y:-17.67, Z:-5.19 [[ 9.99998520e-01 -5.92010886e-04 -1.61560293e-03 2.02009640e+02] [ 5.92583919e-04 9.99999762e-01 3.54231204e-04 -1.76690149e+01] [ 1.61539284e-03 -3.55188060e-04 9.99998632e-01 -5.18929825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.312414037 meters 0.09483244092196125 Centerline is valid? [False, True] Translation: X:202.01, Y:-17.67, Z:-5.19 [[ 9.99998597e-01 -3.61003089e-04 -1.63562004e-03 2.02009950e+02] [ 3.62176557e-04 9.99999677e-01 7.17205412e-04 -1.76696467e+01] [ 1.63536059e-03 -7.17796789e-04 9.99998405e-01 -5.18968073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.342414037 meters 0.09837620612516541 Centerline is valid? [True, True] Translation: X:202.04, Y:-17.68, Z:-5.19 [[ 9.99999102e-01 -2.71885970e-04 -1.31205312e-03 2.02038178e+02] [ 2.72084051e-04 9.99999952e-01 1.50794357e-04 -1.76793864e+01] [ 1.31201206e-03 -1.51151210e-04 9.99999128e-01 -5.19169845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.372414037 meters 0.10017078637915298 Centerline is valid? [True, False] Translation: X:202.04, Y:-17.68, Z:-5.19 [[ 9.99999112e-01 2.74720410e-05 -1.33233264e-03 2.02038483e+02] [-2.65737478e-05 9.99999772e-01 6.74238957e-04 -1.76803513e+01] [ 1.33235086e-03 -6.74202953e-04 9.99998885e-01 -5.19209365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.402414037 meters 0.09954787479569727 Centerline is valid? [False, True] Translation: X:202.04, Y:-17.68, Z:-5.19 [[ 9.99999228e-01 -2.49775605e-05 -1.24253195e-03 2.02038119e+02] [ 2.58563824e-05 9.99999750e-01 7.07272041e-04 -1.76808618e+01] [ 1.24251397e-03 -7.07303622e-04 9.99998978e-01 -5.19181437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43241403699997 meters 0.10258225991138023 Centerline is valid? [True, False] Translation: X:202.04, Y:-17.68, Z:-5.19 [[ 9.99991843e-01 -3.51587060e-03 -1.98821478e-03 2.02040328e+02] [ 3.50985157e-03 9.99989272e-01 -3.02278233e-03 -1.76804471e+01] [ 1.99882117e-03 3.01577933e-03 9.99993455e-01 -5.19289677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46241403699997 meters 0.10263309841712472 Centerline is valid? [False, False] Translation: X:202.04, Y:-17.68, Z:-5.19 [[ 9.99999424e-01 -2.61487225e-05 -1.07335235e-03 2.02037995e+02] [ 2.72286134e-05 9.99999494e-01 1.00608946e-03 -1.76823714e+01] [ 1.07332550e-03 -1.00611810e-03 9.99998918e-01 -5.19202065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49241403699997 meters 0.1010367554991283 Centerline is valid? [False, False] Translation: X:202.04, Y:-17.68, Z:-5.19 [[ 9.99999490e-01 -1.42759741e-04 -1.00018703e-03 2.02037747e+02] [ 1.43641641e-04 9.99999601e-01 8.81718866e-04 -1.76823283e+01] [ 1.00006076e-03 -8.81862084e-04 9.99999111e-01 -5.19186570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52241403699998 meters 0.10080538321527188 Centerline is valid? [False, False] Translation: X:202.04, Y:-17.68, Z:-5.19 [[ 9.99999447e-01 -3.20787995e-05 -1.05084274e-03 2.02038125e+02] [ 3.31594311e-05 9.99999471e-01 1.02834626e-03 -1.76823352e+01] [ 1.05080920e-03 -1.02838053e-03 9.99998919e-01 -5.19228260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55241403699998 meters 0.10492719661196138 Centerline is valid? [False, False] Translation: X:202.04, Y:-17.68, Z:-5.19 [[ 9.99999230e-01 3.08973009e-04 -1.20230402e-03 2.02038962e+02] [-3.07230672e-04 9.99998903e-01 1.44908026e-03 -1.76827291e+01] [ 1.20275043e-03 -1.44870975e-03 9.99998227e-01 -5.19309291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58241403699998 meters 0.10105246192890407 Centerline is valid? [False, False] Translation: X:202.04, Y:-17.68, Z:-5.19 [[ 9.99999261e-01 1.37964081e-04 -1.20812146e-03 2.02038878e+02] [-1.36553688e-04 9.99999309e-01 1.16743148e-03 -1.76821466e+01] [ 1.20828169e-03 -1.16726565e-03 9.99998589e-01 -5.19295950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61241403699998 meters 0.10208028327123862 Centerline is valid? [False, False] Translation: X:202.04, Y:-17.68, Z:-5.19 [[ 9.99999045e-01 2.45345480e-04 -1.35983738e-03 2.02039433e+02] [-2.43683338e-04 9.99999223e-01 1.22234063e-03 -1.76817751e+01] [ 1.36013622e-03 -1.22200809e-03 9.99998328e-01 -5.19332650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64241403699998 meters 0.10402882844764952 Centerline is valid? [False, False] Translation: X:202.04, Y:-17.68, Z:-5.19 [[ 9.99998941e-01 -1.66126336e-04 -1.44598268e-03 2.02039459e+02] [ 1.66758449e-04 9.99999891e-01 4.37041914e-04 -1.76796073e+01] [ 1.44590992e-03 -4.37282581e-04 9.99998859e-01 -5.19309953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67241403699998 meters 0.10106538730405101 Centerline is valid? [False, False] Translation: X:202.04, Y:-17.68, Z:-5.19 [[ 9.99998678e-01 -1.35764379e-04 -1.62043143e-03 2.02039929e+02] [ 1.36282034e-04 9.99999940e-01 3.19348840e-04 -1.76788801e+01] [ 1.62038797e-03 -3.19569254e-04 9.99998636e-01 -5.19324831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70241403699998 meters 0.09849113137237847 Centerline is valid? [False, True] Translation: X:202.04, Y:-17.68, Z:-5.19 [[ 9.99998510e-01 -5.82802698e-04 -1.62513251e-03 2.02039459e+02] [ 5.82061715e-04 9.99999726e-01 -4.56387902e-04 -1.76773723e+01] [ 1.62539805e-03 4.55441294e-04 9.99998575e-01 -5.19247467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73241403699998 meters 0.10214362498839769 Centerline is valid? [True, False] Translation: X:202.04, Y:-17.68, Z:-5.19 [[ 9.99998485e-01 -4.31001945e-04 -1.68640650e-03 2.02039830e+02] [ 4.30507488e-04 9.99999864e-01 -2.93553563e-04 -1.76773560e+01] [ 1.68653280e-03 2.92827108e-04 9.99998535e-01 -5.19283157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76241403699999 meters 0.10089586701347018 Centerline is valid? [False, False] Translation: X:202.04, Y:-17.68, Z:-5.19 [[ 9.99998475e-01 -5.14872890e-04 -1.66851866e-03 2.02039707e+02] [ 5.14161988e-04 9.99999777e-01 -4.26468674e-04 -1.76771743e+01] [ 1.66873787e-03 4.25610135e-04 9.99998517e-01 -5.19269724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.792414037 meters 0.10043965344628157 Centerline is valid? [False, False] Translation: X:202.04, Y:-17.68, Z:-5.19 [[ 9.99998398e-01 -3.29250397e-04 -1.75969416e-03 2.02040122e+02] [ 3.28882345e-04 9.99999924e-01 -2.09442396e-04 -1.76774038e+01] [ 1.75976299e-03 2.08863328e-04 9.99998430e-01 -5.19303424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.822414037 meters 0.10248798512930324 Centerline is valid? [False, False] Translation: X:202.04, Y:-17.68, Z:-5.19 [[ 9.99998330e-01 -3.12386132e-04 -1.80094268e-03 2.02040254e+02] [ 3.11999255e-04 9.99999928e-01 -2.15096041e-04 -1.76774592e+01] [ 1.80100974e-03 2.14533789e-04 9.99998355e-01 -5.19313439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.852414037 meters 0.10053049453716868 Centerline is valid? [False, False] Translation: X:202.04, Y:-17.68, Z:-5.19 [[ 9.99998227e-01 -8.14415540e-05 -1.88120410e-03 2.02040819e+02] [ 8.16072788e-05 9.99999993e-01 8.80184877e-05 -1.76777104e+01] [ 1.88119692e-03 -8.81718516e-05 9.99998227e-01 -5.19372570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.882414037 meters 0.09837743085117087 Centerline is valid? [False, True] Translation: X:202.04, Y:-17.68, Z:-5.19 [[ 9.99998314e-01 -1.19094661e-04 -1.83246450e-03 2.02040795e+02] [ 1.19212853e-04 9.99999991e-01 6.43899094e-05 -1.76776455e+01] [ 1.83245682e-03 -6.46082542e-05 9.99998319e-01 -5.19384360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.912414037 meters 0.09880240386343633 Centerline is valid? [True, True] Translation: X:202.07, Y:-17.68, Z:-5.20 [[ 9.99998174e-01 6.42209971e-04 -1.80005086e-03 2.02070720e+02] [-6.41839086e-04 9.99999773e-01 2.06611101e-04 -1.76820831e+01] [ 1.80018314e-03 -2.05455381e-04 9.99998359e-01 -5.19510708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.942414037 meters 0.1000153594566028 Centerline is valid? [True, False] Translation: X:202.07, Y:-17.68, Z:-5.20 [[ 9.99998330e-01 5.85099740e-04 -1.73130238e-03 2.02070534e+02] [-5.84816453e-04 9.99999816e-01 1.64128259e-04 -1.76821013e+01] [ 1.73139810e-03 -1.63115490e-04 9.99998488e-01 -5.19503865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.972414037 meters 0.09554840847905889 Centerline is valid? [False, True] Translation: X:202.07, Y:-17.68, Z:-5.19 [[ 9.99998458e-01 4.87277649e-04 -1.68691770e-03 2.02070316e+02] [-4.87160500e-04 9.99999879e-01 6.98558243e-05 -1.76820267e+01] [ 1.68695154e-03 -6.90339170e-05 9.99998575e-01 -5.19483759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.002414037 meters 0.09982162537736992 Centerline is valid? [True, True] Translation: X:202.10, Y:-17.69, Z:-5.20 [[ 9.99998963e-01 4.60243023e-04 -1.36428724e-03 2.02098822e+02] [-4.60029623e-04 9.99999882e-01 1.56728141e-04 -1.76933917e+01] [ 1.36435921e-03 -1.56100366e-04 9.99999057e-01 -5.19689223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.032414037 meters 0.0981248498207675 Centerline is valid? [True, True] Translation: X:202.13, Y:-17.69, Z:-5.20 [[ 9.99998814e-01 -2.75498655e-04 -1.51513747e-03 2.02129127e+02] [ 2.75761186e-04 9.99999947e-01 1.73065483e-04 -1.76939627e+01] [ 1.51508971e-03 -1.73483094e-04 9.99998837e-01 -5.19742155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.062414037 meters 0.098739847349525 Centerline is valid? [True, True] Translation: X:202.16, Y:-17.70, Z:-5.20 [[ 9.99998117e-01 -1.07335459e-03 -1.61685872e-03 2.02158820e+02] [ 1.07365458e-03 9.99999407e-01 1.84685305e-04 -1.76991078e+01] [ 1.61665952e-03 -1.86420905e-04 9.99998676e-01 -5.19854786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.092414037 meters 0.10002998680146263 Centerline is valid? [True, False] Translation: X:202.16, Y:-17.70, Z:-5.20 [[ 9.99998374e-01 -8.67760930e-04 -1.58080243e-03 2.02158970e+02] [ 8.68650640e-04 9.99999465e-01 5.62222198e-04 -1.76999099e+01] [ 1.58031371e-03 -5.63594449e-04 9.99998592e-01 -5.19888275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.122414037 meters 0.10299463604015024 Centerline is valid? [False, False] Translation: X:202.16, Y:-17.70, Z:-5.20 [[ 9.99998650e-01 -7.40773847e-04 -1.46702894e-03 2.02158872e+02] [ 7.42080822e-04 9.99999328e-01 8.90555433e-04 -1.77007226e+01] [ 1.46636825e-03 -8.91642884e-04 9.99998527e-01 -5.19906107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.152414037 meters 0.10379964507472306 Centerline is valid? [False, False] Translation: X:202.16, Y:-17.70, Z:-5.20 [[ 9.99998574e-01 -6.79290513e-04 -1.54589684e-03 2.02159149e+02] [ 6.80700320e-04 9.99999353e-01 9.11623933e-04 -1.77005678e+01] [ 1.54527658e-03 -9.12674926e-04 9.99998390e-01 -5.19922223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18241403699997 meters 0.1035829978759087 Centerline is valid? [False, False] Translation: X:202.16, Y:-17.70, Z:-5.20 [[ 9.99998393e-01 -6.06639162e-04 -1.68694624e-03 2.02159687e+02] [ 6.08186528e-04 9.99999395e-01 9.16896682e-04 -1.76999628e+01] [ 1.68638899e-03 -9.17921186e-04 9.99998157e-01 -5.19960166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21241403699997 meters 0.10227917814113083 Centerline is valid? [False, False] Translation: X:202.16, Y:-17.70, Z:-5.20 [[ 9.99998305e-01 -7.49772223e-04 -1.68158362e-03 2.02159702e+02] [ 7.50898843e-04 9.99999494e-01 6.69443952e-04 -1.76992566e+01] [ 1.68108084e-03 -6.70705517e-04 9.99998362e-01 -5.19962697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24241403699997 meters 0.10465062801953058 Centerline is valid? [False, False] Translation: X:202.16, Y:-17.70, Z:-5.20 [[ 9.99998261e-01 -6.99342816e-04 -1.72913364e-03 2.02160013e+02] [ 7.00550306e-04 9.99999511e-01 6.97813798e-04 -1.76989896e+01] [ 1.72864479e-03 -6.99023929e-04 9.99998262e-01 -5.19993694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27241403699998 meters 0.10222861968574745 Centerline is valid? [False, False] Translation: X:202.16, Y:-17.70, Z:-5.20 [[ 9.99998276e-01 -8.15142290e-04 -1.66847123e-03 2.02159865e+02] [ 8.15962267e-04 9.99999547e-01 4.90832250e-04 -1.76986470e+01] [ 1.66807037e-03 -4.92192813e-04 9.99998488e-01 -5.19987504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30241403699998 meters 0.10396729658745886 Centerline is valid? [False, False] Translation: X:202.16, Y:-17.70, Z:-5.20 [[ 9.99998320e-01 -6.43866999e-04 -1.71621709e-03 2.02160248e+02] [ 6.45091865e-04 9.99999538e-01 7.13243364e-04 -1.76987948e+01] [ 1.71575706e-03 -7.14349283e-04 9.99998273e-01 -5.20029855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33241403699998 meters 0.10443808364847493 Centerline is valid? [False, False] Translation: X:202.16, Y:-17.70, Z:-5.20 [[ 9.99998455e-01 -6.76850570e-04 -1.62216481e-03 2.02160257e+02] [ 6.77979759e-04 9.99999528e-01 6.95651576e-04 -1.76985361e+01] [ 1.62169319e-03 -6.96750296e-04 9.99998442e-01 -5.20057330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36241403699998 meters 0.10317327433107268 Centerline is valid? [False, False] Translation: X:202.16, Y:-17.70, Z:-5.20 [[ 9.99998473e-01 -4.63688959e-04 -1.68503438e-03 2.02160697e+02] [ 4.65316013e-04 9.99999426e-01 9.65327662e-04 -1.76987834e+01] [ 1.68458580e-03 -9.66110261e-04 9.99998114e-01 -5.20102365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39241403699998 meters 0.10139026548290181 Centerline is valid? [False, False] Translation: X:202.16, Y:-17.70, Z:-5.20 [[ 9.99998571e-01 -5.11575862e-04 -1.61151345e-03 2.02160479e+02] [ 5.13099819e-04 9.99999421e-01 9.45397015e-04 -1.76989876e+01] [ 1.61102887e-03 -9.46222531e-04 9.99998255e-01 -5.20092156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42241403699998 meters 0.09939415454520653 Centerline is valid? [False, True] Translation: X:202.16, Y:-17.70, Z:-5.20 [[ 9.99998689e-01 -5.33258693e-04 -1.52892879e-03 2.02160209e+02] [ 5.34813952e-04 9.99999340e-01 1.01699307e-03 -1.76994304e+01] [ 1.52838546e-03 -1.01780943e-03 9.99998314e-01 -5.20077063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45241403699998 meters 0.10231751920208233 Centerline is valid? [True, False] Translation: X:202.16, Y:-17.70, Z:-5.20 [[ 9.99998816e-01 -2.37516558e-04 -1.52061173e-03 2.02160311e+02] [ 2.39857689e-04 9.99998786e-01 1.53960099e-03 -1.77007309e+01] [ 1.52024420e-03 -1.53996390e-03 9.99997659e-01 -5.20093842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48241403699998 meters 0.10314930408632492 Centerline is valid? [False, False] Translation: X:202.16, Y:-17.70, Z:-5.20 [[ 9.99998837e-01 -1.16075653e-04 -1.52082322e-03 2.02160423e+02] [ 1.18738705e-04 9.99998460e-01 1.75108624e-03 -1.77011704e+01] [ 1.52061762e-03 -1.75126479e-03 9.99997310e-01 -5.20110086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51241403699999 meters 0.10093069313152016 Centerline is valid? [False, False] Translation: X:202.16, Y:-17.70, Z:-5.20 [[ 9.99998581e-01 -1.42624404e-05 -1.68486623e-03 2.02160842e+02] [ 1.73172520e-05 9.99998356e-01 1.81308780e-03 -1.77011248e+01] [ 1.68483760e-03 -1.81311440e-03 9.99996937e-01 -5.20121632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.542414037 meters 0.10061362931122748 Centerline is valid? [False, False] Translation: X:202.16, Y:-17.70, Z:-5.20 [[ 9.99998358e-01 3.36331943e-05 -1.81171027e-03 2.02161106e+02] [-3.03442473e-05 9.99998352e-01 1.81537932e-03 -1.77011314e+01] [ 1.81176834e-03 -1.81532137e-03 9.99996711e-01 -5.20121605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.572414037 meters 0.10250960584440337 Centerline is valid? [False, False] Translation: X:202.16, Y:-17.70, Z:-5.20 [[ 9.99998259e-01 3.46697477e-05 -1.86560709e-03 2.02161287e+02] [-3.13479017e-05 9.99998414e-01 1.78057082e-03 -1.77009961e+01] [ 1.86566587e-03 -1.78050923e-03 9.99996675e-01 -5.20131246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.602414037 meters 0.10007503139293074 Centerline is valid? [False, False] Translation: X:202.16, Y:-17.70, Z:-5.20 [[ 9.99998103e-01 8.23581024e-05 -1.94628696e-03 2.02161490e+02] [-7.88428873e-05 9.99998366e-01 1.80612122e-03 -1.77010860e+01] [ 1.94643253e-03 -1.80596434e-03 9.99996475e-01 -5.20138675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.632414037 meters 0.10133449497531456 Centerline is valid? [False, False] Translation: X:202.16, Y:-17.70, Z:-5.20 [[ 9.99997575e-01 4.42582555e-04 -2.15724133e-03 2.02162298e+02] [-4.37890187e-04 9.99997538e-01 2.17515762e-03 -1.77015961e+01] [ 2.15819871e-03 -2.17420772e-03 9.99995307e-01 -5.20195279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.662414037 meters 0.1011009697297231 Centerline is valid? [False, False] Translation: X:202.16, Y:-17.70, Z:-5.20 [[ 9.99997657e-01 3.45533848e-04 -2.13690680e-03 2.02162237e+02] [-3.41262097e-04 9.99997944e-01 1.99907622e-03 -1.77011912e+01] [ 2.13759316e-03 -1.99834230e-03 9.99995719e-01 -5.20189056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.692414037 meters 0.09799564814131163 Centerline is valid? [False, True] Translation: X:202.16, Y:-17.70, Z:-5.20 [[ 9.99997609e-01 1.44500874e-04 -2.18214771e-03 2.02162035e+02] [-1.40951946e-04 9.99998667e-01 1.62641272e-03 -1.77006004e+01] [ 2.18237982e-03 -1.62610125e-03 9.99996296e-01 -5.20142988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.722414037 meters 0.09732421810578702 Centerline is valid? [True, True] Translation: X:202.19, Y:-17.70, Z:-5.20 [[ 9.99997083e-01 1.38387143e-03 -1.97967027e-03 2.02191807e+02] [-1.38343711e-03 9.99999019e-01 2.20739012e-04 -1.77009742e+01] [ 1.97997380e-03 -2.17999619e-04 9.99998016e-01 -5.20054929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.752414037 meters 0.09550734693085314 Centerline is valid? [True, True] Translation: X:202.22, Y:-17.70, Z:-5.20 [[ 9.99997016e-01 2.01952331e-03 -1.37458340e-03 2.02221209e+02] [-2.01932201e-03 9.99997950e-01 1.47811714e-04 -1.77006306e+01] [ 1.37487909e-03 -1.45035547e-04 9.99999044e-01 -5.19987061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.782414037 meters 0.10289488760515743 Centerline is valid? [True, False] Translation: X:202.22, Y:-17.70, Z:-5.20 [[ 9.99997027e-01 2.00880367e-03 -1.38253244e-03 2.02221327e+02] [-2.00870150e-03 9.99997980e-01 7.52842110e-05 -1.77002732e+01] [ 1.38268088e-03 -7.25068922e-05 9.99999041e-01 -5.19998778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.812414037 meters 0.09565760641511749 Centerline is valid? [False, True] Translation: X:202.22, Y:-17.70, Z:-5.20 [[ 9.99997412e-01 1.83804350e-03 -1.34074992e-03 2.02221042e+02] [-1.83825322e-03 9.99998298e-01 -1.55203537e-04 -1.77000623e+01] [ 1.34046237e-03 1.57667773e-04 9.99999089e-01 -5.19970005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.842414037 meters 0.09396136844650535 Centerline is valid? [True, True] Translation: X:202.25, Y:-17.70, Z:-5.20 [[ 9.99996985e-01 2.04625007e-03 -1.35763871e-03 2.02250952e+02] [-2.04604924e-03 9.99997896e-01 1.49300663e-04 -1.77006268e+01] [ 1.35794136e-03 -1.46522417e-04 9.99999067e-01 -5.20008857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.872414037 meters 0.09787542760620248 Centerline is valid? [True, True] Translation: X:202.28, Y:-17.71, Z:-5.20 [[ 9.99995935e-01 9.84508272e-04 -2.67581029e-03 2.02279374e+02] [-9.83720914e-04 9.99999472e-01 2.95550550e-04 -1.77107926e+01] [ 2.67609985e-03 -2.92917098e-04 9.99996376e-01 -5.20278557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.902414037 meters 0.09787542760620248 Centerline is valid? [True, True] Translation: X:202.31, Y:-17.71, Z:-5.20 [[ 9.99995999e-01 9.16880438e-04 -2.67597255e-03 2.02307687e+02] [-9.16096721e-04 9.99999537e-01 2.94083135e-04 -1.77138538e+01] [ 2.67624095e-03 -2.91630508e-04 9.99996376e-01 -5.20351883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93241403699997 meters 0.09866323002795813 Centerline is valid? [True, True] Translation: X:202.34, Y:-17.72, Z:-5.20 [[ 9.99996205e-01 1.91493063e-04 -2.74845904e-03 2.02337225e+02] [-1.90661318e-04 9.99999936e-01 3.02881109e-04 -1.77178615e+01] [ 2.74851687e-03 -3.02355934e-04 9.99996177e-01 -5.20488826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96241403699997 meters 0.0986716900448858 Centerline is valid? [True, True] Translation: X:202.37, Y:-17.72, Z:-5.21 [[ 9.99996098e-01 -2.09076785e-04 -2.78586994e-03 2.02366828e+02] [ 2.09932629e-04 9.99999931e-01 3.06920107e-04 -1.77209487e+01] [ 2.78580558e-03 -3.07503755e-04 9.99996072e-01 -5.20602445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99241403699997 meters 0.09656429054093268 Centerline is valid? [True, True] Translation: X:202.40, Y:-17.72, Z:-5.21 [[ 9.99994131e-01 -1.30683889e-03 -3.16710037e-03 2.02396854e+02] [ 1.30795040e-03 9.99999084e-01 3.48909837e-04 -1.77199816e+01] [ 3.16664150e-03 -3.53050200e-04 9.99994924e-01 -5.20588753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02241403699998 meters 0.09851421950940088 Centerline is valid? [True, True] Translation: X:202.42, Y:-17.73, Z:-5.21 [[ 9.99994563e-01 -1.57181985e-03 -2.89902155e-03 2.02424753e+02] [ 1.57275034e-03 9.99998712e-01 3.18714233e-04 -1.77265555e+01] [ 2.89851685e-03 -3.23271937e-04 9.99995747e-01 -5.20740344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05241403699998 meters 0.0943319441032766 Centerline is valid? [True, True] Translation: X:202.46, Y:-17.72, Z:-5.21 [[ 9.99995064e-01 -2.27380107e-03 -2.16846368e-03 2.02455083e+02] [ 2.27432332e-03 9.99997385e-01 2.38401808e-04 -1.77216861e+01] [ 2.16791594e-03 -2.43332418e-04 9.99997620e-01 -5.20651913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08241403699998 meters 0.09689187879513093 Centerline is valid? [True, True] Translation: X:202.48, Y:-17.73, Z:-5.21 [[ 9.99995313e-01 -2.69086521e-03 -1.46054033e-03 2.02484095e+02] [ 2.69110277e-03 9.99996366e-01 1.60708753e-04 -1.77284878e+01] [ 1.46010258e-03 -1.64638464e-04 9.99998920e-01 -5.20733391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11241403699998 meters 0.09563507209708817 Centerline is valid? [True, True] Translation: X:202.51, Y:-17.73, Z:-5.21 [[ 9.99996387e-01 -2.54671938e-03 -8.60156592e-04 2.02514810e+02] [ 2.54680195e-03 9.99996752e-01 9.49126796e-05 -1.77293028e+01] [ 8.59912082e-04 -9.71029852e-05 9.99999626e-01 -5.20740755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14241403699998 meters 0.09885493259977338 Centerline is valid? [True, True] Translation: X:202.54, Y:-17.74, Z:-5.21 [[ 9.99996351e-01 -2.65242889e-03 -5.11798974e-04 2.02544239e+02] [ 2.65245889e-03 9.99996481e-01 5.79471867e-05 -1.77374079e+01] [ 5.11643472e-04 -5.93045010e-05 9.99999867e-01 -5.20966252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17241403699998 meters 0.09656693166928655 Centerline is valid? [True, True] Translation: X:202.58, Y:-17.74, Z:-5.21 [[ 9.99996376e-01 -2.58635256e-03 -7.47238041e-04 2.02575850e+02] [ 2.58641560e-03 9.99996652e-01 8.34173326e-05 -1.77364292e+01] [ 7.47019793e-04 -8.53496985e-05 9.99999717e-01 -5.21015225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20241403699998 meters 0.0955841077952374 Centerline is valid? [True, True] Translation: X:202.61, Y:-17.74, Z:-5.21 [[ 9.99995372e-01 -2.75354935e-03 -1.29380304e-03 2.02607678e+02] [ 2.75373772e-03 9.99996198e-01 1.43833530e-04 -1.77375989e+01] [ 1.29340207e-03 -1.47395659e-04 9.99999153e-01 -5.21048982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23241403699998 meters 0.09990068965993025 Centerline is valid? [True, True] Translation: X:202.64, Y:-17.75, Z:-5.21 [[ 9.99996482e-01 -2.26498328e-03 -1.38034178e-03 2.02636778e+02] [ 2.26519655e-03 9.99997423e-01 1.52962901e-04 -1.77478097e+01] [ 1.37999177e-03 -1.56089108e-04 9.99999036e-01 -5.21323937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26241403699999 meters 0.10102852524234548 Centerline is valid? [True, False] Translation: X:202.64, Y:-17.75, Z:-5.21 [[ 9.99996110e-01 -2.29694831e-03 -1.58262698e-03 2.02637509e+02] [ 2.29670950e-03 9.99997351e-01 -1.52698248e-04 -1.77461193e+01] [ 1.58297353e-03 1.49062819e-04 9.99998736e-01 -5.21371090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.292414037 meters 0.09958827652942494 Centerline is valid? [False, True] Translation: X:202.64, Y:-17.75, Z:-5.21 [[ 9.99996185e-01 -2.21754759e-03 -1.64694754e-03 2.02637901e+02] [ 2.21741698e-03 9.99997538e-01 -8.11273620e-05 -1.77457898e+01] [ 1.64712339e-03 7.74750830e-05 9.99998640e-01 -5.21411537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.322414037 meters 0.09952416842036449 Centerline is valid? [True, True] Translation: X:202.67, Y:-17.75, Z:-5.22 [[ 9.99993700e-01 -3.10382820e-03 -1.72206022e-03 2.02667630e+02] [ 3.10415989e-03 9.99995164e-01 1.89974460e-04 -1.77485679e+01] [ 1.72146225e-03 -1.95318813e-04 9.99998499e-01 -5.21518494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.352414037 meters 0.10326253095276484 Centerline is valid? [True, False] Translation: X:202.67, Y:-17.75, Z:-5.22 [[ 9.99994334e-01 -3.02413998e-03 -1.47878670e-03 2.02667476e+02] [ 3.02484743e-03 9.99995312e-01 4.76391988e-04 -1.77491342e+01] [ 1.47733909e-03 -4.80862393e-04 9.99998793e-01 -5.21567323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.382414037 meters 0.10442358613022756 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.75, Z:-5.22 [[ 9.99994489e-01 -3.02598228e-03 -1.36552784e-03 2.02667352e+02] [ 3.02676001e-03 9.99995258e-01 5.67839623e-04 -1.77492742e+01] [ 1.36380310e-03 -5.71969619e-04 9.99998906e-01 -5.21582815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.412414037 meters 0.10135919479044427 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.75, Z:-5.22 [[ 9.99995249e-01 -2.80638428e-03 -1.27505842e-03 2.02667663e+02] [ 2.80763699e-03 9.99995577e-01 9.81742104e-04 -1.77497789e+01] [ 1.27229764e-03 -9.85317341e-04 9.99998705e-01 -5.21657021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.442414037 meters 0.10306347012322525 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.75, Z:-5.22 [[ 9.99994816e-01 -3.02222984e-03 -1.11068225e-03 2.02667450e+02] [ 3.02309301e-03 9.99995129e-01 7.76298316e-04 -1.77490172e+01] [ 1.10833069e-03 -7.79651987e-04 9.99999082e-01 -5.21675316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.472414037 meters 0.10233630482847451 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.75, Z:-5.22 [[ 9.99995092e-01 -2.92143212e-03 -1.13218483e-03 2.02667727e+02] [ 2.92245608e-03 9.99995321e-01 9.03814674e-04 -1.77489748e+01] [ 1.12953910e-03 -9.07118998e-04 9.99998951e-01 -5.21707264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.502414037 meters 0.10439961927589166 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.75, Z:-5.22 [[ 9.99995217e-01 -2.86651010e-03 -1.16117691e-03 2.02667993e+02] [ 2.86762445e-03 9.99995428e-01 9.59143026e-04 -1.77487350e+01] [ 1.15842221e-03 -9.62468259e-04 9.99998866e-01 -5.21738336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.532414037 meters 0.11375882223870909 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.75, Z:-5.22 [[ 9.99994754e-01 -2.96980725e-03 -1.29305167e-03 2.02668205e+02] [ 2.97069131e-03 9.99995355e-01 6.82314300e-04 -1.77476987e+01] [ 1.29101932e-03 -6.86151978e-04 9.99998931e-01 -5.21728734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.562414037 meters 0.10606637851266461 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.75, Z:-5.22 [[ 9.99994381e-01 -3.06968377e-03 -1.34738790e-03 2.02668379e+02] [ 3.07029018e-03 9.99995186e-01 4.48227417e-04 -1.77468134e+01] [ 1.34600550e-03 -4.52361770e-04 9.99998992e-01 -5.21736896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.592414037 meters 0.10488758653000545 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.75, Z:-5.22 [[ 9.99994506e-01 -3.02626496e-03 -1.35285508e-03 2.02668604e+02] [ 3.02691282e-03 9.99995305e-01 4.77090173e-04 -1.77464940e+01] [ 1.35140493e-03 -4.81182526e-04 9.99998971e-01 -5.21766994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.622414037 meters 0.10211962925111186 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.75, Z:-5.22 [[ 9.99994584e-01 -2.97940859e-03 -1.39801436e-03 2.02668792e+02] [ 2.98009950e-03 9.99995438e-01 4.92381463e-04 -1.77462810e+01] [ 1.39654097e-03 -4.96545018e-04 9.99998902e-01 -5.21780409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.652414037 meters 0.1043798741806091 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.75, Z:-5.22 [[ 9.99994819e-01 -2.90493738e-03 -1.38682711e-03 2.02668910e+02] [ 2.90577199e-03 9.99995598e-01 6.00178489e-04 -1.77464181e+01] [ 1.38507752e-03 -6.04205183e-04 9.99998858e-01 -5.21801366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68241403699997 meters 0.10362944645466475 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.75, Z:-5.22 [[ 9.99995561e-01 -2.58512966e-03 -1.48143065e-03 2.02669557e+02] [ 2.58667486e-03 9.99996112e-01 1.04208016e-03 -1.77469118e+01] [ 1.47873098e-03 -1.04590752e-03 9.99998360e-01 -5.21868549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71241403699997 meters 0.10467248835501602 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.75, Z:-5.22 [[ 9.99995676e-01 -2.44527380e-03 -1.63332478e-03 2.02670217e+02] [ 2.44712802e-03 9.99996363e-01 1.13421357e-03 -1.77464747e+01] [ 1.63054537e-03 -1.13820562e-03 9.99998023e-01 -5.21920349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74241403699997 meters 0.10409926414371552 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.75, Z:-5.22 [[ 9.99995102e-01 -2.64263100e-03 -1.67719661e-03 2.02670191e+02] [ 2.64394505e-03 9.99996199e-01 7.81749747e-04 -1.77455820e+01] [ 1.67512435e-03 -7.86180333e-04 9.99998288e-01 -5.21903365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77241403699998 meters 0.10248587472587731 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.74, Z:-5.22 [[ 9.99994675e-01 -2.79933170e-03 -1.67712895e-03 2.02670133e+02] [ 2.80019358e-03 9.99995948e-01 5.11772109e-04 -1.77449020e+01] [ 1.67568953e-03 -5.16465670e-04 9.99998463e-01 -5.21891967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80241403699998 meters 0.10826365564086352 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.74, Z:-5.22 [[ 9.99995203e-01 -2.59192531e-03 -1.69560037e-03 2.02670641e+02] [ 2.59327615e-03 9.99996321e-01 7.94961378e-04 -1.77449481e+01] [ 1.69353365e-03 -7.99354725e-04 9.99998246e-01 -5.21962782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83241403699998 meters 0.10660223045104072 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.75, Z:-5.22 [[ 9.99995283e-01 -2.64934856e-03 -1.55431535e-03 2.02670352e+02] [ 2.65065342e-03 9.99996136e-01 8.38054013e-04 -1.77452439e+01] [ 1.55208904e-03 -8.42170011e-04 9.99998441e-01 -5.21963570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86241403699998 meters 0.10779505508231703 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.75, Z:-5.22 [[ 9.99976919e-01 -6.48852179e-03 -2.01498075e-03 2.02671742e+02] [ 6.48221841e-03 9.99974125e-01 -3.11918887e-03 -1.77451041e+01] [ 2.03516753e-03 3.10605533e-03 9.99993105e-01 -5.22023575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89241403699998 meters 0.10623541912433314 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.75, Z:-5.22 [[ 9.99976938e-01 -6.52482678e-03 -1.88436590e-03 2.02671377e+02] [ 6.51910258e-03 9.99974166e-01 -3.02806275e-03 -1.77455744e+01] [ 1.90407480e-03 3.01570854e-03 9.99993640e-01 -5.22011529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92241403699998 meters 0.10461386612843715 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.75, Z:-5.22 [[ 9.99978925e-01 -6.23768888e-03 -1.80031273e-03 2.02671569e+02] [ 6.23322773e-03 9.99977515e-01 -2.47305264e-03 -1.77466172e+01] [ 1.81569838e-03 2.46177876e-03 9.99995321e-01 -5.22066014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95241403699998 meters 0.11456772462368481 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.75, Z:-5.22 [[ 9.99980975e-01 -5.96790032e-03 -1.56007335e-03 2.02671232e+02] [ 5.96520945e-03 9.99980722e-01 -1.72383209e-03 -1.77486867e+01] [ 1.57033093e-03 1.71449313e-03 9.99997297e-01 -5.22088028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98241403699998 meters 0.11185261774741231 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.75, Z:-5.22 [[ 9.99983123e-01 -5.61962896e-03 -1.47454493e-03 2.02671374e+02] [ 5.61806878e-03 9.99983657e-01 -1.06009310e-03 -1.77501531e+01] [ 1.48047816e-03 1.05179111e-03 9.99998351e-01 -5.22136813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01241403699999 meters 0.11063609659844524 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.75, Z:-5.22 [[ 9.99985137e-01 -5.26120503e-03 -1.43004910e-03 2.02671601e+02] [ 5.26065110e-03 9.99986086e-01 -3.90838268e-04 -1.77515900e+01] [ 1.43208548e-03 3.83309469e-04 9.99998901e-01 -5.22187340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.042414037 meters 0.10923800922367338 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.75, Z:-5.22 [[ 9.99987157e-01 -4.90132430e-03 -1.28944047e-03 2.02671382e+02] [ 4.90186235e-03 9.99987900e-01 4.14445079e-04 -1.77538520e+01] [ 1.28739354e-03 -4.20760416e-04 9.99999083e-01 -5.22195129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.072414037 meters 0.11121378883782826 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.75, Z:-5.22 [[ 9.99988604e-01 -4.58890007e-03 -1.31673006e-03 2.02671729e+02] [ 4.59011547e-03 9.99989041e-01 9.21513410e-04 -1.77547640e+01] [ 1.31248690e-03 -9.27546852e-04 9.99998709e-01 -5.22239765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.102414037 meters 0.10979381662767249 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.76, Z:-5.22 [[ 9.99988923e-01 -4.49960555e-03 -1.38095224e-03 2.02671730e+02] [ 4.50106169e-03 9.99989316e-01 1.05315646e-03 -1.77552963e+01] [ 1.37619870e-03 -1.05936054e-03 9.99998492e-01 -5.22221765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.132414037 meters 0.10999079460082387 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.76, Z:-5.22 [[ 9.99990170e-01 -4.16421486e-03 -1.52321360e-03 2.02672289e+02] [ 4.16650358e-03 9.99990191e-01 1.50248578e-03 -1.77561021e+01] [ 1.51694199e-03 -1.50881748e-03 9.99997711e-01 -5.22261326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.162414037 meters 0.10948113205137772 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.76, Z:-5.22 [[ 9.99990746e-01 -4.01784182e-03 -1.53750081e-03 2.02672408e+02] [ 4.02052276e-03 9.99990396e-01 1.74460152e-03 -1.77567787e+01] [ 1.53047651e-03 -1.75076693e-03 9.99997296e-01 -5.22275940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.192414037 meters 0.10941610124394315 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.76, Z:-5.22 [[ 9.99991202e-01 -3.88899460e-03 -1.57198377e-03 2.02672536e+02] [ 3.89204981e-03 9.99990534e-01 1.94517229e-03 -1.77573652e+01] [ 1.56440412e-03 -1.95127342e-03 9.99996873e-01 -5.22285532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.222414037 meters 0.10871914257498107 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.76, Z:-5.22 [[ 9.99993229e-01 -3.11644636e-03 -1.95713784e-03 2.02673905e+02] [ 3.12211247e-03 9.99990925e-01 2.89875238e-03 -1.77590067e+01] [ 1.94808628e-03 -2.90484315e-03 9.99993883e-01 -5.22375277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.252414037 meters 0.10902667033732305 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.76, Z:-5.22 [[ 9.99993102e-01 -3.05655145e-03 -2.11046993e-03 2.02674134e+02] [ 3.06265945e-03 9.99991114e-01 2.89700236e-03 -1.77591018e+01] [ 2.10159634e-03 -2.90344603e-03 9.99993577e-01 -5.22364335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.282414037 meters 0.10781879655483519 Centerline is valid? [False, False] Translation: X:202.67, Y:-17.76, Z:-5.22 [[ 9.99993084e-01 -2.81390042e-03 -2.43174534e-03 2.02674909e+02] [ 2.82129993e-03 9.99991385e-01 3.04482864e-03 -1.77591571e+01] [ 2.42315654e-03 -3.05166827e-03 9.99992408e-01 -5.22383428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.312414037 meters 0.10814511569924912 Centerline is valid? [False, False] Translation: X:202.68, Y:-17.76, Z:-5.22 [[ 9.99992207e-01 -2.76645533e-03 -2.81632627e-03 2.02675437e+02] [ 2.77426701e-03 9.99992305e-01 2.77359511e-03 -1.77583828e+01] [ 2.80863158e-03 -2.78138674e-03 9.99992188e-01 -5.22347519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.342414037 meters 0.10759197431062038 Centerline is valid? [False, False] Translation: X:202.68, Y:-17.76, Z:-5.22 [[ 9.99991890e-01 -2.75334865e-03 -2.93930011e-03 2.02675616e+02] [ 2.76129029e-03 9.99992539e-01 2.70125208e-03 -1.77582026e+01] [ 2.93184069e-03 -2.70934643e-03 9.99992032e-01 -5.22339181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.372414037 meters 0.09866443360987244 Centerline is valid? [False, True] Translation: X:202.68, Y:-17.76, Z:-5.22 [[ 9.99991050e-01 -2.63611653e-03 -3.30920172e-03 2.02676070e+02] [ 2.64462269e-03 9.99993204e-01 2.56871732e-03 -1.77579654e+01] [ 3.30240779e-03 -2.57744592e-03 9.99991225e-01 -5.22298222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.402414037 meters 0.09920522846192575 Centerline is valid? [True, True] Translation: X:202.70, Y:-17.76, Z:-5.22 [[ 9.99997057e-01 -5.15147393e-04 -2.37089524e-03 2.02704975e+02] [ 5.15798243e-04 9.99999829e-01 2.73913275e-04 -1.77617796e+01] [ 2.37075373e-03 -2.75135373e-04 9.99997152e-01 -5.22328755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43241403699997 meters 0.09683695485052315 Centerline is valid? [True, True] Translation: X:202.74, Y:-17.76, Z:-5.22 [[ 9.99998563e-01 5.17693778e-04 -1.61459851e-03 2.02735005e+02] [-5.17394039e-04 9.99999849e-01 1.86055060e-04 -1.77612542e+01] [ 1.61469458e-03 -1.85219409e-04 9.99998679e-01 -5.22307736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46241403699997 meters 0.09876592725146972 Centerline is valid? [True, True] Translation: X:202.76, Y:-17.77, Z:-5.23 [[ 9.99992556e-01 3.12185300e-03 -2.26775329e-03 2.02763435e+02] [-3.12126710e-03 9.99995095e-01 2.61854332e-04 -1.77695541e+01] [ 2.26855963e-03 -2.54774119e-04 9.99997394e-01 -5.22503937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49241403699997 meters 0.09888814894095518 Centerline is valid? [True, True] Translation: X:202.79, Y:-17.77, Z:-5.23 [[ 9.99988036e-01 3.85129903e-03 -3.01572118e-03 2.02792502e+02] [-3.85027099e-03 9.99992528e-01 3.46625419e-04 -1.77733634e+01] [ 3.01703360e-03 -3.35009928e-04 9.99995393e-01 -5.22627502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52241403699998 meters 0.09747954744053765 Centerline is valid? [True, True] Translation: X:202.82, Y:-17.78, Z:-5.23 [[ 9.99986469e-01 4.24168962e-03 -3.01170562e-03 2.02821473e+02] [-4.24066524e-03 9.99990948e-01 3.46435346e-04 -1.77750825e+01] [ 3.01314784e-03 -3.33659023e-04 9.99995405e-01 -5.22680367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55241403699998 meters 0.09789958933976103 Centerline is valid? [True, True] Translation: X:202.85, Y:-17.78, Z:-5.23 [[ 9.99975534e-01 5.07078185e-03 -4.81861613e-03 2.02849734e+02] [-5.06816659e-03 9.99987003e-01 5.54797873e-04 -1.77797637e+01] [ 4.82136676e-03 -5.30362750e-04 9.99988236e-01 -5.22861606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58241403699998 meters 0.09869891731881883 Centerline is valid? [True, True] Translation: X:202.88, Y:-17.79, Z:-5.23 [[ 9.99964991e-01 5.70874626e-03 -6.11768413e-03 2.02877144e+02] [-5.70454621e-03 9.99983481e-01 7.03772184e-04 -1.77851376e+01] [ 6.12160073e-03 -6.68848934e-04 9.99981039e-01 -5.23109055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61241403699998 meters 0.09780490720011567 Centerline is valid? [True, True] Translation: X:202.91, Y:-17.79, Z:-5.23 [[ 9.99958032e-01 6.11998936e-03 -6.81764739e-03 2.02906126e+02] [-6.11478157e-03 9.99980997e-01 7.84452586e-04 -1.77870765e+01] [ 6.82231867e-03 -7.42731239e-04 9.99976452e-01 -5.23261834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64241403699998 meters 0.09843716954881206 Centerline is valid? [True, True] Translation: X:202.93, Y:-17.79, Z:-5.23 [[ 9.99948369e-01 6.52517324e-03 -7.78978277e-03 2.02933188e+02] [-6.51839510e-03 9.99978354e-01 8.95205227e-04 -1.77924408e+01] [ 7.79545552e-03 -8.44382125e-04 9.99969258e-01 -5.23317321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67241403699998 meters 0.0961988477183615 Centerline is valid? [True, True] Translation: X:202.96, Y:-17.79, Z:-5.23 [[ 9.99950239e-01 6.08371664e-03 -7.90625691e-03 2.02961989e+02] [-6.07672042e-03 9.99981124e-01 9.08618089e-04 -1.77923821e+01] [ 7.91163544e-03 -8.60528762e-04 9.99968332e-01 -5.23344965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70241403699998 meters 0.0971690804915462 Centerline is valid? [True, True] Translation: X:202.99, Y:-17.80, Z:-5.23 [[ 9.99946926e-01 6.36043030e-03 -8.10491349e-03 2.02988996e+02] [-6.35309512e-03 9.99979386e-01 9.30454002e-04 -1.77980190e+01] [ 8.11066450e-03 -8.78913333e-04 9.99966722e-01 -5.23401029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73241403699998 meters 0.0962953810293772 Centerline is valid? [True, True] Translation: X:203.02, Y:-17.80, Z:-5.23 [[ 9.99956300e-01 6.08586794e-03 -7.09650368e-03 2.03017721e+02] [-6.08024030e-03 9.99981184e-01 8.14321016e-04 -1.78007493e+01] [ 7.10132600e-03 -7.71136982e-04 9.99974488e-01 -5.23392628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76241403699999 meters 0.09337567871775336 Centerline is valid? [True, True] Translation: X:203.05, Y:-17.80, Z:-5.23 [[ 9.99947200e-01 6.77806325e-03 -7.72372823e-03 2.03046868e+02] [-6.77142077e-03 9.99976681e-01 8.85835876e-04 -1.77994700e+01] [ 7.72955237e-03 -8.33488490e-04 9.99969779e-01 -5.23284915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.792414037 meters 0.09452837082553153 Centerline is valid? [True, True] Translation: X:203.07, Y:-17.80, Z:-5.23 [[ 9.99946882e-01 6.94942621e-03 -7.61180532e-03 2.03073963e+02] [-6.94298764e-03 9.99975517e-01 8.71965459e-04 -1.78044403e+01] [ 7.61767862e-03 -8.19070471e-04 9.99970650e-01 -5.23449085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.822414037 meters 0.09452837082553153 Centerline is valid? [True, True] Translation: X:203.10, Y:-17.81, Z:-5.24 [[ 9.99947596e-01 6.84571586e-03 -7.61193532e-03 2.03101419e+02] [-6.83928285e-03 9.99976233e-01 8.70831660e-04 -1.78074883e+01] [ 7.61771587e-03 -8.18725846e-04 9.99970650e-01 -5.23505283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.852414037 meters 0.09490479730427615 Centerline is valid? [True, True] Translation: X:203.13, Y:-17.81, Z:-5.24 [[ 9.99936873e-01 8.12496198e-03 -7.76108347e-03 2.03129381e+02] [-8.11830701e-03 9.99966651e-01 8.88599659e-04 -1.78124210e+01] [ 7.76804448e-03 -8.25536707e-04 9.99969488e-01 -5.23625538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.882414037 meters 0.09517121773235196 Centerline is valid? [True, True] Translation: X:203.16, Y:-17.82, Z:-5.24 [[ 9.99921795e-01 8.84034148e-03 -8.84598421e-03 2.03158383e+02] [-8.83172613e-03 9.99960487e-01 1.01251831e-03 -1.78165618e+01] [ 8.85458568e-03 -9.34313812e-04 9.99960361e-01 -5.23708614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.912414037 meters 0.09572348123704404 Centerline is valid? [True, True] Translation: X:203.19, Y:-17.82, Z:-5.24 [[ 9.99911176e-01 9.93486264e-03 -8.88475934e-03 2.03186587e+02] [-9.92621826e-03 9.99950217e-01 1.01651397e-03 -1.78209221e+01] [ 8.89441596e-03 -9.28231614e-04 9.99960013e-01 -5.23850119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.942414037 meters 0.09583376423659112 Centerline is valid? [True, True] Translation: X:203.22, Y:-17.82, Z:-5.24 [[ 9.99912619e-01 1.01738702e-02 -8.44073058e-03 2.03215218e+02] [-1.01660849e-02 9.99947859e-01 9.64744992e-04 -1.78243723e+01] [ 8.45010566e-03 -8.78851508e-04 9.99963911e-01 -5.23917378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.972414037 meters 0.09612169779109124 Centerline is valid? [True, True] Translation: X:203.24, Y:-17.83, Z:-5.24 [[ 9.99890722e-01 1.14040433e-02 -9.40702048e-03 2.03242661e+02] [-1.13944362e-02 9.99934504e-01 1.07423070e-03 -1.78285449e+01] [ 9.41865493e-03 -9.66925612e-04 9.99955176e-01 -5.23972384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.002414037 meters 0.09544325783010447 Centerline is valid? [True, True] Translation: X:203.27, Y:-17.83, Z:-5.24 [[ 9.99896683e-01 1.15380213e-02 -8.57306588e-03 2.03271482e+02] [-1.15300506e-02 9.99933048e-01 9.78588938e-04 -1.78309787e+01] [ 8.58378287e-03 -8.79639950e-04 9.99962772e-01 -5.23940982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.032414037 meters 0.09106196479413799 Centerline is valid? [True, True] Translation: X:203.30, Y:-17.83, Z:-5.24 [[ 9.99893859e-01 1.15466786e-02 -8.88510549e-03 2.03299890e+02] [-1.15381322e-02 9.99932921e-01 1.01253393e-03 -1.78264651e+01] [ 8.89620089e-03 -9.09908934e-04 9.99960014e-01 -5.23804090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.062414037 meters 0.09422573150428284 Centerline is valid? [True, True] Translation: X:203.33, Y:-17.84, Z:-5.24 [[ 9.99895246e-01 1.05621519e-02 -9.89637661e-03 2.03326804e+02] [-1.05515002e-02 9.99943695e-01 1.12791793e-03 -1.78368540e+01] [ 9.90773264e-03 -1.02337815e-03 9.99950394e-01 -5.24036238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.092414037 meters 0.09515545890313414 Centerline is valid? [True, True] Translation: X:203.35, Y:-17.84, Z:-5.24 [[ 9.99900256e-01 1.02538581e-02 -9.71268306e-03 2.03354569e+02] [-1.02435942e-02 9.99946921e-01 1.10590806e-03 -1.78423380e+01] [ 9.72350735e-03 -1.00630497e-03 9.99952219e-01 -5.24187849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.122414037 meters 0.09397646532053491 Centerline is valid? [True, True] Translation: X:203.38, Y:-17.84, Z:-5.24 [[ 9.99889123e-01 9.89586515e-03 -1.11271747e-02 2.03382936e+02] [-9.88238017e-03 9.99950366e-01 1.26622846e-03 -1.78439393e+01] [ 1.11391529e-02 -1.15612510e-03 9.99937289e-01 -5.24250691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.152414037 meters 0.0927617718014426 Centerline is valid? [True, True] Translation: X:203.41, Y:-17.85, Z:-5.24 [[ 9.99883109e-01 9.93753037e-03 -1.16195708e-02 2.03410520e+02] [-9.92284593e-03 9.99949895e-01 1.32073868e-03 -1.78450428e+01] [ 1.16321135e-02 -1.20528508e-03 9.99931618e-01 -5.24274857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18241403699997 meters 0.09315219636302015 Centerline is valid? [True, True] Translation: X:203.44, Y:-17.85, Z:-5.24 [[ 9.99891162e-01 1.00635516e-02 -1.07883467e-02 2.03438641e+02] [-1.00509024e-02 9.99948737e-01 1.22606726e-03 -1.78491284e+01] [ 1.08001323e-02 -1.11750119e-03 9.99941052e-01 -5.24375668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21241403699997 meters 0.0948430225817548 Centerline is valid? [True, True] Translation: X:203.47, Y:-17.86, Z:-5.24 [[ 9.99892602e-01 1.03095543e-02 -1.04162103e-02 2.03465528e+02] [-1.02977894e-02 9.99946277e-01 1.18248582e-03 -1.78558198e+01] [ 1.04278416e-02 -1.07509489e-03 9.99945051e-01 -5.24494270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24241403699997 meters 0.08977923072476417 Centerline is valid? [True, True] Translation: X:203.50, Y:-17.85, Z:-5.24 [[ 9.99890105e-01 1.07155611e-02 -1.02447540e-02 2.03495014e+02] [-1.07042063e-02 9.99942033e-01 1.16254741e-03 -1.78492551e+01] [ 1.02566175e-02 -1.05275769e-03 9.99946845e-01 -5.24207230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27241403699998 meters 0.09505189758975652 Centerline is valid? [True, True] Translation: X:203.52, Y:-17.86, Z:-5.24 [[ 9.99904079e-01 1.08333289e-02 -8.62972293e-03 2.03521562e+02] [-1.08252967e-02 9.99940928e-01 9.76929209e-04 -1.78626656e+01] [ 8.63979654e-03 -8.83416190e-04 9.99962286e-01 -5.24429114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30241403699998 meters 0.09076383921402444 Centerline is valid? [True, True] Translation: X:203.55, Y:-17.86, Z:-5.24 [[ 9.99898911e-01 1.11392666e-02 -8.83653157e-03 2.03551530e+02] [-1.11308522e-02 9.99937549e-01 1.00083803e-03 -1.78577122e+01] [ 8.84712832e-03 -9.02378732e-04 9.99960456e-01 -5.24219819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33241403699998 meters 0.09447409925440613 Centerline is valid? [True, True] Translation: X:203.58, Y:-17.87, Z:-5.24 [[ 9.99887885e-01 1.14876497e-02 -9.60479889e-03 2.03578518e+02] [-1.14777347e-02 9.99933538e-01 1.08678713e-03 -1.78679700e+01] [ 9.61664516e-03 -9.76423956e-04 9.99953282e-01 -5.24446348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36241403699998 meters 0.09335365814980615 Centerline is valid? [True, True] Translation: X:203.61, Y:-17.87, Z:-5.24 [[ 9.99883511e-01 1.18476966e-02 -9.62270557e-03 2.03607469e+02] [-1.18377637e-02 9.99929339e-01 1.08854203e-03 -1.78686130e+01] [ 9.63492234e-03 -9.74503913e-04 9.99953108e-01 -5.24472828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39241403699998 meters 0.09378485701631077 Centerline is valid? [True, True] Translation: X:203.64, Y:-17.87, Z:-5.25 [[ 9.99878620e-01 1.23810340e-02 -9.45804185e-03 2.03635456e+02] [-1.23714679e-02 9.99922899e-01 1.06925550e-03 -1.78728879e+01] [ 9.47055112e-03 -9.52115855e-04 9.99954700e-01 -5.24612803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42241403699998 meters 0.0925872770645509 Centerline is valid? [True, True] Translation: X:203.66, Y:-17.87, Z:-5.25 [[ 9.99839750e-01 1.39718227e-02 -1.11920904e-02 2.03664224e+02] [-1.39585316e-02 9.99901775e-01 1.26478525e-03 -1.78730795e+01] [ 1.12086625e-02 -1.10835742e-03 9.99936567e-01 -5.24775428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45241403699998 meters 0.09285495588385219 Centerline is valid? [True, True] Translation: X:203.69, Y:-17.88, Z:-5.25 [[ 9.99824353e-01 1.52027839e-02 -1.09607945e-02 2.03692726e+02] [-1.51901125e-02 9.99883857e-01 1.23839423e-03 -1.78760499e+01] [ 1.09783485e-02 -1.07168101e-03 9.99939162e-01 -5.24895810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48241403699998 meters 0.09249132254650765 Centerline is valid? [True, True] Translation: X:203.72, Y:-17.88, Z:-5.25 [[ 9.99793614e-01 1.69271528e-02 -1.12338964e-02 2.03722825e+02] [-1.69139439e-02 9.99856143e-01 1.26978063e-03 -1.78765993e+01] [ 1.12537741e-02 -1.07950907e-03 9.99936092e-01 -5.24955647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51241403699999 meters 0.09406229642956469 Centerline is valid? [True, True] Translation: X:203.75, Y:-17.88, Z:-5.25 [[ 9.99791449e-01 1.74333541e-02 -1.06366063e-02 2.03749951e+02] [-1.74215652e-02 9.99847513e-01 1.19999073e-03 -1.78813873e+01] [ 1.06559043e-02 -1.01443414e-03 9.99942710e-01 -5.25057751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.542414037 meters 0.09299509214425149 Centerline is valid? [True, True] Translation: X:203.78, Y:-17.88, Z:-5.25 [[ 9.99791618e-01 1.78769783e-02 -9.85571555e-03 2.03779431e+02] [-1.78668777e-02 9.99839756e-01 1.11195663e-03 -1.78818468e+01] [ 9.87401466e-03 -9.35634053e-04 9.99950813e-01 -5.25021500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.572414037 meters 0.09194118095360305 Centerline is valid? [True, True] Translation: X:203.81, Y:-17.88, Z:-5.25 [[ 9.99800387e-01 1.80136744e-02 -8.64252081e-03 2.03808054e+02] [-1.80059218e-02 9.99837406e-01 9.74013738e-04 -1.78823602e+01] [ 8.65866116e-03 -8.18202759e-04 9.99962178e-01 -5.24986016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.602414037 meters 0.08807282097822426 Centerline is valid? [True, True] Translation: X:203.84, Y:-17.88, Z:-5.25 [[ 9.99817896e-01 1.70540514e-02 -8.56357709e-03 2.03838392e+02] [-1.70464020e-02 9.99854233e-01 9.65451383e-04 -1.78759354e+01] [ 8.57879366e-03 -8.19297393e-04 9.99962866e-01 -5.24756480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.632414037 meters 0.09275177253781518 Centerline is valid? [True, True] Translation: X:203.87, Y:-17.89, Z:-5.25 [[ 9.99834374e-01 1.63663305e-02 -7.96034438e-03 2.03865307e+02] [-1.63597137e-02 9.99865770e-01 8.95624615e-04 -1.78878001e+01] [ 7.97393395e-03 -7.65247321e-04 9.99967915e-01 -5.25016109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.662414037 meters 0.0916380746752752 Centerline is valid? [True, True] Translation: X:203.90, Y:-17.89, Z:-5.25 [[ 9.99872694e-01 1.40698225e-02 -7.52561630e-03 2.03895146e+02] [-1.40638365e-02 9.99900740e-01 8.47758533e-04 -1.78881724e+01] [ 7.53679712e-03 -7.41811572e-04 9.99971323e-01 -5.24898945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.692414037 meters 0.09602617635801873 Centerline is valid? [True, True] Translation: X:203.92, Y:-17.90, Z:-5.25 [[ 9.99897647e-01 1.23739627e-02 -7.18200392e-03 2.03922105e+02] [-1.23684792e-02 9.99923181e-01 8.07417218e-04 -1.78989043e+01] [ 7.19144316e-03 -7.18504110e-04 9.99973883e-01 -5.25106721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.722414037 meters 0.09178105671588008 Centerline is valid? [True, True] Translation: X:203.95, Y:-17.89, Z:-5.25 [[ 9.99912159e-01 1.06426714e-02 -7.89984519e-03 2.03953567e+02] [-1.06359702e-02 9.99943041e-01 8.89805120e-04 -1.78934543e+01] [ 7.90886513e-03 -8.05704441e-04 9.99968400e-01 -5.24918052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.752414037 meters 0.09472511014597314 Centerline is valid? [True, True] Translation: X:203.98, Y:-17.90, Z:-5.25 [[ 9.99924610e-01 9.60699271e-03 -7.64726220e-03 2.03981169e+02] [-9.60069428e-03 9.99953543e-01 8.59903391e-04 -1.79016512e+01] [ 7.65516801e-03 -7.86419536e-04 9.99970390e-01 -5.25127940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.782414037 meters 0.0966365372971253 Centerline is valid? [True, True] Translation: X:204.01, Y:-17.91, Z:-5.25 [[ 9.99919822e-01 7.79640973e-03 -9.97825819e-03 2.04010535e+02] [-7.78558953e-03 9.99969062e-01 1.12276326e-03 -1.79073080e+01] [ 9.98670300e-03 -1.04498662e-03 9.99949586e-01 -5.25418751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.812414037 meters 0.09523742210227773 Centerline is valid? [True, True] Translation: X:204.04, Y:-17.91, Z:-5.25 [[ 9.99926347e-01 6.99286882e-03 -9.91965143e-03 2.04039805e+02] [-6.98215270e-03 9.99975003e-01 1.11451176e-03 -1.79073582e+01] [ 9.92719710e-03 -1.04516915e-03 9.99950178e-01 -5.25456833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.842414037 meters 0.09618210537334114 Centerline is valid? [True, True] Translation: X:204.07, Y:-17.91, Z:-5.26 [[ 9.99926963e-01 6.25092816e-03 -1.03438589e-02 2.04068925e+02] [-6.23923244e-03 9.99979860e-01 1.16257667e-03 -1.79110573e+01] [ 1.03509178e-02 -1.09795402e-03 9.99945825e-01 -5.25586962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.872414037 meters 0.09465101458052096 Centerline is valid? [True, True] Translation: X:204.10, Y:-17.91, Z:-5.26 [[ 9.99923815e-01 5.95127784e-03 -1.08141434e-02 2.04098121e+02] [-5.93849258e-03 9.99981630e-01 1.21399915e-03 -1.79105705e+01] [ 1.08211695e-02 -1.14968695e-03 9.99940789e-01 -5.25564267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.902414037 meters 0.09414449662155078 Centerline is valid? [True, True] Translation: X:204.13, Y:-17.91, Z:-5.26 [[ 9.99942731e-01 5.72113657e-03 -9.04448172e-03 2.04126725e+02] [-5.71219214e-03 9.99983171e-01 1.01446119e-03 -1.79112359e+01] [ 9.05013338e-03 -9.62739276e-04 9.99958583e-01 -5.25572105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93241403699997 meters 0.09373192135626432 Centerline is valid? [True, True] Translation: X:204.16, Y:-17.91, Z:-5.26 [[ 9.99940996e-01 5.50695920e-03 -9.36367919e-03 2.04155058e+02] [-5.49737363e-03 9.99984339e-01 1.04912803e-03 -1.79126867e+01] [ 9.36931005e-03 -9.97590488e-04 9.99955609e-01 -5.25541167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96241403699997 meters 0.09485432200460668 Centerline is valid? [True, True] Translation: X:204.18, Y:-17.92, Z:-5.26 [[ 9.99946703e-01 5.31442368e-03 -8.85145752e-03 2.04182972e+02] [-5.30586536e-03 9.99985434e-01 9.90084163e-04 -1.79169306e+01] [ 8.85659031e-03 -9.43066753e-04 9.99960335e-01 -5.25633149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99241403699997 meters 0.09610557500501352 Centerline is valid? [True, True] Translation: X:204.21, Y:-17.92, Z:-5.26 [[ 9.99945336e-01 5.21218126e-03 -9.06413605e-03 2.04210827e+02] [-5.20320399e-03 9.99985949e-01 1.01371638e-03 -1.79205965e+01] [ 9.06929237e-03 -9.66498421e-04 9.99958406e-01 -5.25705063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02241403699998 meters 0.09697976477289874 Centerline is valid? [True, True] Translation: X:204.24, Y:-17.92, Z:-5.26 [[ 9.99945012e-01 4.89098856e-03 -9.27642717e-03 2.04239626e+02] [-4.88157427e-03 9.99987547e-01 1.03723324e-03 -1.79237418e+01] [ 9.28138474e-03 -9.91892632e-04 9.99956435e-01 -5.25824749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05241403699998 meters 0.0971641288494082 Centerline is valid? [True, True] Translation: X:204.27, Y:-17.93, Z:-5.26 [[ 9.99945744e-01 4.73101777e-03 -9.28043849e-03 2.04268130e+02] [-4.72159434e-03 9.99988315e-01 1.03705536e-03 -1.79261653e+01] [ 9.28523638e-03 -9.93180630e-04 9.99956398e-01 -5.25862863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08241403699998 meters 0.09688050258308502 Centerline is valid? [True, True] Translation: X:204.30, Y:-17.93, Z:-5.26 [[ 9.99954465e-01 4.59094997e-03 -8.36607099e-03 2.04297259e+02] [-4.58329312e-03 9.99989060e-01 9.34169116e-04 -1.79254802e+01] [ 8.37026819e-03 -8.95782423e-04 9.99964567e-01 -5.25829448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11241403699998 meters 0.09668466837995897 Centerline is valid? [True, True] Translation: X:204.33, Y:-17.93, Z:-5.26 [[ 9.99961799e-01 3.99740811e-03 -7.77308112e-03 2.04326386e+02] [-3.99078549e-03 9.99991661e-01 8.67318214e-04 -1.79274971e+01] [ 7.77648332e-03 -8.36264383e-04 9.99969413e-01 -5.25836574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14241403699998 meters 0.09833784750467045 Centerline is valid? [True, True] Translation: X:204.35, Y:-17.93, Z:-5.26 [[ 9.99966241e-01 3.85259684e-03 -7.25765780e-03 2.04354084e+02] [-3.84682721e-03 9.99992274e-01 8.08763173e-04 -1.79327600e+01] [ 7.26071757e-03 -7.80816915e-04 9.99973336e-01 -5.25993393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17241403699998 meters 0.09631889959113522 Centerline is valid? [True, True] Translation: X:204.38, Y:-17.93, Z:-5.26 [[ 9.99965696e-01 3.69116246e-03 -7.41497309e-03 2.04383283e+02] [-3.68513671e-03 9.99992869e-01 8.26143694e-04 -1.79304408e+01] [ 7.41796964e-03 -7.98790164e-04 9.99972167e-01 -5.25891602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20241403699998 meters 0.09560441004919348 Centerline is valid? [True, True] Translation: X:204.41, Y:-17.93, Z:-5.26 [[ 9.99966924e-01 3.52655082e-03 -7.32898395e-03 2.04411809e+02] [-3.52066361e-03 9.99993469e-01 8.16024399e-04 -1.79303183e+01] [ 7.33181384e-03 -7.90194521e-04 9.99972810e-01 -5.25951954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23241403699998 meters 0.09870512986010326 Centerline is valid? [True, True] Translation: X:204.44, Y:-17.94, Z:-5.26 [[ 9.99967667e-01 4.04716115e-03 -6.94870370e-03 2.04438925e+02] [-4.04188917e-03 9.99991533e-01 7.72575186e-04 -1.79359331e+01] [ 6.95177161e-03 -7.44464317e-04 9.99975559e-01 -5.26158008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26241403699999 meters 0.09729299504210012 Centerline is valid? [True, True] Translation: X:204.47, Y:-17.94, Z:-5.26 [[ 9.99966943e-01 3.88696985e-03 -7.14171176e-03 2.04468322e+02] [-3.88139695e-03 9.99992152e-01 7.94024804e-04 -1.79357757e+01] [ 7.14474206e-03 -7.66278738e-04 9.99974182e-01 -5.26199464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.292414037 meters 0.09541827013939684 Centerline is valid? [True, True] Translation: X:204.50, Y:-17.93, Z:-5.26 [[ 9.99958840e-01 3.50537480e-03 -8.36848842e-03 2.04496993e+02] [-3.49771689e-03 9.99993451e-01 9.29548777e-04 -1.79344701e+01] [ 8.37169203e-03 -9.00239913e-04 9.99964552e-01 -5.26150061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.322414037 meters 0.09681817232658418 Centerline is valid? [True, True] Translation: X:204.52, Y:-17.94, Z:-5.26 [[ 9.99966725e-01 3.33591179e-03 -7.44454143e-03 2.04524616e+02] [-3.32985307e-03 9.99994115e-01 8.26093264e-04 -1.79393548e+01] [ 7.44725339e-03 -8.01276546e-04 9.99971948e-01 -5.26286077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.352414037 meters 0.09725031629322854 Centerline is valid? [True, True] Translation: X:204.55, Y:-17.94, Z:-5.27 [[ 9.99964348e-01 2.22479627e-03 -8.14575128e-03 2.04554393e+02] [-2.21749835e-03 9.99997132e-01 9.04839912e-04 -1.79418043e+01] [ 8.14774100e-03 -8.86744463e-04 9.99966413e-01 -5.26521349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.382414037 meters 0.09877528297679454 Centerline is valid? [True, True] Translation: X:204.58, Y:-17.95, Z:-5.27 [[ 9.99961425e-01 1.17274652e-03 -8.70477199e-03 2.04583685e+02] [-1.16439272e-03 9.99998857e-01 9.64686883e-04 -1.79474435e+01] [ 8.70589337e-03 -9.54513897e-04 9.99961647e-01 -5.26595413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.412414037 meters 0.10069274986045845 Centerline is valid? [True, False] Translation: X:204.58, Y:-17.95, Z:-5.27 [[ 9.99961865e-01 1.22810199e-03 -8.64639785e-03 2.04583841e+02] [-1.21865566e-03 9.99998655e-01 1.09770096e-03 -1.79474028e+01] [ 8.64773431e-03 -1.08712211e-03 9.99962017e-01 -5.26637702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.442414037 meters 0.10012189803824836 Centerline is valid? [False, False] Translation: X:204.58, Y:-17.95, Z:-5.27 [[ 9.99964065e-01 8.96862760e-04 -8.42998429e-03 2.04583168e+02] [-8.90464136e-04 9.99999313e-01 7.62754309e-04 -1.79469022e+01] [ 8.43066258e-03 -7.55220301e-04 9.99964176e-01 -5.26604987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.472414037 meters 0.10161639075041824 Centerline is valid? [False, False] Translation: X:204.58, Y:-17.95, Z:-5.27 [[ 9.99966810e-01 8.87551424e-04 -8.09881534e-03 2.04582706e+02] [-8.79018702e-04 9.99999055e-01 1.05707528e-03 -1.79476465e+01] [ 8.09974589e-03 -1.04992119e-03 9.99966645e-01 -5.26635774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.502414037 meters 0.10437410458812685 Centerline is valid? [False, False] Translation: X:204.58, Y:-17.95, Z:-5.27 [[ 9.99968417e-01 5.92901133e-04 -7.92544809e-03 2.04582029e+02] [-5.86816453e-04 9.99999531e-01 7.70043032e-04 -1.79474500e+01] [ 7.92590094e-03 -7.65367929e-04 9.99968297e-01 -5.26589526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.532414037 meters 0.10901550482938963 Centerline is valid? [False, False] Translation: X:204.58, Y:-17.95, Z:-5.27 [[ 9.99972045e-01 3.50066524e-04 -7.46903955e-03 2.04581218e+02] [-3.44042386e-04 9.99999615e-01 8.07817458e-04 -1.79477853e+01] [ 7.46931946e-03 -8.05225209e-04 9.99971780e-01 -5.26607041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.562414037 meters 0.1037054430447954 Centerline is valid? [False, False] Translation: X:204.58, Y:-17.95, Z:-5.27 [[ 9.99972725e-01 3.37150664e-04 -7.37800182e-03 2.04581074e+02] [-3.30633811e-04 9.99999554e-01 8.84483443e-04 -1.79480453e+01] [ 7.37829674e-03 -8.82019902e-04 9.99972391e-01 -5.26613564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.592414037 meters 0.10456579059129738 Centerline is valid? [False, False] Translation: X:204.58, Y:-17.95, Z:-5.27 [[ 9.99973852e-01 2.22999597e-04 -7.22807427e-03 2.04580716e+02] [-2.16803345e-04 9.99999608e-01 8.58020247e-04 -1.79481716e+01] [ 7.22826278e-03 -8.56430741e-04 9.99973509e-01 -5.26607669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.622414037 meters 0.10640426544955082 Centerline is valid? [False, False] Translation: X:204.58, Y:-17.95, Z:-5.27 [[ 9.99975374e-01 1.46805881e-04 -7.01633690e-03 2.04580486e+02] [-1.40404728e-04 9.99999574e-01 9.12805055e-04 -1.79481374e+01] [ 7.01646791e-03 -9.11797450e-04 9.99974969e-01 -5.26636643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.652414037 meters 0.10509904895819558 Centerline is valid? [False, False] Translation: X:204.58, Y:-17.95, Z:-5.27 [[ 9.99975337e-01 2.69579107e-04 -7.01799533e-03 2.04580688e+02] [-2.61903025e-04 9.99999367e-01 1.09466740e-03 -1.79483341e+01] [ 7.01828599e-03 -1.09280237e-03 9.99974774e-01 -5.26663184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68241403699997 meters 0.10357614048091901 Centerline is valid? [False, False] Translation: X:204.58, Y:-17.95, Z:-5.27 [[ 9.99973878e-01 4.83481725e-04 -7.21176081e-03 2.04581308e+02] [-4.74191480e-04 9.99999056e-01 1.28986194e-03 -1.79484166e+01] [ 7.21237763e-03 -1.28640849e-03 9.99973163e-01 -5.26693476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71241403699997 meters 0.10357614048091901 Centerline is valid? [False, False] Translation: X:204.58, Y:-17.95, Z:-5.27 [[ 9.99973878e-01 4.83481725e-04 -7.21176081e-03 2.04581308e+02] [-4.74191480e-04 9.99999056e-01 1.28986194e-03 -1.79484166e+01] [ 7.21237763e-03 -1.28640849e-03 9.99973163e-01 -5.26693476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74241403699997 meters 0.1705952894693478 Centerline is valid? [False, False] Translation: X:204.65, Y:-17.96, Z:-5.27 [[ 9.99994461e-01 3.18022668e-03 -9.82125996e-04 2.04653280e+02] [-3.18354326e-03 9.99989173e-01 -3.39404252e-03 -1.79564025e+01] [ 9.71321538e-04 3.39715036e-03 9.99993758e-01 -5.27037190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77241403699998 meters 0.102817593046369 Centerline is valid? [False, False] Translation: X:204.57, Y:-17.95, Z:-5.27 [[ 9.99991560e-01 4.09156157e-03 3.72353785e-04 2.04570697e+02] [-4.09147357e-03 9.99991602e-01 -2.36776019e-04 -1.79468243e+01] [-3.73319442e-04 2.35250545e-04 9.99999903e-01 -5.27079379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80241403699998 meters 0.10356210225477169 Centerline is valid? [False, False] Translation: X:204.57, Y:-17.95, Z:-5.27 [[ 9.99992165e-01 3.94908839e-03 2.74338413e-04 2.04570742e+02] [-3.94893281e-03 9.99992043e-01 -5.65365036e-04 -1.79460584e+01] [-2.76568906e-04 5.64277262e-04 9.99999803e-01 -5.27056527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83241403699998 meters 0.09908702180574316 Centerline is valid? [False, True] Translation: X:204.57, Y:-17.95, Z:-5.27 [[ 9.99991806e-01 4.04716147e-03 -9.36844667e-05 2.04571566e+02] [-4.04723501e-03 9.99991491e-01 -7.98562792e-04 -1.79450633e+01] [ 9.04517570e-05 7.98935412e-04 9.99999677e-01 -5.27066912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86241403699998 meters 0.10124017423548572 Centerline is valid? [True, False] Translation: X:204.57, Y:-17.95, Z:-5.27 [[ 9.99990650e-01 4.31632828e-03 -2.63587476e-04 2.04572341e+02] [-4.31647301e-03 9.99990532e-01 -5.50984637e-04 -1.79450496e+01] [ 2.61206750e-04 5.52117253e-04 9.99999813e-01 -5.27130117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89241403699998 meters 0.09858338880160172 Centerline is valid? [False, True] Translation: X:204.57, Y:-17.95, Z:-5.27 [[ 9.99990580e-01 4.32469254e-03 -3.69722960e-04 2.04572439e+02] [-4.32492493e-03 9.99990449e-01 -6.30098463e-04 -1.79450452e+01] [ 3.66994447e-04 6.31691552e-04 9.99999733e-01 -5.27112354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92241403699998 meters 0.09979734083153927 Centerline is valid? [True, True] Translation: X:204.60, Y:-17.95, Z:-5.27 [[ 9.99990619e-01 4.27056238e-03 -7.24193365e-04 2.04600041e+02] [-4.27050444e-03 9.99990878e-01 8.15342691e-05 -1.79508980e+01] [ 7.24534957e-04 -7.84408333e-05 9.99999734e-01 -5.27309652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95241403699998 meters 0.09960947879032199 Centerline is valid? [True, True] Translation: X:204.63, Y:-17.95, Z:-5.27 [[ 9.99988015e-01 4.83395886e-03 7.76810250e-04 2.04629387e+02] [-4.83389017e-03 9.99988313e-01 -9.02849509e-05 -1.79546982e+01] [-7.77237605e-04 8.65288534e-05 9.99999694e-01 -5.27318256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98241403699998 meters 0.09884377200815411 Centerline is valid? [True, True] Translation: X:204.66, Y:-17.96, Z:-5.27 [[ 9.99988899e-01 4.69737504e-03 -3.69881641e-04 2.04659228e+02] [-4.69735996e-03 9.99988966e-01 4.16305299e-05 -1.79570080e+01] [ 3.70073114e-04 -3.98926005e-05 9.99999931e-01 -5.27298981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01241403699999 meters 0.09991509348808907 Centerline is valid? [True, True] Translation: X:204.69, Y:-17.96, Z:-5.27 [[ 9.99990165e-01 4.35311252e-03 8.48369265e-04 2.04687342e+02] [-4.35302980e-03 9.99990521e-01 -9.93304576e-05 -1.79627016e+01] [-8.48793620e-04 9.56365040e-05 9.99999635e-01 -5.27299145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.042414037 meters 0.10038451410182789 Centerline is valid? [True, False] Translation: X:204.69, Y:-17.96, Z:-5.27 [[ 9.99990098e-01 4.35689459e-03 9.06648689e-04 2.04687052e+02] [-4.35689352e-03 9.99990509e-01 -3.15435612e-06 -1.79633355e+01] [-9.06653827e-04 -7.95846907e-07 9.99999589e-01 -5.27275988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.072414037 meters 0.10254190369953071 Centerline is valid? [False, False] Translation: X:204.69, Y:-17.97, Z:-5.27 [[ 9.99989526e-01 4.36769418e-03 1.36817958e-03 2.04686085e+02] [-4.36837764e-03 9.99990335e-01 4.96952444e-04 -1.79655171e+01] [-1.36599582e-03 -5.02923964e-04 9.99998941e-01 -5.27269209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.102414037 meters 0.10580563220982671 Centerline is valid? [False, False] Translation: X:204.69, Y:-17.97, Z:-5.27 [[ 9.99989376e-01 4.32309306e-03 1.59946075e-03 2.04685558e+02] [-4.32416748e-03 9.99990427e-01 6.68892041e-04 -1.79664489e+01] [-1.59655376e-03 -6.75801271e-04 9.99998497e-01 -5.27261208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.132414037 meters 0.10790561259483293 Centerline is valid? [False, False] Translation: X:204.68, Y:-17.97, Z:-5.27 [[ 9.99989099e-01 4.18634213e-03 2.06816459e-03 2.04684503e+02] [-4.18845059e-03 9.99990712e-01 1.01620483e-03 -1.79683230e+01] [-2.06389120e-03 -1.02485616e-03 9.99997345e-01 -5.27244396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.162414037 meters 0.1093014253469314 Centerline is valid? [False, False] Translation: X:204.69, Y:-17.97, Z:-5.27 [[ 9.99999053e-01 6.21956061e-04 1.22755844e-03 2.04686776e+02] [-6.18445145e-04 9.99995724e-01 -2.85839086e-03 -1.79676597e+01] [-1.22933099e-03 2.85762897e-03 9.99995161e-01 -5.27335815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.192414037 meters 0.10946969947070408 Centerline is valid? [False, False] Translation: X:204.69, Y:-17.97, Z:-5.27 [[ 9.99998968e-01 8.08477653e-04 1.18744281e-03 2.04686983e+02] [-8.05440565e-04 9.99996409e-01 -2.55592628e-03 -1.79683279e+01] [-1.18950495e-03 2.55496723e-03 9.99996029e-01 -5.27356236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.222414037 meters 0.10245924189375752 Centerline is valid? [False, False] Translation: X:204.69, Y:-17.97, Z:-5.27 [[ 9.99998990e-01 7.30735252e-04 1.21863254e-03 2.04686776e+02] [-7.27530193e-04 9.99996281e-01 -2.62841848e-03 -1.79683220e+01] [-1.22054868e-03 2.62752924e-03 9.99995803e-01 -5.27335978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.252414037 meters 0.10175381327920878 Centerline is valid? [False, False] Translation: X:204.69, Y:-17.97, Z:-5.27 [[ 9.99998839e-01 1.02028541e-03 1.13163463e-03 2.04687105e+02] [-1.01777973e-03 9.99997034e-01 -2.21258402e-03 -1.79691431e+01] [-1.13388874e-03 2.21142969e-03 9.99996912e-01 -5.27357891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.282414037 meters 0.10063872458709773 Centerline is valid? [False, False] Translation: X:204.69, Y:-17.97, Z:-5.27 [[ 9.99998795e-01 1.04306089e-03 1.14998268e-03 2.04686976e+02] [-1.04061242e-03 9.99997195e-01 -2.12768527e-03 -1.79695628e+01] [-1.15219876e-03 2.12648601e-03 9.99997075e-01 -5.27345649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.312414037 meters 0.10007379166746051 Centerline is valid? [False, False] Translation: X:204.69, Y:-17.97, Z:-5.27 [[ 9.99998581e-01 1.25203553e-03 1.12725875e-03 2.04687021e+02] [-1.25002156e-03 9.99997625e-01 -1.78554016e-03 -1.79704204e+01] [-1.12949164e-03 1.78412853e-03 9.99997771e-01 -5.27346876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.342414037 meters 0.10185297889548502 Centerline is valid? [False, False] Translation: X:204.69, Y:-17.97, Z:-5.27 [[ 9.99998234e-01 1.52740911e-03 1.09454788e-03 2.04687402e+02] [-1.52595900e-03 9.99997959e-01 -1.32446426e-03 -1.79711651e+01] [-1.09656864e-03 1.32279168e-03 9.99998524e-01 -5.27396793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.372414037 meters 0.10017644091381701 Centerline is valid? [False, False] Translation: X:204.69, Y:-17.97, Z:-5.27 [[ 9.99998409e-01 1.45868641e-03 1.02718487e-03 2.04687252e+02] [-1.45721734e-03 9.99997917e-01 -1.42948992e-03 -1.79713599e+01] [-1.02926791e-03 1.42799082e-03 9.99998451e-01 -5.27355552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40241403699997 meters 0.09915143874902299 Centerline is valid? [False, True] Translation: X:204.69, Y:-17.97, Z:-5.27 [[ 9.99997328e-01 2.14302252e-03 8.66768326e-04 2.04688362e+02] [-2.14261489e-03 9.99997594e-01 -4.70944299e-04 -1.79729657e+01] [-8.67775484e-04 4.69085890e-04 9.99999513e-01 -5.27473587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43241403699997 meters 0.10355133287487221 Centerline is valid? [True, False] Translation: X:204.69, Y:-17.97, Z:-5.28 [[ 9.99996848e-01 2.37978035e-03 8.00992245e-04 2.04688704e+02] [-2.37968363e-03 9.99997161e-01 -1.21685980e-04 -1.79737518e+01] [-8.01279557e-04 1.19779488e-04 9.99999672e-01 -5.27505126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46241403699997 meters 0.10063448743557542 Centerline is valid? [False, False] Translation: X:204.69, Y:-17.97, Z:-5.28 [[ 9.99996539e-01 2.50615269e-03 8.01233170e-04 2.04688701e+02] [-2.50625290e-03 9.99996852e-01 1.24093390e-04 -1.79745630e+01] [-8.00919650e-04 -1.26101054e-04 9.99999671e-01 -5.27506511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49241403699997 meters 0.10022321154617883 Centerline is valid? [False, False] Translation: X:204.69, Y:-17.98, Z:-5.27 [[ 9.99995933e-01 2.69159480e-03 9.42841875e-04 2.04688217e+02] [-2.69216197e-03 9.99996196e-01 6.00805058e-04 -1.79765375e+01] [-9.41221165e-04 -6.03340898e-04 9.99999375e-01 -5.27478356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52241403699998 meters 0.10014898424465121 Centerline is valid? [False, False] Translation: X:204.69, Y:-17.98, Z:-5.27 [[ 9.99995589e-01 2.81529015e-03 9.46118028e-04 2.04688021e+02] [-2.81608572e-03 9.99995682e-01 8.40603050e-04 -1.79775972e+01] [-9.43747401e-04 -8.43263692e-04 9.99999199e-01 -5.27449901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55241403699998 meters 0.10087283259054988 Centerline is valid? [False, False] Translation: X:204.69, Y:-17.98, Z:-5.27 [[ 9.99995489e-01 2.83374425e-03 9.96105276e-04 2.04687673e+02] [-2.83470896e-03 9.99995513e-01 9.68403595e-04 -1.79783381e+01] [-9.93356599e-04 -9.71222895e-04 9.99999035e-01 -5.27415008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58241403699998 meters 0.1014217658298277 Centerline is valid? [False, False] Translation: X:204.69, Y:-17.98, Z:-5.27 [[ 9.99995038e-01 2.95182024e-03 1.10038314e-03 2.04687042e+02] [-2.95332806e-03 9.99994699e-01 1.37116822e-03 -1.79801872e+01] [-1.09632987e-03 -1.37441121e-03 9.99998455e-01 -5.27353208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61241403699998 meters 0.1035301936593282 Centerline is valid? [False, False] Translation: X:204.69, Y:-17.98, Z:-5.27 [[ 9.99999878e-01 -3.91560515e-04 3.02534750e-04 2.04689262e+02] [ 3.92197464e-04 9.99997701e-01 -2.10819118e-03 -1.79804368e+01] [-3.01708570e-04 2.10830957e-03 9.99997732e-01 -5.27453868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64241403699998 meters 0.0984507072316633 Centerline is valid? [False, True] Translation: X:204.69, Y:-17.98, Z:-5.27 [[ 9.99999912e-01 -1.86873822e-04 3.74679973e-04 2.04689115e+02] [ 1.87485868e-04 9.99998647e-01 -1.63414572e-03 -1.79819359e+01] [-3.74374087e-04 1.63421583e-03 9.99998595e-01 -5.27455980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67241403699998 meters 0.09929490105826333 Centerline is valid? [True, True] Translation: X:204.72, Y:-17.99, Z:-5.28 [[ 9.99999015e-01 -1.23624957e-03 -6.63889116e-04 2.04718694e+02] [ 1.23630126e-03 9.99999233e-01 7.74545193e-05 -1.79909216e+01] [ 6.63792854e-04 -7.82752100e-05 9.99999777e-01 -5.27755034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70241403699998 meters 0.09888940039028152 Centerline is valid? [True, True] Translation: X:204.75, Y:-18.00, Z:-5.28 [[ 9.99999018e-01 -1.02320296e-03 -9.57127266e-04 2.04748732e+02] [ 1.02331030e-03 9.99999470e-01 1.11665985e-04 -1.79953261e+01] [ 9.57012502e-04 -1.12645314e-04 9.99999536e-01 -5.27888109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73241403699998 meters 0.09774887932898126 Centerline is valid? [True, True] Translation: X:204.78, Y:-18.00, Z:-5.28 [[ 9.99998361e-01 -1.34229521e-03 -1.21487528e-03 2.04779488e+02] [ 1.34246838e-03 9.99999089e-01 1.41736893e-04 -1.79978296e+01] [ 1.21468392e-03 -1.43367592e-04 9.99999252e-01 -5.27984946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76241403699999 meters 0.09955896231414843 Centerline is valid? [True, True] Translation: X:204.81, Y:-18.01, Z:-5.28 [[ 9.99997641e-01 -1.14977258e-03 -1.84308734e-03 2.04808764e+02] [ 1.15016979e-03 9.99999316e-01 2.14470590e-04 -1.80055036e+01] [ 1.84283948e-03 -2.16589947e-04 9.99998279e-01 -5.27993992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.792414037 meters 0.09928417822881536 Centerline is valid? [True, True] Translation: X:204.84, Y:-18.01, Z:-5.28 [[ 9.99999091e-01 -7.72292488e-04 -1.10546590e-03 2.04839316e+02] [ 7.72435506e-04 9.99999693e-01 1.28953006e-04 -1.80090713e+01] [ 1.10536597e-03 -1.29806790e-04 9.99999381e-01 -5.28029215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.822414037 meters 0.100929784258771 Centerline is valid? [True, False] Translation: X:204.84, Y:-18.01, Z:-5.28 [[ 9.99999105e-01 -7.63342041e-04 -1.09835426e-03 2.04839036e+02] [ 7.63592442e-04 9.99999683e-01 2.27577255e-04 -1.80097765e+01] [ 1.09818020e-03 -2.28415746e-04 9.99999371e-01 -5.27991569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.852414037 meters 0.09868753966035478 Centerline is valid? [False, True] Translation: X:204.84, Y:-18.01, Z:-5.28 [[ 9.99999251e-01 -2.47026106e-04 -1.19837420e-03 2.04839631e+02] [ 2.48266819e-04 9.99999433e-01 1.03529192e-03 -1.80113689e+01] [ 1.19811778e-03 -1.03558866e-03 9.99998746e-01 -5.28054017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.882414037 meters 0.09861063233594453 Centerline is valid? [True, True] Translation: X:204.87, Y:-18.02, Z:-5.28 [[ 9.99999633e-01 -4.31406698e-04 -7.39907664e-04 2.04869082e+02] [ 4.31469974e-04 9.99999903e-01 8.53611339e-05 -1.80172975e+01] [ 7.39870767e-04 -8.56803505e-05 9.99999723e-01 -5.28157395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.912414037 meters 0.10077051945088727 Centerline is valid? [True, False] Translation: X:204.87, Y:-18.02, Z:-5.28 [[ 9.99999717e-01 -2.90376024e-04 -6.94036797e-04 2.04869001e+02] [ 2.90657978e-04 9.99999875e-01 4.06184806e-04 -1.80183104e+01] [ 6.93918764e-04 -4.06386418e-04 9.99999677e-01 -5.28161176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.942414037 meters 0.10539125512079459 Centerline is valid? [False, False] Translation: X:204.87, Y:-18.02, Z:-5.28 [[ 9.99999794e-01 3.30005785e-05 -6.40724428e-04 2.04868986e+02] [-3.23474780e-05 9.99999480e-01 1.01929933e-03 -1.80200959e+01] [ 6.40757732e-04 -1.01927839e-03 9.99999275e-01 -5.28174718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.972414037 meters 0.1015990335527915 Centerline is valid? [False, False] Translation: X:204.87, Y:-18.02, Z:-5.28 [[ 9.99999791e-01 1.94850874e-04 -6.16659788e-04 2.04869005e+02] [-1.94040405e-04 9.99999118e-01 1.31407636e-03 -1.80208906e+01] [ 6.16915293e-04 -1.31395643e-03 9.99998946e-01 -5.28185782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.002414037 meters 0.09645958761760642 Centerline is valid? [False, True] Translation: X:204.87, Y:-18.02, Z:-5.28 [[ 9.99999780e-01 2.68477384e-04 -6.07175251e-04 2.04868810e+02] [-2.67562370e-04 9.99998829e-01 1.50658187e-03 -1.80217384e+01] [ 6.07579023e-04 -1.50641909e-03 9.99998681e-01 -5.28162272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.032414037 meters 0.09894271335291292 Centerline is valid? [True, True] Translation: X:204.90, Y:-18.03, Z:-5.28 [[ 9.99998823e-01 1.17168883e-03 9.90438847e-04 2.04897169e+02] [-1.17157377e-03 9.99999307e-01 -1.16745681e-04 -1.80318068e+01] [-9.90574950e-04 1.15585171e-04 9.99999503e-01 -5.28309106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.062414037 meters 0.09565267604655107 Centerline is valid? [True, True] Translation: X:204.93, Y:-18.03, Z:-5.28 [[ 9.99998792e-01 1.34255403e-03 7.83050524e-04 2.04927665e+02] [-1.34248247e-03 9.99999095e-01 -9.19058329e-05 -1.80308238e+01] [-7.83173204e-04 9.08544903e-05 9.99999689e-01 -5.28232783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.092414037 meters 0.0970003307449667 Centerline is valid? [True, True] Translation: X:204.96, Y:-18.04, Z:-5.28 [[ 9.99998228e-01 1.62505059e-03 9.50888333e-04 2.04956294e+02] [-1.62494473e-03 9.99998673e-01 -1.12088920e-04 -1.80375240e+01] [-9.51069222e-04 1.10543581e-04 9.99999542e-01 -5.28381419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.122414037 meters 0.09780843866864325 Centerline is valid? [True, True] Translation: X:204.99, Y:-18.04, Z:-5.29 [[ 9.99998039e-01 1.97186260e-03 1.85282907e-04 2.04986048e+02] [-1.97185860e-03 9.99998056e-01 -2.17432019e-05 -1.80443719e+01] [-1.85325421e-04 2.13778076e-05 9.99999983e-01 -5.28555722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15241403699997 meters 0.09852747447379158 Centerline is valid? [True, True] Translation: X:205.02, Y:-18.05, Z:-5.29 [[ 9.99997244e-01 2.29154279e-03 -5.11169918e-04 2.05015252e+02] [-2.29151294e-03 9.99997373e-01 5.89833403e-05 -1.80499418e+01] [ 5.11303738e-04 -5.78118252e-05 9.99999868e-01 -5.28662648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18241403699997 meters 0.09720437992617563 Centerline is valid? [True, True] Translation: X:205.05, Y:-18.05, Z:-5.29 [[ 9.99995988e-01 2.76770562e-03 -6.02585692e-04 2.05045174e+02] [-2.76766413e-03 9.99996168e-01 6.96795455e-05 -1.80518238e+01] [ 6.02776235e-04 -6.80115112e-05 9.99999816e-01 -5.28698697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21241403699997 meters 0.0999658490328988 Centerline is valid? [True, True] Translation: X:205.07, Y:-18.06, Z:-5.29 [[ 9.99992564e-01 3.81733836e-03 -5.47480996e-04 2.05073192e+02] [-3.81730432e-03 9.99992712e-01 6.32068886e-05 -1.80617413e+01] [ 5.47718288e-04 -6.11165170e-05 9.99999848e-01 -5.29000755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24241403699997 meters 0.09745211419180907 Centerline is valid? [True, True] Translation: X:205.10, Y:-18.06, Z:-5.29 [[ 9.99989646e-01 4.40620839e-03 -1.13711807e-03 2.05103269e+02] [-4.40606076e-03 9.99990285e-01 1.32299168e-04 -1.80615444e+01] [ 1.13768996e-03 -1.27287587e-04 9.99999345e-01 -5.29005964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27241403699998 meters 0.094799367491169 Centerline is valid? [True, True] Translation: X:205.13, Y:-18.06, Z:-5.29 [[ 9.99988051e-01 4.83568102e-03 -7.16527175e-04 2.05132064e+02] [-4.83562354e-03 9.99988305e-01 8.19278775e-05 -1.80607766e+01] [ 7.16914972e-04 -7.84620429e-05 9.99999740e-01 -5.28986889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30241403699998 meters 0.09605234098957725 Centerline is valid? [True, True] Translation: X:205.16, Y:-18.07, Z:-5.29 [[ 9.99985615e-01 5.21657338e-03 -1.24803168e-03 2.05160266e+02] [-5.21639688e-03 9.99986384e-01 1.44639701e-04 -1.80665248e+01] [ 1.24876921e-03 -1.38127392e-04 9.99999211e-01 -5.29069949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33241403699998 meters 0.09665903330722311 Centerline is valid? [True, True] Translation: X:205.19, Y:-18.07, Z:-5.29 [[ 9.99982247e-01 5.55382676e-03 -2.15898524e-03 2.05187960e+02] [-5.55329947e-03 9.99984549e-01 2.50149929e-04 -1.80718927e+01] [ 2.16034117e-03 -2.38155996e-04 9.99997638e-01 -5.29097628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36241403699998 meters 0.09558389377273022 Centerline is valid? [True, True] Translation: X:205.22, Y:-18.07, Z:-5.29 [[ 9.99981767e-01 5.82800430e-03 -1.58146450e-03 2.05216596e+02] [-5.82772217e-03 9.99983002e-01 1.82944274e-04 -1.80740619e+01] [ 1.58250382e-03 -1.73724603e-04 9.99998733e-01 -5.29085280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39241403699998 meters 0.09577868691779202 Centerline is valid? [True, True] Translation: X:205.24, Y:-18.08, Z:-5.29 [[ 9.99982159e-01 5.57217457e-03 -2.15218732e-03 2.05244575e+02] [-5.57165142e-03 9.99984447e-01 2.48998957e-04 -1.80786368e+01] [ 2.15354131e-03 -2.37003277e-04 9.99997653e-01 -5.29168036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42241403699998 meters 0.09705634861311357 Centerline is valid? [True, True] Translation: X:205.27, Y:-18.09, Z:-5.29 [[ 9.99982012e-01 5.69914245e-03 -1.86970474e-03 2.05271115e+02] [-5.69874870e-03 9.99983739e-01 2.15850768e-04 -1.80868032e+01] [ 1.87090450e-03 -2.05191908e-04 9.99998229e-01 -5.29361692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45241403699998 meters 0.09883598173300208 Centerline is valid? [True, True] Translation: X:205.30, Y:-18.09, Z:-5.30 [[ 9.99981841e-01 5.21186856e-03 -3.02548030e-03 2.05298869e+02] [-5.21082821e-03 9.99986362e-01 3.51643399e-04 -1.80937016e+01] [ 3.02727176e-03 -3.35871755e-04 9.99995361e-01 -5.29524750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48241403699998 meters 0.09876743802376851 Centerline is valid? [True, True] Translation: X:205.33, Y:-18.10, Z:-5.30 [[ 9.99984660e-01 4.90901672e-03 -2.56536210e-03 2.05327043e+02] [-4.90827000e-03 9.99987910e-01 2.97290803e-04 -1.80969909e+01] [ 2.56679049e-03 -2.84694753e-04 9.99996665e-01 -5.29613032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51241403699999 meters 0.09641316804195506 Centerline is valid? [True, True] Translation: X:205.36, Y:-18.10, Z:-5.30 [[ 9.99983373e-01 4.86377006e-03 -3.09795483e-03 2.05356150e+02] [-4.86268043e-03 9.99988113e-01 3.59161912e-04 -1.80964272e+01] [ 3.09966489e-03 -3.44091576e-04 9.99995137e-01 -5.29540146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.542414037 meters 0.09310556404627998 Centerline is valid? [True, True] Translation: X:205.39, Y:-18.09, Z:-5.29 [[ 9.99980903e-01 5.20489335e-03 -3.33193700e-03 2.05385169e+02] [-5.20363524e-03 9.99986386e-01 3.86148600e-04 -1.80944164e+01] [ 3.33390151e-03 -3.68803041e-04 9.99994375e-01 -5.29458659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.572414037 meters 0.10113899176240958 Centerline is valid? [True, False] Translation: X:205.39, Y:-18.09, Z:-5.30 [[ 9.99988839e-01 1.98936513e-03 -4.28543346e-03 2.05387810e+02] [-2.00238375e-03 9.99993387e-01 -3.03573206e-03 -1.80943510e+01] [ 4.27936594e-03 3.04427926e-03 9.99986210e-01 -5.29585375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.602414037 meters 0.09519087113147412 Centerline is valid? [False, True] Translation: X:205.39, Y:-18.10, Z:-5.30 [[ 9.99989072e-01 2.16523903e-03 -4.14329042e-03 2.05387526e+02] [-2.17602633e-03 9.99994250e-01 -2.60082313e-03 -1.80957521e+01] [ 4.13763519e-03 2.60981062e-03 9.99988034e-01 -5.29586387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.632414037 meters 0.09519087113147412 Centerline is valid? [True, True] Translation: X:205.42, Y:-18.10, Z:-5.30 [[ 9.99990748e-01 2.01195595e-03 -3.80219618e-03 2.05415656e+02] [-2.01035018e-03 9.99997888e-01 4.26100701e-04 -1.81002647e+01] [ 3.80304545e-03 -4.18453012e-04 9.99992681e-01 -5.29758047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.662414037 meters 0.09638582806212972 Centerline is valid? [True, True] Translation: X:205.44, Y:-18.11, Z:-5.30 [[ 9.99993080e-01 2.11610998e-03 -3.05964389e-03 2.05443438e+02] [-2.11507240e-03 9.99997705e-01 3.42311704e-04 -1.81055444e+01] [ 3.06036123e-03 -3.35837967e-04 9.99995261e-01 -5.29862979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.692414037 meters 0.09602506532089594 Centerline is valid? [True, True] Translation: X:205.47, Y:-18.11, Z:-5.30 [[ 9.99992589e-01 2.91651042e-03 -2.51311585e-03 2.05472062e+02] [-2.91581411e-03 9.99995710e-01 2.80686423e-04 -1.81083348e+01] [ 2.51392370e-03 -2.73356565e-04 9.99996803e-01 -5.29900024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.722414037 meters 0.09479665839202014 Centerline is valid? [True, True] Translation: X:205.50, Y:-18.11, Z:-5.30 [[ 9.99991452e-01 2.86076972e-03 -2.98531204e-03 2.05500649e+02] [-2.85978661e-03 9.99995855e-01 3.33532643e-04 -1.81087926e+01] [ 2.98625383e-03 -3.24992436e-04 9.99995488e-01 -5.29947736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.752414037 meters 0.09473112479721991 Centerline is valid? [True, True] Translation: X:205.53, Y:-18.11, Z:-5.30 [[ 9.99989872e-01 3.33597976e-03 -3.02099897e-03 2.05528920e+02] [-3.33497571e-03 9.99994382e-01 3.37332735e-04 -1.81122631e+01] [ 3.02210734e-03 -3.27254361e-04 9.99995380e-01 -5.30071362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.782414037 meters 0.09158872699250081 Centerline is valid? [True, True] Translation: X:205.56, Y:-18.11, Z:-5.30 [[ 9.99990293e-01 3.30033045e-03 -2.91907999e-03 2.05558149e+02] [-3.29939381e-03 9.99994504e-01 3.25625297e-04 -1.81098838e+01] [ 2.92013862e-03 -3.15990941e-04 9.99995686e-01 -5.30056941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.812414037 meters 0.0968437693647738 Centerline is valid? [True, True] Translation: X:205.58, Y:-18.12, Z:-5.30 [[ 9.99986739e-01 4.19718976e-03 -2.98406572e-03 2.05584434e+02] [-4.19621697e-03 9.99991141e-01 3.32182099e-04 -1.81230232e+01] [ 2.98543351e-03 -3.19655907e-04 9.99995492e-01 -5.30420221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.842414037 meters 0.0950405583556531 Centerline is valid? [True, True] Translation: X:205.61, Y:-18.12, Z:-5.30 [[ 9.99987716e-01 3.71253955e-03 -3.28395810e-03 2.05613316e+02] [-3.71135699e-03 9.99993046e-01 3.66122810e-04 -1.81221771e+01] [ 3.28529451e-03 -3.53930372e-04 9.99994541e-01 -5.30422921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.872414037 meters 0.09533679911217768 Centerline is valid? [True, True] Translation: X:205.64, Y:-18.13, Z:-5.30 [[ 9.99989989e-01 3.52757673e-03 -2.75293882e-03 2.05642106e+02] [-3.52674636e-03 9.99993734e-01 3.06423868e-04 -1.81251121e+01] [ 2.75400250e-03 -2.96711883e-04 9.99996164e-01 -5.30443592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90241403699997 meters 0.09469415207811331 Centerline is valid? [True, True] Translation: X:205.67, Y:-18.13, Z:-5.30 [[ 9.99989215e-01 4.01495366e-03 -2.33448389e-03 2.05671323e+02] [-4.01435772e-03 9.99991909e-01 2.59905811e-04 -1.81267238e+01] [ 2.33550851e-03 -2.50531554e-04 9.99997241e-01 -5.30472421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93241403699997 meters 0.09428336060032287 Centerline is valid? [True, True] Translation: X:205.70, Y:-18.13, Z:-5.31 [[ 9.99986707e-01 4.39256665e-03 -2.70033480e-03 2.05699805e+02] [-4.39177185e-03 9.99990311e-01 3.00194747e-04 -1.81292423e+01] [ 2.70162726e-03 -2.88331502e-04 9.99996309e-01 -5.30547573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96241403699997 meters 0.09198365925356469 Centerline is valid? [True, True] Translation: X:205.73, Y:-18.13, Z:-5.31 [[ 9.99986634e-01 4.74750602e-03 -2.04753199e-03 2.05729141e+02] [-4.74705111e-03 9.99988707e-01 2.26976121e-04 -1.81283326e+01] [ 2.04858643e-03 -2.17253349e-04 9.99997878e-01 -5.30506634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99241403699997 meters 0.0942663656491215 Centerline is valid? [True, True] Translation: X:205.76, Y:-18.14, Z:-5.31 [[ 9.99985167e-01 4.89234554e-03 -2.39370202e-03 2.05755934e+02] [-4.89172505e-03 9.99988000e-01 2.65004055e-04 -1.81356355e+01] [ 2.39496979e-03 -2.53290792e-04 9.99997100e-01 -5.30655748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02241403699998 meters 0.09239534467456889 Centerline is valid? [True, True] Translation: X:205.79, Y:-18.13, Z:-5.31 [[ 9.99983165e-01 4.82954925e-03 -3.21651313e-03 2.05785247e+02] [-4.82842507e-03 9.99988279e-01 3.57178974e-04 -1.81349076e+01] [ 3.21820044e-03 -3.41642268e-04 9.99994763e-01 -5.30716036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05241403699998 meters 0.09466324910205841 Centerline is valid? [True, True] Translation: X:205.81, Y:-18.14, Z:-5.31 [[ 9.99981426e-01 4.87534241e-03 -3.65765328e-03 2.05812922e+02] [-4.87389092e-03 9.99988040e-01 4.05646342e-04 -1.81413496e+01] [ 3.65958720e-03 -3.87811805e-04 9.99993228e-01 -5.30975277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08241403699998 meters 0.09399192339575345 Centerline is valid? [True, True] Translation: X:205.84, Y:-18.14, Z:-5.31 [[ 9.99978085e-01 5.34261866e-03 -3.90969694e-03 2.05841967e+02] [-5.34096221e-03 9.99985643e-01 4.33995708e-04 -1.81426597e+01] [ 3.91195948e-03 -4.13104654e-04 9.99992263e-01 -5.31007419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11241403699998 meters 0.09161289268575967 Centerline is valid? [True, True] Translation: X:205.87, Y:-18.14, Z:-5.31 [[ 9.99975212e-01 5.86209828e-03 -3.90020966e-03 2.05871363e+02] [-5.86045500e-03 9.99982734e-01 4.32625119e-04 -1.81410743e+01] [ 3.90267841e-03 -4.09757392e-04 9.99992301e-01 -5.30986963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14241403699998 meters 0.08939584647697126 Centerline is valid? [True, True] Translation: X:205.90, Y:-18.14, Z:-5.31 [[ 9.99977732e-01 5.37267651e-03 -3.95845089e-03 2.05900638e+02] [-5.37098120e-03 9.99985480e-01 4.38782805e-04 -1.81390569e+01] [ 3.96075085e-03 -4.17512269e-04 9.99992069e-01 -5.30947728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17241403699998 meters 0.09639329994401656 Centerline is valid? [True, True] Translation: X:205.93, Y:-18.15, Z:-5.31 [[ 9.99978864e-01 5.14888502e-03 -3.97007803e-03 2.05927084e+02] [-5.14718127e-03 9.99986657e-01 4.39244268e-04 -1.81545997e+01] [ 3.97228668e-03 -4.18800273e-04 9.99992023e-01 -5.31372566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20241403699998 meters 0.0960930386063464 Centerline is valid? [True, True] Translation: X:205.96, Y:-18.16, Z:-5.31 [[ 9.99982301e-01 4.85867763e-03 -3.43367908e-03 2.05955527e+02] [-4.85740139e-03 9.99988131e-01 3.79927238e-04 -1.81568520e+01] [ 3.43548427e-03 -3.63241756e-04 9.99994033e-01 -5.31349349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23241403699998 meters 0.0922074743292557 Centerline is valid? [True, True] Translation: X:205.99, Y:-18.15, Z:-5.31 [[ 9.99984072e-01 4.68153787e-03 -3.15269544e-03 2.05985495e+02] [-4.68046248e-03 9.99988986e-01 3.48393111e-04 -1.81525637e+01] [ 3.15429173e-03 -3.33631489e-04 9.99994970e-01 -5.31236873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26241403699999 meters 0.09416197754704671 Centerline is valid? [True, True] Translation: X:206.01, Y:-18.16, Z:-5.31 [[ 9.99990587e-01 3.98490989e-03 -1.71645005e-03 2.06013091e+02] [-3.98459290e-03 9.99992044e-01 1.88055906e-04 -1.81581093e+01] [ 1.71718578e-03 -1.81214781e-04 9.99998509e-01 -5.31370705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.292414037 meters 0.09380918965940248 Centerline is valid? [True, True] Translation: X:206.04, Y:-18.16, Z:-5.31 [[ 9.99991722e-01 3.28451738e-03 -2.40164463e-03 2.06042933e+02] [-3.28388883e-03 9.99994573e-01 2.65612281e-04 -1.81594317e+01] [ 2.40250401e-03 -2.57723349e-04 9.99997081e-01 -5.31445206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.322414037 meters 0.09588946639278116 Centerline is valid? [True, True] Translation: X:206.07, Y:-18.16, Z:-5.32 [[ 9.99995808e-01 2.12854862e-03 -1.96287613e-03 2.06070848e+02] [-2.12812700e-03 9.99997712e-01 2.16859235e-04 -1.81644005e+01] [ 1.96333323e-03 -2.12681077e-04 9.99998050e-01 -5.31673317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.352414037 meters 0.09711933633085683 Centerline is valid? [True, True] Translation: X:206.10, Y:-18.17, Z:-5.32 [[ 9.99997218e-01 1.49216924e-03 -1.82709163e-03 2.06100176e+02] [-1.49180312e-03 9.99998867e-01 2.01730411e-04 -1.81689868e+01] [ 1.82739058e-03 -1.99004189e-04 9.99998311e-01 -5.31773825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.382414037 meters 0.09809193464805951 Centerline is valid? [True, True] Translation: X:206.13, Y:-18.17, Z:-5.32 [[ 9.99998274e-01 8.65034181e-04 -1.64407250e-03 2.06128965e+02] [-8.64737959e-04 9.99999610e-01 1.80877923e-04 -1.81731151e+01] [ 1.64422832e-03 -1.79455919e-04 9.99998632e-01 -5.31856814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.412414037 meters 0.09752071561260188 Centerline is valid? [True, True] Translation: X:206.16, Y:-18.17, Z:-5.32 [[ 9.99998026e-01 2.92672028e-04 -1.96520888e-03 2.06159013e+02] [-2.92246364e-04 9.99999934e-01 2.16883619e-04 -1.81744231e+01] [ 1.96527223e-03 -2.16308866e-04 9.99998045e-01 -5.31903609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.442414037 meters 0.0988520342156008 Centerline is valid? [True, True] Translation: X:206.19, Y:-18.18, Z:-5.32 [[ 9.99998348e-01 -1.22022061e-04 -1.81357576e-03 2.06187799e+02] [ 1.22389508e-04 9.99999972e-01 2.02499140e-04 -1.81780667e+01] [ 1.81355100e-03 -2.02720768e-04 9.99998335e-01 -5.31961310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.472414037 meters 0.0952397182349436 Centerline is valid? [True, True] Translation: X:206.22, Y:-18.17, Z:-5.32 [[ 9.99993639e-01 -2.98316474e-04 -3.55441637e-03 2.06218073e+02] [ 2.99715482e-04 9.99999878e-01 3.93071141e-04 -1.81723515e+01] [ 3.55429868e-03 -3.94133954e-04 9.99993606e-01 -5.31825903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.502414037 meters 0.0952397182349436 Centerline is valid? [True, True] Translation: X:206.25, Y:-18.18, Z:-5.32 [[ 9.99993615e-01 -3.67229143e-04 -3.55454888e-03 2.06246392e+02] [ 3.68624383e-04 9.99999855e-01 3.91875124e-04 -1.81754214e+01] [ 3.55440446e-03 -3.93182916e-04 9.99993606e-01 -5.31905108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.532414037 meters 0.09629048283085616 Centerline is valid? [True, True] Translation: X:206.27, Y:-18.18, Z:-5.32 [[ 9.99991302e-01 -4.95001851e-04 -4.14130733e-03 2.06274218e+02] [ 4.96897012e-04 9.99999772e-01 4.56607371e-04 -1.81790571e+01] [ 4.14108037e-03 -4.58661202e-04 9.99991321e-01 -5.32087783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.562414037 meters 0.09658574454844006 Centerline is valid? [True, True] Translation: X:206.30, Y:-18.18, Z:-5.32 [[ 9.99993475e-01 -6.31760097e-04 -3.55691884e-03 2.06303240e+02] [ 6.33138008e-04 9.99999725e-01 3.86276242e-04 -1.81804596e+01] [ 3.55667383e-03 -3.88525742e-04 9.99993600e-01 -5.32156581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.592414037 meters 0.09721113170590928 Centerline is valid? [True, True] Translation: X:206.33, Y:-18.18, Z:-5.32 [[ 9.99990951e-01 -5.04342601e-04 -4.22415954e-03 2.06332318e+02] [ 5.06313741e-04 9.99999763e-01 4.65578499e-04 -1.81835161e+01] [ 4.22392373e-03 -4.67713036e-04 9.99990970e-01 -5.32288268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.622414037 meters 0.09642022616223558 Centerline is valid? [True, True] Translation: X:206.36, Y:-18.18, Z:-5.32 [[ 9.99988396e-01 -6.39752959e-04 -4.77483968e-03 2.06361197e+02] [ 6.42267479e-04 9.99999656e-01 5.25103842e-04 -1.81836817e+01] [ 4.77450210e-03 -5.28164473e-04 9.99988463e-01 -5.32284936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65241403699997 meters 0.09559255751617335 Centerline is valid? [True, True] Translation: X:206.39, Y:-18.18, Z:-5.32 [[ 9.99988769e-01 -8.86962442e-04 -4.65565903e-03 2.06390226e+02] [ 8.89353853e-04 9.99999474e-01 5.11611739e-04 -1.81822759e+01] [ 4.65520280e-03 -5.15746521e-04 9.99989031e-01 -5.32358171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68241403699997 meters 0.0966773861994669 Centerline is valid? [True, True] Translation: X:206.42, Y:-18.19, Z:-5.32 [[ 9.99986094e-01 -8.21972572e-04 -5.20928354e-03 2.06418145e+02] [ 8.24968030e-04 9.99999496e-01 5.72900429e-04 -1.81858555e+01] [ 5.20881001e-03 -5.77189955e-04 9.99986267e-01 -5.32459889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71241403699997 meters 0.0983917078133399 Centerline is valid? [True, True] Translation: X:206.45, Y:-18.19, Z:-5.33 [[ 9.99985912e-01 -1.12643004e-03 -5.18714060e-03 2.06445722e+02] [ 1.12939695e-03 9.99999200e-01 5.69081028e-04 -1.81905083e+01] [ 5.18649542e-03 -5.74931351e-04 9.99986385e-01 -5.32617257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74241403699997 meters 0.09781061630204241 Centerline is valid? [True, True] Translation: X:206.47, Y:-18.19, Z:-5.33 [[ 9.99986826e-01 -1.67007873e-03 -4.85373053e-03 2.06474291e+02] [ 1.67268276e-03 9.99998459e-01 5.32490176e-04 -1.81917375e+01] [ 4.85283375e-03 -5.40601912e-04 9.99988079e-01 -5.32608800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77241403699998 meters 0.09743399709059625 Centerline is valid? [True, True] Translation: X:206.50, Y:-18.19, Z:-5.33 [[ 9.99985760e-01 -3.44357063e-03 -4.07693336e-03 2.06504256e+02] [ 3.44542665e-03 9.99993964e-01 4.48311418e-04 -1.81926711e+01] [ 4.07536496e-03 -4.62351809e-04 9.99991589e-01 -5.32513657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80241403699998 meters 0.09964047208875448 Centerline is valid? [True, True] Translation: X:206.53, Y:-18.20, Z:-5.33 [[ 9.99984865e-01 -4.66320002e-03 -2.91980995e-03 2.06532940e+02] [ 4.66415659e-03 9.99989071e-01 3.20888383e-04 -1.81989318e+01] [ 2.91828168e-03 -3.34501977e-04 9.99995686e-01 -5.32642213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83241403699998 meters 0.1008431442694009 Centerline is valid? [True, False] Translation: X:206.53, Y:-18.20, Z:-5.33 [[ 9.99984919e-01 -4.69217703e-03 -2.85397722e-03 2.06533106e+02] [ 4.69297235e-03 9.99988951e-01 2.72039256e-04 -1.81983722e+01] [ 2.85266923e-03 -2.85428789e-04 9.99995890e-01 -5.32684368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86241403699998 meters 0.09876994124450941 Centerline is valid? [False, True] Translation: X:206.53, Y:-18.20, Z:-5.33 [[ 9.99985433e-01 -4.61919003e-03 -2.79244603e-03 2.06533330e+02] [ 4.62029943e-03 9.99989250e-01 3.90965888e-04 -1.81982027e+01] [ 2.79061006e-03 -4.03862129e-04 9.99996025e-01 -5.32734957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89241403699998 meters 0.10030700323204805 Centerline is valid? [True, False] Translation: X:206.53, Y:-18.20, Z:-5.33 [[ 9.99983955e-01 -5.00470943e-03 -2.65383992e-03 2.06533056e+02] [ 5.00439492e-03 9.99987470e-01 -1.25140889e-04 -1.81965359e+01] [ 2.65443296e-03 1.11858018e-04 9.99996471e-01 -5.32737134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92241403699998 meters 0.10097160544308291 Centerline is valid? [False, False] Translation: X:206.53, Y:-18.20, Z:-5.33 [[ 9.99984138e-01 -4.94410911e-03 -2.69789927e-03 2.06533480e+02] [ 4.94387737e-03 9.99987775e-01 -9.25606555e-05 -1.81961147e+01] [ 2.69832392e-03 7.92211042e-05 9.99996356e-01 -5.32785272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95241403699998 meters 0.10102555395308394 Centerline is valid? [False, False] Translation: X:206.53, Y:-18.20, Z:-5.33 [[ 9.99984200e-01 -4.90286743e-03 -2.74982273e-03 2.06533880e+02] [ 4.90266746e-03 9.99987979e-01 -7.94579437e-05 -1.81956607e+01] [ 2.75017925e-03 6.59752218e-05 9.99996216e-01 -5.32829251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98241403699998 meters 0.09919555949588821 Centerline is valid? [False, True] Translation: X:206.53, Y:-18.20, Z:-5.33 [[ 9.99984621e-01 -4.78407424e-03 -2.80537919e-03 2.06534540e+02] [ 4.78418467e-03 9.99988555e-01 3.26548110e-05 -1.81951052e+01] [ 2.80519086e-03 -4.60757610e-05 9.99996064e-01 -5.32909279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01241403699999 meters 0.1081427733974042 Centerline is valid? [True, False] Translation: X:206.54, Y:-18.20, Z:-5.33 [[ 9.99985140e-01 -4.62851439e-03 -2.88022935e-03 2.06535064e+02] [ 4.62914451e-03 9.99989263e-01 2.12146848e-04 -1.81950250e+01] [ 2.87921650e-03 -2.25476694e-04 9.99995830e-01 -5.32964368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.042414037 meters 0.10325122954846555 Centerline is valid? [False, False] Translation: X:206.54, Y:-18.19, Z:-5.33 [[ 9.99985657e-01 -4.45297815e-03 -2.97614367e-03 2.06535716e+02] [ 4.45418620e-03 9.99990000e-01 3.99407971e-04 -1.81947947e+01] [ 2.97433536e-03 -4.12658540e-04 9.99995492e-01 -5.33031166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.072414037 meters 0.10226448139109616 Centerline is valid? [False, False] Translation: X:206.54, Y:-18.19, Z:-5.33 [[ 9.99985791e-01 -4.37231102e-03 -3.04954516e-03 2.06536313e+02] [ 4.37357325e-03 9.99990353e-01 4.07361308e-04 -1.81940575e+01] [ 3.04773463e-03 -4.20692929e-04 9.99995267e-01 -5.33096278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.102414037 meters 0.10536340757386771 Centerline is valid? [False, False] Translation: X:206.54, Y:-18.19, Z:-5.33 [[ 9.99985328e-01 -4.52207407e-03 -2.98235175e-03 2.06536078e+02] [ 4.52271893e-03 9.99989751e-01 2.09518951e-04 -1.81937085e+01] [ 2.98137372e-03 -2.23004216e-04 9.99995531e-01 -5.33082784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.132414037 meters 0.10370528375934783 Centerline is valid? [False, False] Translation: X:206.54, Y:-18.19, Z:-5.33 [[ 9.99985785e-01 -4.40305116e-03 -3.00704650e-03 2.06536454e+02] [ 4.40417609e-03 9.99990234e-01 3.67579401e-04 -1.81935816e+01] [ 3.00539866e-03 -3.80817738e-04 9.99995411e-01 -5.33129932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.162414037 meters 0.1042878770513988 Centerline is valid? [False, False] Translation: X:206.54, Y:-18.19, Z:-5.33 [[ 9.99986250e-01 -4.26493470e-03 -3.05112713e-03 2.06536849e+02] [ 4.26642248e-03 9.99990783e-01 4.81273630e-04 -1.81932497e+01] [ 3.04904641e-03 -4.94284410e-04 9.99995229e-01 -5.33172965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.192414037 meters 0.10290571186705648 Centerline is valid? [False, False] Translation: X:206.53, Y:-18.19, Z:-5.33 [[ 9.99997061e-01 -6.74159016e-04 -2.32902187e-03 2.06534832e+02] [ 6.84202125e-04 9.99990460e-01 4.31405545e-03 -1.81937718e+01] [ 2.32609130e-03 -4.31563629e-03 9.99987982e-01 -5.33086595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.222414037 meters 0.1051933512573243 Centerline is valid? [False, False] Translation: X:206.54, Y:-18.19, Z:-5.33 [[ 9.99996944e-01 -5.50554022e-04 -2.41027924e-03 2.06535330e+02] [ 5.61200366e-04 9.99990080e-01 4.41861246e-03 -1.81934451e+01] [ 2.40782265e-03 -4.41995160e-03 9.99987333e-01 -5.33133793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.252414037 meters 0.10644632641402066 Centerline is valid? [False, False] Translation: X:206.54, Y:-18.19, Z:-5.33 [[ 9.99996350e-01 -8.74985289e-04 -2.55642567e-03 2.06535203e+02] [ 8.84639701e-04 9.99992473e-01 3.77784079e-03 -1.81921374e+01] [ 2.55310087e-03 -3.78008851e-03 9.99989596e-01 -5.33070773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.282414037 meters 0.10404527524853602 Centerline is valid? [False, False] Translation: X:206.54, Y:-18.19, Z:-5.33 [[ 9.99996262e-01 -6.78957415e-04 -2.64861408e-03 2.06535776e+02] [ 6.89540170e-04 9.99991775e-01 3.99671734e-03 -1.81921095e+01] [ 2.64587869e-03 -3.99852872e-03 9.99988505e-01 -5.33127543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.312414037 meters 0.10303272519700814 Centerline is valid? [False, False] Translation: X:206.54, Y:-18.19, Z:-5.33 [[ 9.99996216e-01 -8.85932354e-04 -2.60455186e-03 2.06535416e+02] [ 8.95570105e-04 9.99992748e-01 3.70151442e-03 -1.81918196e+01] [ 2.60125368e-03 -3.70383298e-03 9.99989757e-01 -5.33087403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.342414037 meters 0.10499333793927873 Centerline is valid? [False, False] Translation: X:206.54, Y:-18.19, Z:-5.33 [[ 9.99996464e-01 -7.75291691e-04 -2.54382130e-03 2.06535401e+02] [ 7.85420568e-04 9.99991759e-01 3.98317641e-03 -1.81927890e+01] [ 2.54071221e-03 -3.98516030e-03 9.99988832e-01 -5.33102626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.372414037 meters 0.10320775126693923 Centerline is valid? [False, False] Translation: X:206.54, Y:-18.19, Z:-5.33 [[ 9.99996451e-01 -8.12604442e-04 -2.53737330e-03 2.06535280e+02] [ 8.22621468e-04 9.99991863e-01 3.94924878e-03 -1.81930079e+01] [ 2.53414348e-03 -3.95132206e-03 9.99988983e-01 -5.33086083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40241403699997 meters 0.10237210254388528 Centerline is valid? [False, False] Translation: X:206.54, Y:-18.19, Z:-5.33 [[ 9.99996558e-01 -8.02665249e-04 -2.49801129e-03 2.06535177e+02] [ 8.12698395e-04 9.99991597e-01 4.01803352e-03 -1.81933439e+01] [ 2.49476517e-03 -4.02004981e-03 9.99988808e-01 -5.33082856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43241403699997 meters 0.10494056170983297 Centerline is valid? [False, False] Translation: X:206.54, Y:-18.19, Z:-5.33 [[ 9.99996681e-01 -7.03553432e-04 -2.47851771e-03 2.06535284e+02] [ 7.13915763e-04 9.99990999e-01 4.18245753e-03 -1.81936297e+01] [ 2.47555282e-03 -4.18421310e-03 9.99988182e-01 -5.33102577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46241403699997 meters 0.10105368584332049 Centerline is valid? [False, False] Translation: X:206.53, Y:-18.19, Z:-5.33 [[ 9.99996977e-01 -6.34414936e-04 -2.37540666e-03 2.06534908e+02] [ 6.45034288e-04 9.99989791e-01 4.47244660e-03 -1.81948400e+01] [ 2.37254502e-03 -4.47396530e-03 9.99987177e-01 -5.33076434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49241403699997 meters 0.10162935468440365 Centerline is valid? [False, False] Translation: X:206.53, Y:-18.20, Z:-5.33 [[ 9.99997223e-01 -5.68786028e-04 -2.28723142e-03 2.06534593e+02] [ 5.79513993e-04 9.99988822e-01 4.69244722e-03 -1.81958861e+01] [ 2.28453686e-03 -4.69375967e-03 9.99986375e-01 -5.33054332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52241403699998 meters 0.10162935468440365 Centerline is valid? [False, False] Translation: X:206.53, Y:-18.20, Z:-5.33 [[ 9.99997223e-01 -5.68786028e-04 -2.28723142e-03 2.06534593e+02] [ 5.79513993e-04 9.99988822e-01 4.69244722e-03 -1.81958861e+01] [ 2.28453686e-03 -4.69375967e-03 9.99986375e-01 -5.33054332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55241403699998 meters 0.10254393677102622 Centerline is valid? [False, False] Translation: X:206.53, Y:-18.20, Z:-5.33 [[ 9.99997465e-01 -5.01687114e-04 -2.19526118e-03 2.06534229e+02] [ 5.12483793e-04 9.99987764e-01 4.92037965e-03 -1.81969343e+01] [ 2.19276583e-03 -4.92149221e-03 9.99985485e-01 -5.33028771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58241403699998 meters 0.10164724827660679 Centerline is valid? [False, False] Translation: X:206.53, Y:-18.20, Z:-5.33 [[ 9.99997815e-01 -4.09440740e-04 -2.05019826e-03 2.06533530e+02] [ 4.20330784e-04 9.99985792e-01 5.31409217e-03 -1.81988259e+01] [ 2.04799333e-03 -5.31494232e-03 9.99983778e-01 -5.32967384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61241403699998 meters 0.09983215510354015 Centerline is valid? [False, True] Translation: X:206.54, Y:-18.20, Z:-5.33 [[ 9.99988642e-01 -3.67658627e-03 -3.03279378e-03 2.06536107e+02] [ 3.68207947e-03 9.99991587e-01 1.80767416e-03 -1.81988187e+01] [ 3.02612220e-03 -1.81882062e-03 9.99993767e-01 -5.33063081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64241403699998 meters 0.09968294121856273 Centerline is valid? [True, True] Translation: X:206.57, Y:-18.20, Z:-5.33 [[ 9.99990585e-01 -3.41944722e-03 -2.67170084e-03 2.06566116e+02] [ 3.42030334e-03 9.99994101e-01 3.15938096e-04 -1.82019175e+01] [ 2.67060475e-03 -3.25073148e-04 9.99996381e-01 -5.33008520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67241403699998 meters 0.10206686745700588 Centerline is valid? [True, False] Translation: X:206.57, Y:-18.20, Z:-5.33 [[ 9.99991436e-01 -3.15547063e-03 -2.67789116e-03 2.06566299e+02] [ 3.15755760e-03 9.99994714e-01 7.75463650e-04 -1.82029790e+01] [ 2.67543005e-03 -7.83912604e-04 9.99996114e-01 -5.33032938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70241403699998 meters 0.09955122576970338 Centerline is valid? [False, True] Translation: X:206.57, Y:-18.21, Z:-5.33 [[ 9.99993100e-01 -2.43803849e-03 -2.80275655e-03 2.06567014e+02] [ 2.44336437e-03 9.99995213e-01 1.89838096e-03 -1.82054794e+01] [ 2.79811481e-03 -1.90521602e-03 9.99994270e-01 -5.33102510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73241403699998 meters 0.1041379998986719 Centerline is valid? [True, False] Translation: X:206.57, Y:-18.21, Z:-5.33 [[ 9.99993585e-01 -2.15403906e-03 -2.86176323e-03 2.06567346e+02] [ 2.16073772e-03 9.99994928e-01 2.33971842e-03 -1.82065918e+01] [ 2.85670887e-03 -2.34588693e-03 9.99993168e-01 -5.33134319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76241403699999 meters 0.10197331930058741 Centerline is valid? [False, False] Translation: X:206.57, Y:-18.21, Z:-5.33 [[ 9.99994224e-01 -1.42354526e-03 -3.08618265e-03 2.06568530e+02] [ 1.43395085e-03 9.99993286e-01 3.37208498e-03 -1.82084229e+01] [ 3.08136162e-03 -3.37649094e-03 9.99989552e-01 -5.33243049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.792414037 meters 0.09721887877371961 Centerline is valid? [False, True] Translation: X:206.57, Y:-18.21, Z:-5.33 [[ 9.99994115e-01 -1.36695610e-03 -3.14672001e-03 2.06568708e+02] [ 1.37777042e-03 9.99993144e-01 3.43709635e-03 -1.82085785e+01] [ 3.14200008e-03 -3.44141158e-03 9.99989142e-01 -5.33250884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.822414037 meters 0.10246171906102741 Centerline is valid? [True, False] Translation: X:206.57, Y:-18.21, Z:-5.33 [[ 9.99993957e-01 -1.30925735e-03 -3.22068323e-03 2.06568840e+02] [ 1.32053373e-03 9.99992997e-01 3.50160669e-03 -1.82087955e+01] [ 3.21607617e-03 -3.50583855e-03 9.99988683e-01 -5.33249971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.852414037 meters 0.09832118838708352 Centerline is valid? [False, True] Translation: X:206.57, Y:-18.21, Z:-5.33 [[ 9.99993570e-01 -9.87506989e-04 -3.44750626e-03 2.06569476e+02] [ 1.00067747e-03 9.99992201e-01 3.82065930e-03 -1.82094186e+01] [ 3.44370644e-03 -3.82408457e-03 9.99986759e-01 -5.33274589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.882414037 meters 0.09986398102121219 Centerline is valid? [True, True] Translation: X:206.60, Y:-18.21, Z:-5.33 [[ 9.99994084e-01 3.11771960e-04 -3.42567537e-03 2.06597545e+02] [-3.10440093e-04 9.99999876e-01 3.89314574e-04 -1.82143619e+01] [ 3.42579632e-03 -3.88248804e-04 9.99994057e-01 -5.33318916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.912414037 meters 0.09940378417711225 Centerline is valid? [True, True] Translation: X:206.63, Y:-18.22, Z:-5.33 [[ 9.99994543e-01 1.74392059e-03 -2.80594306e-03 2.06627799e+02] [-1.74303113e-03 9.99998430e-01 3.19407133e-04 -1.82176344e+01] [ 2.80649567e-03 -3.14514544e-04 9.99996012e-01 -5.33360931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.942414037 meters 0.09884096204651126 Centerline is valid? [True, True] Translation: X:206.66, Y:-18.22, Z:-5.33 [[ 9.99990280e-01 3.76299666e-03 -2.29784091e-03 2.06657785e+02] [-3.76240492e-03 9.99992888e-01 2.61785611e-04 -1.82207634e+01] [ 2.29880966e-03 -2.53137658e-04 9.99997326e-01 -5.33351386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.972414037 meters 0.09753489950037886 Centerline is valid? [True, True] Translation: X:206.69, Y:-18.22, Z:-5.33 [[ 9.99985585e-01 5.01280330e-03 -1.92410640e-03 2.06688139e+02] [-5.01239135e-03 9.99987414e-01 2.18862947e-04 -1.82217053e+01] [ 1.92517930e-03 -2.09215418e-04 9.99998125e-01 -5.33350463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.002414037 meters 0.09435508890992876 Centerline is valid? [True, True] Translation: X:206.72, Y:-18.22, Z:-5.33 [[ 9.99981127e-01 5.80870527e-03 -2.00126618e-03 2.06717196e+02] [-5.80826383e-03 9.99983106e-01 2.26319693e-04 -1.82192172e+01] [ 2.00254700e-03 -2.14691540e-04 9.99997972e-01 -5.33307966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.032414037 meters 0.09828372501737266 Centerline is valid? [True, True] Translation: X:206.74, Y:-18.23, Z:-5.34 [[ 9.99968156e-01 7.40767641e-03 -2.96868432e-03 2.06744907e+02] [-7.40670768e-03 9.99972513e-01 3.37180425e-04 -1.82300963e+01] [ 2.97110045e-03 -3.15181511e-04 9.99995537e-01 -5.33581346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.062414037 meters 0.09544506320526007 Centerline is valid? [True, True] Translation: X:206.77, Y:-18.23, Z:-5.34 [[ 9.99966256e-01 7.35586076e-03 -3.65749695e-03 2.06773980e+02] [-7.35439306e-03 9.99972870e-01 4.14574100e-04 -1.82284095e+01] [ 3.66044728e-03 -3.87661440e-04 9.99993225e-01 -5.33555155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.092414037 meters 0.09639481372593743 Centerline is valid? [True, True] Translation: X:206.80, Y:-18.23, Z:-5.34 [[ 9.99962078e-01 7.30117584e-03 -4.74712385e-03 2.06802405e+02] [-7.29870206e-03 9.99973219e-01 5.38226850e-04 -1.82342405e+01] [ 4.75092641e-03 -5.03558597e-04 9.99988587e-01 -5.33819065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.122414037 meters 0.09890447968683824 Centerline is valid? [True, True] Translation: X:206.83, Y:-18.24, Z:-5.34 [[ 9.99960303e-01 7.04974018e-03 -5.44921989e-03 2.06829605e+02] [-7.04648019e-03 9.99974983e-01 6.17217087e-04 -1.82426643e+01] [ 5.45343479e-03 -5.78794765e-04 9.99984962e-01 -5.34039672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15241403699997 meters 0.09711367950444966 Centerline is valid? [True, True] Translation: X:206.86, Y:-18.24, Z:-5.34 [[ 9.99966138e-01 6.00663649e-03 -5.62528536e-03 2.06859590e+02] [-6.00314036e-03 9.99981777e-01 6.38180108e-04 -1.82436326e+01] [ 5.62901617e-03 -6.04389120e-04 9.99983974e-01 -5.34028636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18241403699997 meters 0.09600207193217569 Centerline is valid? [True, True] Translation: X:206.89, Y:-18.25, Z:-5.34 [[ 9.99972817e-01 4.67331874e-03 -5.70317978e-03 2.06888751e+02] [-4.66970762e-03 9.99988888e-01 6.46328215e-04 -1.82468313e+01] [ 5.70613690e-03 -6.19678463e-04 9.99983528e-01 -5.34097071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21241403699997 meters 0.0942302656084695 Centerline is valid? [True, True] Translation: X:206.92, Y:-18.25, Z:-5.34 [[ 9.99974600e-01 4.08420547e-03 -5.84112578e-03 2.06917571e+02] [-4.08041231e-03 9.99991457e-01 6.61157845e-04 -1.82477136e+01] [ 5.84377618e-03 -6.37306850e-04 9.99982722e-01 -5.34117242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24241403699997 meters 0.09544942724083988 Centerline is valid? [True, True] Translation: X:206.95, Y:-18.25, Z:-5.34 [[ 9.99983610e-01 3.07365011e-03 -4.83030482e-03 2.06945908e+02] [-3.07104747e-03 9.99995135e-01 5.46139571e-04 -1.82535934e+01] [ 4.83195997e-03 -5.31296525e-04 9.99988185e-01 -5.34236415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27241403699998 meters 0.0979243121904171 Centerline is valid? [True, True] Translation: X:206.97, Y:-18.26, Z:-5.34 [[ 9.99989136e-01 2.28051987e-03 -4.06536163e-03 2.06973007e+02] [-2.27867531e-03 9.99997299e-01 4.58298491e-04 -1.82619671e+01] [ 4.06639581e-03 -4.49029873e-04 9.99991631e-01 -5.34338546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30241403699998 meters 0.09907921302432567 Centerline is valid? [True, True] Translation: X:207.00, Y:-18.27, Z:-5.34 [[ 9.99991463e-01 7.63023897e-04 -4.06112218e-03 2.07002216e+02] [-7.61163734e-04 9.99999605e-01 4.59567587e-04 -1.82688841e+01] [ 4.06147123e-03 -4.56472485e-04 9.99991648e-01 -5.34350679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33241403699998 meters 0.09815313051975644 Centerline is valid? [True, True] Translation: X:207.03, Y:-18.27, Z:-5.34 [[ 9.99992191e-01 -2.33361425e-05 -3.95192458e-03 2.07031868e+02] [ 2.51017521e-05 9.99999900e-01 4.46723063e-04 -1.82716441e+01] [ 3.95191375e-03 -4.46818775e-04 9.99992091e-01 -5.34344097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36241403699998 meters 0.09892297407177945 Centerline is valid? [True, True] Translation: X:207.06, Y:-18.28, Z:-5.34 [[ 9.99997396e-01 -4.58248720e-04 -2.23547118e-03 2.07060690e+02] [ 4.58811918e-04 9.99999863e-01 2.51430840e-04 -1.82773044e+01] [ 2.23535565e-03 -2.52455846e-04 9.99997470e-01 -5.34407589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39241403699998 meters 0.10281478476454817 Centerline is valid? [True, False] Translation: X:207.06, Y:-18.28, Z:-5.34 [[ 9.99998003e-01 -4.15160600e-04 -1.95485241e-03 2.07060031e+02] [ 4.16418541e-04 9.99999706e-01 6.43133727e-04 -1.82787734e+01] [ 1.95458484e-03 -6.43946480e-04 9.99997882e-01 -5.34391837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42241403699998 meters 0.10027321281977272 Centerline is valid? [False, False] Translation: X:207.06, Y:-18.28, Z:-5.34 [[ 9.99998120e-01 -4.39915947e-04 -1.88867539e-03 2.07059678e+02] [ 4.41317759e-04 9.99999627e-01 7.41867531e-04 -1.82794718e+01] [ 1.88834833e-03 -7.42699642e-04 9.99997941e-01 -5.34361349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45241403699998 meters 0.10189811319267465 Centerline is valid? [False, False] Translation: X:207.06, Y:-18.28, Z:-5.34 [[ 9.99998552e-01 -4.68140618e-04 -1.63598190e-03 2.07059181e+02] [ 4.69708739e-04 9.99999431e-01 9.58266870e-04 -1.82805103e+01] [ 1.63553236e-03 -9.59033917e-04 9.99998203e-01 -5.34359555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48241403699998 meters 0.10619802929964238 Centerline is valid? [False, False] Translation: X:207.06, Y:-18.28, Z:-5.35 [[ 9.99997450e-01 -1.15887710e-03 -1.93803972e-03 2.07062342e+02] [ 1.15936936e-03 9.99999296e-01 2.52893762e-04 -1.82810490e+01] [ 1.93774528e-03 -2.55140021e-04 9.99998090e-01 -5.34668475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51241403699999 meters 0.1073737147741194 Centerline is valid? [False, False] Translation: X:207.06, Y:-18.28, Z:-5.35 [[ 9.99997543e-01 -1.10385003e-03 -1.92213768e-03 2.07062426e+02] [ 1.10452851e-03 9.99999328e-01 3.51956043e-04 -1.82813523e+01] [ 1.92174788e-03 -3.54078234e-04 9.99998091e-01 -5.34685842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.542414037 meters 0.10333023111401278 Centerline is valid? [False, False] Translation: X:207.06, Y:-18.28, Z:-5.35 [[ 9.99998035e-01 -8.56757352e-04 -1.78744956e-03 2.07062451e+02] [ 8.58301664e-04 9.99999259e-01 8.63387205e-04 -1.82827123e+01] [ 1.78670852e-03 -8.64919679e-04 9.99998030e-01 -5.34726884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.572414037 meters 0.10166003088964475 Centerline is valid? [False, False] Translation: X:207.06, Y:-18.28, Z:-5.35 [[ 9.99998042e-01 -8.42855059e-04 -1.79015498e-03 2.07062395e+02] [ 8.44477342e-04 9.99999233e-01 9.05662633e-04 -1.82829812e+01] [ 1.78939026e-03 -9.07172605e-04 9.99997988e-01 -5.34718150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.602414037 meters 0.10253744266411177 Centerline is valid? [False, False] Translation: X:207.06, Y:-18.28, Z:-5.35 [[ 9.99998203e-01 -5.25225195e-04 -1.82174526e-03 2.07062764e+02] [ 5.27739121e-04 9.99998909e-01 1.37974846e-03 -1.82837947e+01] [ 1.82101860e-03 -1.38070739e-03 9.99997389e-01 -5.34762288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.632414037 meters 0.10286280701579952 Centerline is valid? [False, False] Translation: X:207.06, Y:-18.28, Z:-5.35 [[ 9.99998101e-01 -6.63216592e-04 -1.83278922e-03 2.07062414e+02] [ 6.65409690e-04 9.99999063e-01 1.19623949e-03 -1.82838795e+01] [ 1.83199414e-03 -1.19745677e-03 9.99997605e-01 -5.34707338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.662414037 meters 0.09609724252052673 Centerline is valid? [False, True] Translation: X:207.06, Y:-18.29, Z:-5.35 [[ 9.99998184e-01 -2.99338847e-04 -1.88211906e-03 2.07062736e+02] [ 3.02602767e-04 9.99998451e-01 1.73412784e-03 -1.82851562e+01] [ 1.88159705e-03 -1.73469422e-03 9.99996725e-01 -5.34736120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.692414037 meters 0.09582242071224996 Centerline is valid? [True, True] Translation: X:207.09, Y:-18.29, Z:-5.35 [[ 9.99999079e-01 6.89568273e-05 -1.35550462e-03 2.07092636e+02] [-6.87448529e-05 9.99999985e-01 1.56426394e-04 -1.82883110e+01] [ 1.35551539e-03 -1.56333066e-04 9.99999069e-01 -5.34760938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.722414037 meters 0.100947719048772 Centerline is valid? [True, False] Translation: X:207.09, Y:-18.29, Z:-5.35 [[ 9.99998803e-01 4.90130943e-04 -1.46771501e-03 2.07093251e+02] [-4.89000971e-04 9.99999584e-01 7.70145034e-04 -1.82893761e+01] [ 1.46809187e-03 -7.69426398e-04 9.99998626e-01 -5.34817330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.752414037 meters 0.09647096725166392 Centerline is valid? [False, True] Translation: X:207.09, Y:-18.29, Z:-5.35 [[ 9.99998555e-01 6.60888309e-04 -1.56631393e-03 2.07093386e+02] [-6.59259453e-04 9.99999242e-01 1.04021798e-03 -1.82902833e+01] [ 1.56700021e-03 -1.03918387e-03 9.99998232e-01 -5.34810203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.782414037 meters 0.09907094065582862 Centerline is valid? [True, True] Translation: X:207.12, Y:-18.30, Z:-5.35 [[ 9.99997522e-01 9.60539440e-04 -2.00844386e-03 2.07122242e+02] [-9.60077386e-04 9.99999512e-01 2.31007136e-04 -1.82988460e+01] [ 2.00866477e-03 -2.29078302e-04 9.99997956e-01 -5.35013907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.812414037 meters 0.09849165660027026 Centerline is valid? [True, True] Translation: X:207.15, Y:-18.30, Z:-5.35 [[ 9.99995953e-01 1.20569603e-03 -2.57695831e-03 2.07152132e+02] [-1.20493720e-03 9.99999230e-01 2.95997201e-04 -1.83014436e+01] [ 2.57731321e-03 -2.92890930e-04 9.99996636e-01 -5.35058039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.842414037 meters 0.09727581258509532 Centerline is valid? [True, True] Translation: X:207.18, Y:-18.30, Z:-5.35 [[ 9.99995120e-01 1.86162902e-03 -2.50899051e-03 2.07181116e+02] [-1.86092550e-03 9.99998229e-01 2.82704486e-04 -1.83037701e+01] [ 2.50951236e-03 -2.78034062e-04 9.99996813e-01 -5.35199116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.872414037 meters 0.10025876429847476 Centerline is valid? [True, False] Translation: X:207.18, Y:-18.30, Z:-5.35 [[ 9.99995117e-01 1.91024890e-03 -2.47330066e-03 2.07181018e+02] [-1.90922262e-03 9.99998090e-01 4.17236171e-04 -1.83043102e+01] [ 2.47409296e-03 -4.12512052e-04 9.99996854e-01 -5.35196149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90241403699997 meters 0.10120251598802216 Centerline is valid? [False, False] Translation: X:207.18, Y:-18.31, Z:-5.35 [[ 9.99995925e-01 1.78699847e-03 -2.22639501e-03 2.07180304e+02] [-1.78598569e-03 9.99998301e-01 4.56803817e-04 -1.83051238e+01] [ 2.22720753e-03 -4.52825646e-04 9.99997417e-01 -5.35161886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93241403699997 meters 0.09806893888662384 Centerline is valid? [False, True] Translation: X:207.18, Y:-18.31, Z:-5.35 [[ 9.99996209e-01 1.75986850e-03 -2.11777671e-03 2.07180100e+02] [-1.75881802e-03 9.99998329e-01 4.97787736e-04 -1.83054557e+01] [ 2.11864921e-03 -4.94061065e-04 9.99997634e-01 -5.35161188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96241403699997 meters 0.09808382835683187 Centerline is valid? [True, True] Translation: X:207.21, Y:-18.31, Z:-5.35 [[ 9.99996272e-01 1.49951135e-03 -2.28218739e-03 2.07209235e+02] [-1.49891318e-03 9.99998842e-01 2.63790807e-04 -1.83090131e+01] [ 2.28258030e-03 -2.60369023e-04 9.99997361e-01 -5.35224280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99241403699997 meters 0.10168106148649544 Centerline is valid? [True, False] Translation: X:207.21, Y:-18.31, Z:-5.35 [[ 9.99996035e-01 1.62396454e-03 -2.30068306e-03 2.07209597e+02] [-1.62298607e-03 9.99998592e-01 4.27098597e-04 -1.83089729e+01] [ 2.30137341e-03 -4.23362927e-04 9.99997262e-01 -5.35269524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02241403699998 meters 0.10146673787242483 Centerline is valid? [False, False] Translation: X:207.21, Y:-18.31, Z:-5.35 [[ 9.99996455e-01 1.44758276e-03 -2.23494839e-03 2.07209415e+02] [-1.44720384e-03 9.99998938e-01 1.71149604e-04 -1.83084861e+01] [ 2.23519377e-03 -1.67914572e-04 9.99997488e-01 -5.35260025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05241403699998 meters 0.10361038262053099 Centerline is valid? [False, False] Translation: X:207.21, Y:-18.31, Z:-5.35 [[ 9.99996060e-01 1.60004926e-03 -2.30635388e-03 2.07209949e+02] [-1.59929135e-03 9.99998667e-01 3.30422573e-04 -1.83083053e+01] [ 2.30687950e-03 -3.26732739e-04 9.99997286e-01 -5.35314580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08241403699998 meters 0.10261180688465289 Centerline is valid? [False, False] Translation: X:207.21, Y:-18.31, Z:-5.35 [[ 9.99996502e-01 1.32613723e-03 -2.28870381e-03 2.07209672e+02] [-1.32634304e-03 9.99999116e-01 -8.84082652e-05 -1.83075580e+01] [ 2.28858455e-03 9.14435623e-05 9.99997377e-01 -5.35278622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11241403699998 meters 0.09973860153340955 Centerline is valid? [False, True] Translation: X:207.21, Y:-18.31, Z:-5.35 [[ 9.99996529e-01 1.26579017e-03 -2.31073631e-03 2.07209855e+02] [-1.26633840e-03 9.99999170e-01 -2.35805314e-04 -1.83068943e+01] [ 2.31043591e-03 2.38730670e-04 9.99997302e-01 -5.35294374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14241403699998 meters 0.09866048046965153 Centerline is valid? [True, True] Translation: X:207.24, Y:-18.31, Z:-5.35 [[ 9.99996011e-01 6.83963556e-04 -2.74060475e-03 2.07239687e+02] [-6.83099273e-04 9.99999717e-01 3.16285623e-04 -1.83080242e+01] [ 2.74082030e-03 -3.14412256e-04 9.99996195e-01 -5.35250862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17241403699998 meters 0.10080289189739527 Centerline is valid? [True, False] Translation: X:207.24, Y:-18.31, Z:-5.35 [[ 9.99995996e-01 6.08695016e-04 -2.76347431e-03 2.07239723e+02] [-6.08172770e-04 9.99999797e-01 1.89818068e-04 -1.83078246e+01] [ 2.76358929e-03 -1.88136638e-04 9.99996164e-01 -5.35249888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20241403699998 meters 0.09781941908945922 Centerline is valid? [False, True] Translation: X:207.24, Y:-18.31, Z:-5.35 [[ 9.99996042e-01 5.82575931e-04 -2.75254567e-03 2.07239702e+02] [-5.82146583e-04 9.99999818e-01 1.56780479e-04 -1.83078702e+01] [ 2.75263650e-03 -1.55177474e-04 9.99996199e-01 -5.35250202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23241403699998 meters 0.09886080340986478 Centerline is valid? [True, True] Translation: X:207.27, Y:-18.31, Z:-5.35 [[ 9.99995909e-01 2.55335111e-04 -2.84901580e-03 2.07268505e+02] [-2.54401842e-04 9.99999914e-01 3.27933277e-04 -1.83129378e+01] [ 2.84909929e-03 -3.27207140e-04 9.99995888e-01 -5.35375254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26241403699999 meters 0.09910139418550493 Centerline is valid? [True, True] Translation: X:207.30, Y:-18.32, Z:-5.36 [[ 9.99994346e-01 5.63724818e-04 -3.31515946e-03 2.07298247e+02] [-5.62460990e-04 9.99999769e-01 3.82147124e-04 -1.83171412e+01] [ 3.31537412e-03 -3.80280315e-04 9.99994432e-01 -5.35531584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.292414037 meters 0.09708745631297037 Centerline is valid? [True, True] Translation: X:207.33, Y:-18.32, Z:-5.36 [[ 9.99991272e-01 1.39437369e-04 -4.17580867e-03 2.07327670e+02] [-1.37432641e-04 9.99999875e-01 4.80364628e-04 -1.83162743e+01] [ 4.17587513e-03 -4.79786542e-04 9.99991166e-01 -5.35574445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.322414037 meters 0.0984311356653534 Centerline is valid? [True, True] Translation: X:207.36, Y:-18.32, Z:-5.36 [[ 9.99992058e-01 -5.91443866e-06 -3.98557305e-03 2.07355328e+02] [ 7.74249925e-06 9.99999895e-01 4.58654175e-04 -1.83219759e+01] [ 3.98556992e-03 -4.58681391e-04 9.99991952e-01 -5.35703476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.352414037 meters 0.09852415630336217 Centerline is valid? [True, True] Translation: X:207.38, Y:-18.33, Z:-5.36 [[ 9.99993892e-01 5.51172010e-05 -3.49457000e-03 2.07383516e+02] [-5.37151813e-05 9.99999918e-01 4.01292070e-04 -1.83256096e+01] [ 3.49459183e-03 -4.01101908e-04 9.99993813e-01 -5.35856103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.382414037 meters 0.10150692860884719 Centerline is valid? [True, False] Translation: X:207.38, Y:-18.33, Z:-5.36 [[ 9.99993879e-01 4.05610905e-04 -3.47537803e-03 2.07383848e+02] [-4.02330145e-04 9.99999473e-01 9.44648093e-04 -1.83266660e+01] [ 3.47575936e-03 -9.43244061e-04 9.99993515e-01 -5.35907625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.412414037 meters 0.1003669745480771 Centerline is valid? [False, False] Translation: X:207.38, Y:-18.33, Z:-5.36 [[ 9.99994089e-01 1.94798929e-04 -3.43278757e-03 2.07383479e+02] [-1.92561104e-04 9.99999769e-01 6.52215716e-04 -1.83264147e+01] [ 3.43291383e-03 -6.51550840e-04 9.99993895e-01 -5.35863829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.442414037 meters 0.1003669745480771 Centerline is valid? [False, False] Translation: X:207.38, Y:-18.33, Z:-5.36 [[ 9.99994089e-01 1.94798929e-04 -3.43278757e-03 2.07383479e+02] [-1.92561104e-04 9.99999769e-01 6.52215716e-04 -1.83264147e+01] [ 3.43291383e-03 -6.51550840e-04 9.99993895e-01 -5.35863829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.472414037 meters 0.10000093841075174 Centerline is valid? [False, False] Translation: X:207.38, Y:-18.33, Z:-5.36 [[ 9.99994204e-01 1.51984046e-05 -3.40471454e-03 2.07383349e+02] [-1.37919271e-05 9.99999915e-01 4.13120116e-04 -1.83258319e+01] [ 3.40472053e-03 -4.13070764e-04 9.99994119e-01 -5.35850609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.502414037 meters 0.09867077820484145 Centerline is valid? [False, True] Translation: X:207.38, Y:-18.33, Z:-5.36 [[ 9.99994322e-01 -4.65379016e-05 -3.36949673e-03 2.07383367e+02] [ 4.75683597e-05 9.99999952e-01 3.05740081e-04 -1.83255296e+01] [ 3.36948234e-03 -3.05898627e-04 9.99994276e-01 -5.35858750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.532414037 meters 0.09973164815685831 Centerline is valid? [True, True] Translation: X:207.41, Y:-18.33, Z:-5.36 [[ 9.99996318e-01 -5.49162783e-04 -2.65754461e-03 2.07412566e+02] [ 5.49991325e-04 9.99999800e-01 3.11048967e-04 -1.83292819e+01] [ 2.65737327e-03 -3.12509448e-04 9.99996420e-01 -5.35862850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.562414037 meters 0.10775981336071991 Centerline is valid? [True, False] Translation: X:207.41, Y:-18.33, Z:-5.36 [[ 9.99995909e-01 -5.23329300e-04 -2.81203940e-03 2.07413144e+02] [ 5.23836219e-04 9.99999847e-01 1.79534189e-04 -1.83283631e+01] [ 2.81194501e-03 -1.81006502e-04 9.99996030e-01 -5.35900527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.592414037 meters 0.10139221642676015 Centerline is valid? [False, False] Translation: X:207.41, Y:-18.33, Z:-5.36 [[ 9.99995420e-01 -4.31266362e-04 -2.99564192e-03 2.07413859e+02] [ 4.31605316e-04 9.99999901e-01 1.12503319e-04 -1.83276147e+01] [ 2.99559311e-03 -1.13795739e-04 9.99995507e-01 -5.35948610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.622414037 meters 0.09976039173364774 Centerline is valid? [False, True] Translation: X:207.41, Y:-18.33, Z:-5.36 [[ 9.99994940e-01 -5.73917098e-04 -3.12900405e-03 2.07414372e+02] [ 5.73082292e-04 9.99999800e-01 -2.67686227e-04 -1.83260892e+01] [ 3.12915705e-03 2.65891696e-04 9.99995069e-01 -5.35982632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65241403699997 meters 0.09915207664588702 Centerline is valid? [True, True] Translation: X:207.44, Y:-18.33, Z:-5.36 [[ 9.99986787e-01 2.05466707e-03 -4.71210879e-03 2.07444941e+02] [-2.05211334e-03 9.99997745e-01 5.46722338e-04 -1.83259483e+01] [ 4.71322149e-03 -5.37045333e-04 9.99988748e-01 -5.36212670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68241403699997 meters 0.09791914227245346 Centerline is valid? [True, True] Translation: X:207.48, Y:-18.32, Z:-5.36 [[ 9.99977047e-01 4.20858094e-03 -5.30972657e-03 2.07475499e+02] [-4.20536899e-03 9.99990968e-01 6.15938920e-04 -1.83242361e+01] [ 5.31227084e-03 -5.93595423e-04 9.99985714e-01 -5.36366077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71241403699997 meters 0.09807281966243615 Centerline is valid? [True, True] Translation: X:207.50, Y:-18.33, Z:-5.36 [[ 9.99975107e-01 4.91045986e-03 -5.06684313e-03 2.07504536e+02] [-4.90755379e-03 9.99987786e-01 5.85821430e-04 -1.83261309e+01] [ 5.06965789e-03 -5.60941041e-04 9.99986992e-01 -5.36491973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74241403699997 meters 0.09520053386811671 Centerline is valid? [True, True] Translation: X:207.54, Y:-18.32, Z:-5.36 [[ 9.99974985e-01 5.74242871e-03 -4.12967513e-03 2.07535005e+02] [-5.74050147e-03 9.99983409e-01 4.78383596e-04 -1.83233886e+01] [ 4.13235369e-03 -4.54665223e-04 9.99991358e-01 -5.36421863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77241403699998 meters 0.0963763397585507 Centerline is valid? [True, True] Translation: X:207.56, Y:-18.33, Z:-5.36 [[ 9.99975334e-01 6.23327702e-03 -3.23689409e-03 2.07562907e+02] [-6.23210092e-03 9.99980511e-01 3.73301013e-04 -1.83277519e+01] [ 3.23915789e-03 -3.53119154e-04 9.99994692e-01 -5.36438217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80241403699998 meters 0.09689050158344306 Centerline is valid? [True, True] Translation: X:207.59, Y:-18.33, Z:-5.36 [[ 9.99977267e-01 6.56550050e-03 -1.53590775e-03 2.07591750e+02] [-6.56523768e-03 9.99978433e-01 1.76097536e-04 -1.83304274e+01] [ 1.53703079e-03 -1.66009933e-04 9.99998805e-01 -5.36453487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83241403699998 meters 0.09789331462005493 Centerline is valid? [True, True] Translation: X:207.62, Y:-18.33, Z:-5.36 [[ 9.99979013e-01 6.22347458e-03 -1.80076661e-03 2.07619228e+02] [-6.22311325e-03 9.99980615e-01 2.06185663e-04 -1.83348261e+01] [ 1.80201490e-03 -1.94974961e-04 9.99998357e-01 -5.36469154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86241403699998 meters 0.09934640329462721 Centerline is valid? [True, True] Translation: X:207.65, Y:-18.34, Z:-5.37 [[ 9.99983926e-01 5.54724317e-03 -1.17266103e-03 2.07647278e+02] [-5.54708940e-03 9.99984606e-01 1.34336574e-04 -1.83404674e+01] [ 1.17338817e-03 -1.27829560e-04 9.99999303e-01 -5.36627483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89241403699998 meters 0.0973203197241516 Centerline is valid? [True, True] Translation: X:207.68, Y:-18.34, Z:-5.37 [[ 9.99988440e-01 4.58854233e-03 -1.43693027e-03 2.07677171e+02] [-4.58830952e-03 9.99989460e-01 1.65276802e-04 -1.83396366e+01] [ 1.43767351e-03 -1.58681810e-04 9.99998954e-01 -5.36575547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92241403699998 meters 0.0989663403325462 Centerline is valid? [True, True] Translation: X:207.70, Y:-18.35, Z:-5.37 [[ 9.99987166e-01 4.71323137e-03 -1.85838011e-03 2.07704307e+02] [-4.71284443e-03 9.99988872e-01 2.12539942e-04 -1.83452472e+01] [ 1.85936118e-03 -2.03778958e-04 9.99998251e-01 -5.36734592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95241403699998 meters 0.09381863870333222 Centerline is valid? [True, True] Translation: X:207.73, Y:-18.34, Z:-5.37 [[ 9.99987879e-01 3.84157661e-03 -3.07965569e-03 2.07734764e+02] [-3.84050341e-03 9.99992562e-01 3.54318937e-04 -1.83377892e+01] [ 3.08099393e-03 -3.42487215e-04 9.99995195e-01 -5.36624479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98241403699998 meters 0.09871810677644094 Centerline is valid? [True, True] Translation: X:207.76, Y:-18.35, Z:-5.37 [[ 9.99987708e-01 3.52173719e-03 -3.49022431e-03 2.07761395e+02] [-3.52036163e-03 9.99993723e-01 4.00182892e-04 -1.83492744e+01] [ 3.49161175e-03 -3.87891121e-04 9.99993829e-01 -5.37085205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01241403699999 meters 0.10211405286171174 Centerline is valid? [True, False] Translation: X:207.76, Y:-18.35, Z:-5.37 [[ 9.99986592e-01 3.66148344e-03 -3.66193700e-03 2.07762419e+02] [-3.65999362e-03 9.99993217e-01 4.13457475e-04 -1.83483162e+01] [ 3.66342603e-03 -4.00049265e-04 9.99993210e-01 -5.37183337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.042414037 meters 0.09955885244780664 Centerline is valid? [False, True] Translation: X:207.76, Y:-18.35, Z:-5.37 [[ 9.99987118e-01 3.46681256e-03 -3.70748675e-03 2.07762419e+02] [-3.46666387e-03 9.99993990e-01 4.65303665e-05 -1.83475095e+01] [ 3.70762578e-03 -3.36771567e-05 9.99993126e-01 -5.37169903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.072414037 meters 0.09860024484331864 Centerline is valid? [True, True] Translation: X:207.79, Y:-18.35, Z:-5.37 [[ 9.99987483e-01 3.82771739e-03 -3.22225836e-03 2.07791082e+02] [-3.82654418e-03 9.99992610e-01 3.70183671e-04 -1.83490240e+01] [ 3.22365150e-03 -3.57848923e-04 9.99994740e-01 -5.37242262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.102414037 meters 0.09810244481261467 Centerline is valid? [True, True] Translation: X:207.82, Y:-18.35, Z:-5.37 [[ 9.99983425e-01 4.58481663e-03 -3.48258960e-03 2.07819648e+02] [-4.58345103e-03 9.99989416e-01 4.00001026e-04 -1.83501998e+01] [ 3.48438667e-03 -3.84032117e-04 9.99993856e-01 -5.37289565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.132414037 meters 0.09571616779722358 Centerline is valid? [True, True] Translation: X:207.85, Y:-18.35, Z:-5.37 [[ 9.99972967e-01 6.51503935e-03 -3.40880631e-03 2.07850669e+02] [-6.51373770e-03 9.99978708e-01 3.92811529e-04 -1.83462596e+01] [ 3.41129292e-03 -3.70596840e-04 9.99994113e-01 -5.37212626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.162414037 meters 0.09845653086013793 Centerline is valid? [True, True] Translation: X:207.88, Y:-18.35, Z:-5.37 [[ 9.99969085e-01 7.20777166e-03 -3.14281436e-03 2.07877937e+02] [-7.20667542e-03 9.99973967e-01 3.59993662e-04 -1.83525356e+01] [ 3.14532729e-03 -3.37333290e-04 9.99994997e-01 -5.37452909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.192414037 meters 0.09828260319269375 Centerline is valid? [True, True] Translation: X:207.91, Y:-18.35, Z:-5.38 [[ 9.99961682e-01 8.46012132e-03 -2.24968001e-03 2.07908278e+02] [-8.45956012e-03 9.99964184e-01 2.58857537e-04 -1.83542532e+01] [ 2.25178940e-03 -2.39816315e-04 9.99997436e-01 -5.37520034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.222414037 meters 0.0938450380408499 Centerline is valid? [True, True] Translation: X:207.94, Y:-18.35, Z:-5.37 [[ 9.99942912e-01 1.04308883e-02 -2.31706721e-03 2.07939533e+02] [-1.04302983e-02 9.99945567e-01 2.66569610e-04 -1.83467777e+01] [ 2.31972165e-03 -2.42386690e-04 9.99997280e-01 -5.37385654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.252414037 meters 0.09395360524002062 Centerline is valid? [True, True] Translation: X:207.97, Y:-18.35, Z:-5.38 [[ 9.99930952e-01 1.16093691e-02 -1.82032309e-03 2.07969159e+02] [-1.16090080e-02 9.99932591e-01 2.08797395e-04 -1.83495267e+01] [ 1.82262439e-03 -1.87650832e-04 9.99998321e-01 -5.37516151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.282414037 meters 0.09457784301148507 Centerline is valid? [True, True] Translation: X:208.00, Y:-18.35, Z:-5.38 [[ 9.99922530e-01 1.23624830e-02 -1.45039849e-03 2.07998245e+02] [-1.23622556e-02 9.99923571e-01 1.65649333e-04 -1.83530548e+01] [ 1.45233548e-03 -1.47706304e-04 9.99998934e-01 -5.37586277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.312414037 meters 0.09431847554349058 Centerline is valid? [True, True] Translation: X:208.03, Y:-18.35, Z:-5.38 [[ 9.99911705e-01 1.30896414e-02 -2.28998867e-03 2.08026845e+02] [-1.30890760e-02 9.99914300e-01 2.61722081e-04 -1.83533651e+01] [ 2.29321826e-03 -2.31725137e-04 9.99997344e-01 -5.37689391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.342414037 meters 0.09505934456486237 Centerline is valid? [True, True] Translation: X:208.05, Y:-18.36, Z:-5.38 [[ 9.99905601e-01 1.35525029e-02 -2.26226067e-03 2.08054135e+02] [-1.35519538e-02 9.99908135e-01 2.57899037e-04 -1.83569769e+01] [ 2.26554802e-03 -2.27216640e-04 9.99997408e-01 -5.37891710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.372414037 meters 0.09376922991786521 Centerline is valid? [True, True] Translation: X:208.08, Y:-18.36, Z:-5.38 [[ 9.99908930e-01 1.32171698e-02 -2.72720460e-03 2.08083199e+02] [-1.32163685e-02 9.99912611e-01 3.11617028e-04 -1.83566294e+01] [ 2.73108497e-03 -2.75544908e-04 9.99996233e-01 -5.37968895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40241403699997 meters 0.09295250279162513 Centerline is valid? [True, True] Translation: X:208.11, Y:-18.36, Z:-5.38 [[ 9.99916887e-01 1.23074466e-02 -3.83997067e-03 2.08112925e+02] [-1.23058456e-02 9.99924183e-01 4.40291351e-04 -1.83572137e+01] [ 3.84509840e-03 -3.93000671e-04 9.99992530e-01 -5.38072935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43241403699997 meters 0.09376947909103063 Centerline is valid? [True, True] Translation: X:208.14, Y:-18.36, Z:-5.38 [[ 9.99924276e-01 1.20193022e-02 -2.64157679e-03 2.08140664e+02] [-1.20185486e-02 9.99927729e-01 3.00973116e-04 -1.83616899e+01] [ 2.64500337e-03 -2.69202406e-04 9.99996466e-01 -5.38185699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46241403699997 meters 0.09364866153000685 Centerline is valid? [True, True] Translation: X:208.17, Y:-18.36, Z:-5.38 [[ 9.99934204e-01 1.09541945e-02 -3.40503261e-03 2.08170497e+02] [-1.09529296e-02 9.99939939e-01 3.89908342e-04 -1.83639419e+01] [ 3.40909923e-03 -3.52587605e-04 9.99994127e-01 -5.38193862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49241403699997 meters 0.09695434134388439 Centerline is valid? [True, True] Translation: X:208.20, Y:-18.37, Z:-5.38 [[ 9.99957219e-01 9.06702204e-03 -1.83033096e-03 2.08198160e+02] [-9.06665612e-03 9.99958875e-01 2.08121708e-04 -1.83714606e+01] [ 1.83214274e-03 -1.91517823e-04 9.99998303e-01 -5.38478920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52241403699998 meters 0.09333144322401613 Centerline is valid? [True, True] Translation: X:208.23, Y:-18.37, Z:-5.38 [[ 9.99960827e-01 8.67491417e-03 -1.75788657e-03 2.08227482e+02] [-8.67457645e-03 9.99962355e-01 1.99650741e-04 -1.83672954e+01] [ 1.75955235e-03 -1.84393998e-04 9.99998435e-01 -5.38250939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55241403699998 meters 0.09686435576957018 Centerline is valid? [True, True] Translation: X:208.25, Y:-18.38, Z:-5.38 [[ 9.99965970e-01 8.08921725e-03 -1.61960604e-03 2.08253850e+02] [-8.08893180e-03 9.99967267e-01 1.82714044e-04 -1.83760583e+01] [ 1.62103104e-03 -1.69606943e-04 9.99998672e-01 -5.38490909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58241403699998 meters 0.09381330565084112 Centerline is valid? [True, True] Translation: X:208.28, Y:-18.37, Z:-5.38 [[ 9.99975601e-01 6.77125742e-03 -1.71676709e-03 2.08284105e+02] [-6.77093142e-03 9.99977058e-01 1.95634807e-04 -1.83727736e+01] [ 1.71805239e-03 -1.84005922e-04 9.99998507e-01 -5.38355991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61241403699998 meters 0.09498842520884028 Centerline is valid? [True, True] Translation: X:208.31, Y:-18.38, Z:-5.38 [[ 9.99981676e-01 5.75953573e-03 -1.86432545e-03 2.08313166e+02] [-5.75914950e-03 9.99983393e-01 2.12471701e-04 -1.83775523e+01] [ 1.86551822e-03 -2.01730879e-04 9.99998240e-01 -5.38425237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64241403699998 meters 0.09917649011324625 Centerline is valid? [True, True] Translation: X:208.34, Y:-18.39, Z:-5.39 [[ 9.99988605e-01 4.47344947e-03 -1.66699088e-03 2.08340350e+02] [-4.47314080e-03 9.99989978e-01 1.88845420e-04 -1.83872375e+01] [ 1.66781896e-03 -1.81386583e-04 9.99998593e-01 -5.38653320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67241403699998 meters 0.09701431746926249 Centerline is valid? [True, True] Translation: X:208.37, Y:-18.39, Z:-5.39 [[ 9.99989163e-01 3.73334067e-03 -2.78135561e-03 2.08370406e+02] [-3.73247280e-03 9.99992984e-01 3.17156905e-04 -1.83859180e+01] [ 2.78252015e-03 -3.06772134e-04 9.99996082e-01 -5.38540350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70241403699998 meters 0.09890851095565685 Centerline is valid? [True, True] Translation: X:208.40, Y:-18.39, Z:-5.39 [[ 9.99990250e-01 3.20355418e-03 -3.03932236e-03 2.08397343e+02] [-3.20252016e-03 9.99994812e-01 3.45021415e-04 -1.83917557e+01] [ 3.04041189e-03 -3.35284560e-04 9.99995322e-01 -5.38798341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73241403699998 meters 0.09903198054156183 Centerline is valid? [True, True] Translation: X:208.43, Y:-18.39, Z:-5.39 [[ 9.99986168e-01 2.82473178e-03 -4.43669046e-03 2.08426980e+02] [-2.82251449e-03 9.99995889e-01 5.05944021e-04 -1.83946906e+01] [ 4.43810138e-03 -4.93414399e-04 9.99990030e-01 -5.38902522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76241403699999 meters 0.09791820653767068 Centerline is valid? [True, True] Translation: X:208.46, Y:-18.39, Z:-5.39 [[ 9.99985385e-01 3.20971843e-03 -4.35066689e-03 2.08456316e+02] [-3.20759531e-03 9.99994733e-01 4.94888944e-04 -1.83946020e+01] [ 4.35223243e-03 -4.80926532e-04 9.99990413e-01 -5.38950943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.792414037 meters 0.09732128212134522 Centerline is valid? [True, True] Translation: X:208.49, Y:-18.40, Z:-5.39 [[ 9.99979211e-01 4.29803489e-03 -4.80660863e-03 2.08485034e+02] [-4.29545643e-03 9.99990625e-01 5.46634961e-04 -1.83957360e+01] [ 4.80891302e-03 -5.25977020e-04 9.99988299e-01 -5.38973184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.822414037 meters 0.09671131802866743 Centerline is valid? [True, True] Translation: X:208.52, Y:-18.40, Z:-5.39 [[ 9.99969740e-01 6.14275498e-03 -4.77345205e-03 2.08515071e+02] [-6.14022667e-03 9.99981001e-01 5.44135742e-04 -1.83954169e+01] [ 4.77670385e-03 -5.14809198e-04 9.99988459e-01 -5.39011488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.852414037 meters 0.09747009656576319 Centerline is valid? [True, True] Translation: X:208.55, Y:-18.40, Z:-5.39 [[ 9.99954872e-01 7.66125987e-03 -5.61771883e-03 2.08545077e+02] [-7.65778184e-03 9.99970474e-01 6.40366335e-04 -1.83992697e+01] [ 5.62245897e-03 -5.97318172e-04 9.99984015e-01 -5.39219092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.882414037 meters 0.09688173423321834 Centerline is valid? [True, True] Translation: X:208.58, Y:-18.40, Z:-5.39 [[ 9.99949614e-01 8.61215434e-03 -5.15755327e-03 2.08575183e+02] [-8.60923595e-03 9.99962767e-01 5.87782111e-04 -1.84003640e+01] [ 5.16242331e-03 -5.43349902e-04 9.99986527e-01 -5.39304954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.912414037 meters 0.09607743675962985 Centerline is valid? [True, True] Translation: X:208.61, Y:-18.40, Z:-5.39 [[ 9.99921321e-01 1.13164503e-02 -5.41207335e-03 2.08606201e+02] [-1.13132739e-02 9.99935812e-01 6.17163435e-04 -1.83996429e+01] [ 5.41871006e-03 -5.55886609e-04 9.99985164e-01 -5.39375120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.942414037 meters 0.09586845959619975 Centerline is valid? [True, True] Translation: X:208.63, Y:-18.40, Z:-5.39 [[ 9.99910574e-01 1.22622882e-02 -5.33674524e-03 2.08634963e+02] [-1.22592240e-02 9.99924669e-01 6.06494882e-04 -1.84013147e+01] [ 5.34378023e-03 -5.41016290e-04 9.99985576e-01 -5.39461578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.972414037 meters 0.09598411208749139 Centerline is valid? [True, True] Translation: X:208.66, Y:-18.40, Z:-5.40 [[ 9.99904543e-01 1.27557443e-02 -5.30995585e-03 2.08663652e+02] [-1.27527196e-02 9.99918499e-01 6.03088643e-04 -1.84039312e+01] [ 5.31721592e-03 -5.35314696e-04 9.99985720e-01 -5.39553251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.002414037 meters 0.09820104528099154 Centerline is valid? [True, True] Translation: X:208.69, Y:-18.41, Z:-5.40 [[ 9.99897397e-01 1.36098435e-02 -4.46849169e-03 2.08691573e+02] [-1.36077102e-02 9.99907282e-01 5.07469107e-04 -1.84093975e+01] [ 4.47498396e-03 -4.46611099e-04 9.99989887e-01 -5.39756661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.032414037 meters 0.09906644945138113 Centerline is valid? [True, True] Translation: X:208.72, Y:-18.41, Z:-5.40 [[ 9.99904342e-01 1.30033435e-02 -4.71374137e-03 2.08718789e+02] [-1.30009684e-02 9.99915341e-01 5.34160666e-04 -1.84131626e+01] [ 4.72028818e-03 -4.72826366e-04 9.99988748e-01 -5.39872914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.062414037 meters 0.1008628248156142 Centerline is valid? [True, False] Translation: X:208.73, Y:-18.41, Z:-5.39 [[ 9.99909900e-01 6.36429459e-03 -1.18189336e-02 2.08728337e+02] [-6.33293827e-03 9.99976332e-01 2.68859226e-03 -1.84112844e+01] [ 1.18357648e-02 -2.61350145e-03 9.99926539e-01 -5.39382293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.092414037 meters 0.10045371621781447 Centerline is valid? [False, False] Translation: X:208.73, Y:-18.41, Z:-5.39 [[ 9.99918748e-01 5.71788362e-03 -1.13930889e-02 2.08727073e+02] [-5.69500347e-03 9.99981703e-01 2.03968007e-03 -1.84103082e+01] [ 1.14045431e-02 -1.97463066e-03 9.99933016e-01 -5.39322721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.122414037 meters 0.10183642317360715 Centerline is valid? [False, False] Translation: X:208.73, Y:-18.41, Z:-5.39 [[ 9.99923015e-01 5.32537712e-03 -1.12073727e-02 2.08726328e+02] [-5.30774418e-03 9.99984630e-01 1.60249013e-03 -1.84097432e+01] [ 1.12157343e-02 -1.54288090e-03 9.99935911e-01 -5.39270270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15241403699997 meters 0.09909882737643769 Centerline is valid? [False, True] Translation: X:208.73, Y:-18.41, Z:-5.39 [[ 9.99932109e-01 1.15997891e-03 -1.15945100e-02 2.08727449e+02] [-1.19161897e-03 9.99995584e-01 -2.72234726e-03 -1.84085765e+01] [ 1.15913009e-02 2.73597867e-03 9.99929076e-01 -5.39318497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18241403699997 meters 0.09901864354494702 Centerline is valid? [True, True] Translation: X:208.76, Y:-18.41, Z:-5.40 [[ 9.99930307e-01 -8.61201194e-04 -1.17745589e-02 2.08757485e+02] [ 8.76634530e-04 9.99998763e-01 1.30563746e-03 -1.84134876e+01] [ 1.17734199e-02 -1.31586845e-03 9.99929825e-01 -5.39508791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21241403699997 meters 0.10133607931382604 Centerline is valid? [True, False] Translation: X:208.76, Y:-18.41, Z:-5.40 [[ 9.99932470e-01 -8.08920367e-04 -1.15931473e-02 2.08757378e+02] [ 8.26927726e-04 9.99998459e-01 1.54856679e-03 -1.84139507e+01] [ 1.15918767e-02 -1.55804891e-03 9.99931598e-01 -5.39551149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24241403699997 meters 0.1095346973073465 Centerline is valid? [False, False] Translation: X:208.76, Y:-18.41, Z:-5.40 [[ 9.99935364e-01 -7.41501634e-04 -1.13454282e-02 2.08757351e+02] [ 7.62783552e-04 9.99997958e-01 1.87160223e-03 -1.84143379e+01] [ 1.13440172e-02 -1.88013536e-03 9.99933887e-01 -5.39622981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27241403699998 meters 0.10515866454958198 Centerline is valid? [False, False] Translation: X:208.76, Y:-18.41, Z:-5.40 [[ 9.99936054e-01 -9.05688598e-04 -1.12724259e-02 2.08757151e+02] [ 9.24631390e-04 9.99998169e-01 1.67535576e-03 -1.84139200e+01] [ 1.12708879e-02 -1.68567147e-03 9.99935061e-01 -5.39615396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30241403699998 meters 0.10120493232233987 Centerline is valid? [False, False] Translation: X:208.76, Y:-18.41, Z:-5.40 [[ 9.99935542e-01 -9.18560724e-04 -1.13167604e-02 2.08757445e+02] [ 9.36832444e-04 9.99998266e-01 1.60937630e-03 -1.84132825e+01] [ 1.13152625e-02 -1.61987447e-03 9.99934668e-01 -5.39644215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33241403699998 meters 0.10120493232233987 Centerline is valid? [False, False] Translation: X:208.76, Y:-18.41, Z:-5.40 [[ 9.99935542e-01 -9.18560724e-04 -1.13167604e-02 2.08757445e+02] [ 9.36832444e-04 9.99998266e-01 1.60937630e-03 -1.84132825e+01] [ 1.13152625e-02 -1.61987447e-03 9.99934668e-01 -5.39644215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36241403699998 meters 0.09985915920858662 Centerline is valid? [False, True] Translation: X:208.76, Y:-18.41, Z:-5.40 [[ 9.99935074e-01 -1.12855126e-03 -1.13390505e-02 2.08757235e+02] [ 1.14284988e-03 9.99998560e-01 1.25460599e-03 -1.84126743e+01] [ 1.13376183e-02 -1.26748337e-03 9.99934924e-01 -5.39605547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39241403699998 meters 0.10164696208446568 Centerline is valid? [True, False] Translation: X:208.76, Y:-18.41, Z:-5.40 [[ 9.99990283e-01 -3.52150223e-04 4.39427634e-03 2.08755239e+02] [ 3.43013707e-04 9.99997778e-01 2.07976603e-03 -1.84137604e+01] [-4.39499896e-03 -2.07823852e-03 9.99988182e-01 -5.40109479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42241403699998 meters 0.10090935518490597 Centerline is valid? [False, False] Translation: X:208.75, Y:-18.41, Z:-5.40 [[ 9.99990402e-01 -6.34132498e-04 4.33519132e-03 2.08754884e+02] [ 6.27344915e-04 9.99998576e-01 1.56687456e-03 -1.84130173e+01] [-4.33617875e-03 -1.56413986e-03 9.99989375e-01 -5.40034694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45241403699998 meters 0.1020685532080098 Centerline is valid? [False, False] Translation: X:208.76, Y:-18.41, Z:-5.40 [[ 9.99991704e-01 -5.54689460e-04 4.03545839e-03 2.08755381e+02] [ 5.48904798e-04 9.99998821e-01 1.43442473e-03 -1.84122879e+01] [-4.03624929e-03 -1.43219775e-03 9.99990829e-01 -5.40016511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48241403699998 meters 0.09930484513775943 Centerline is valid? [False, True] Translation: X:208.76, Y:-18.41, Z:-5.40 [[ 9.99992226e-01 -6.26890982e-04 3.89286642e-03 2.08755470e+02] [ 6.22123933e-04 9.99999055e-01 1.22565037e-03 -1.84119180e+01] [-3.89363109e-03 -1.22321900e-03 9.99991672e-01 -5.39986904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51241403699999 meters 0.09843930462811185 Centerline is valid? [True, True] Translation: X:208.79, Y:-18.41, Z:-5.40 [[ 9.99991525e-01 6.04099268e-04 4.07236503e-03 2.08787473e+02] [-6.02266041e-04 9.99999717e-01 -4.51374043e-04 -1.84134765e+01] [-4.07263655e-03 4.48917571e-04 9.99991606e-01 -5.39986962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.542414037 meters 0.09706575308289113 Centerline is valid? [True, True] Translation: X:208.82, Y:-18.41, Z:-5.40 [[ 9.99993615e-01 9.92323709e-04 3.43295515e-03 2.08820154e+02] [-9.91025413e-04 9.99999437e-01 -3.79866794e-04 -1.84149035e+01] [-3.43333017e-03 3.76462222e-04 9.99994035e-01 -5.40105081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.572414037 meters 0.09633563228638091 Centerline is valid? [True, True] Translation: X:208.85, Y:-18.42, Z:-5.40 [[ 9.99994385e-01 1.49416257e-03 2.99968235e-03 2.08851459e+02] [-1.49317055e-03 9.99998830e-01 -3.32922987e-04 -1.84171728e+01] [-3.00017628e-03 3.28442080e-04 9.99995446e-01 -5.40234093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.602414037 meters 0.09645607962957022 Centerline is valid? [True, True] Translation: X:208.88, Y:-18.42, Z:-5.40 [[ 9.99996113e-01 1.97474440e-03 1.96825237e-03 2.08882137e+02] [-1.97431889e-03 9.99998027e-01 -2.18103648e-04 -1.84212852e+01] [-1.96867919e-03 2.14216843e-04 9.99998039e-01 -5.40491097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.632414037 meters 0.09979065191513467 Centerline is valid? [True, True] Translation: X:208.91, Y:-18.43, Z:-5.41 [[ 9.99997156e-01 2.13256899e-03 1.06745926e-03 2.08911385e+02] [-2.13244384e-03 9.99997719e-01 -1.18358007e-04 -1.84305772e+01] [-1.06770923e-03 1.16081374e-04 9.99999423e-01 -5.40757690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.662414037 meters 0.09903194713340799 Centerline is valid? [True, True] Translation: X:208.94, Y:-18.43, Z:-5.41 [[ 9.99995848e-01 2.81901919e-03 5.98009759e-04 2.08941555e+02] [-2.81897984e-03 9.99996024e-01 -6.66405853e-05 -1.84323313e+01] [-5.98195243e-04 6.49545311e-05 9.99999819e-01 -5.40931851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.692414037 meters 0.0999295513626494 Centerline is valid? [True, True] Translation: X:208.97, Y:-18.44, Z:-5.41 [[ 9.99995161e-01 3.05167611e-03 -6.04556783e-04 2.08970924e+02] [-3.05163561e-03 9.99995341e-01 6.78935654e-05 -1.84373536e+01] [ 6.04761155e-04 -6.60483499e-05 9.99999815e-01 -5.41109875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.722414037 meters 0.09947874223597092 Centerline is valid? [True, True] Translation: X:209.00, Y:-18.44, Z:-5.41 [[ 9.99991868e-01 3.87143829e-03 1.12980781e-03 2.09000178e+02] [-3.87129720e-03 9.99992498e-01 -1.27039898e-04 -1.84406294e+01] [-1.13029116e-03 1.22665043e-04 9.99999354e-01 -5.41172211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.752414037 meters 0.09782831716665001 Centerline is valid? [True, True] Translation: X:209.03, Y:-18.44, Z:-5.41 [[ 9.99986966e-01 4.71437731e-03 1.96027923e-03 2.09030090e+02] [-4.71395595e-03 9.99988865e-01 -2.19514384e-04 -1.84412729e+01] [-1.96129227e-03 2.10270853e-04 9.99998055e-01 -5.41157915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.782414037 meters 0.09759548898566758 Centerline is valid? [True, True] Translation: X:209.06, Y:-18.44, Z:-5.41 [[ 9.99979916e-01 5.75582534e-03 2.65308649e-03 2.09059411e+02] [-5.75505850e-03 9.99983396e-01 -2.96582628e-04 -1.84447919e+01] [-2.65474951e-03 2.81308003e-04 9.99996437e-01 -5.41169347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.812414037 meters 0.0983489061373214 Centerline is valid? [True, True] Translation: X:209.09, Y:-18.45, Z:-5.41 [[ 9.99969108e-01 7.41087846e-03 2.61953709e-03 2.09088423e+02] [-7.41013673e-03 9.99972502e-01 -2.92745360e-04 -1.84490587e+01] [-2.62163456e-03 2.73325189e-04 9.99996526e-01 -5.41222252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.842414037 meters 0.09800555875490866 Centerline is valid? [True, True] Translation: X:209.12, Y:-18.45, Z:-5.41 [[ 9.99963841e-01 7.85409190e-03 3.26038080e-03 2.09118313e+02] [-7.85294649e-03 9.99969099e-01 -3.63967513e-04 -1.84510919e+01] [-3.26313868e-03 3.38350756e-04 9.99994619e-01 -5.41267069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.872414037 meters 0.0951650633243408 Centerline is valid? [True, True] Translation: X:209.15, Y:-18.45, Z:-5.41 [[ 9.99954671e-01 9.04609240e-03 2.97046957e-03 2.09148462e+02] [-9.04514676e-03 9.99959037e-01 -3.31628998e-04 -1.84488419e+01] [-2.97334784e-03 3.04745633e-04 9.99995533e-01 -5.41188642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90241403699997 meters 0.0993713507561843 Centerline is valid? [True, True] Translation: X:209.18, Y:-18.46, Z:-5.41 [[ 9.99942829e-01 1.02133334e-02 3.16637072e-03 2.09176318e+02] [-1.02122653e-02 9.99947791e-01 -3.53305096e-04 -1.84593473e+01] [-3.16981383e-03 3.20949079e-04 9.99994925e-01 -5.41475371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93241403699997 meters 0.09961540801491996 Centerline is valid? [True, True] Translation: X:209.21, Y:-18.46, Z:-5.42 [[ 9.99927901e-01 1.17496611e-02 2.47749059e-03 2.09205036e+02] [-1.17490116e-02 9.99930940e-01 -2.76564566e-04 -1.84636456e+01] [-2.48056903e-03 2.47436560e-04 9.99996893e-01 -5.41716819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96241403699997 meters 0.09958588663307219 Centerline is valid? [True, True] Translation: X:209.23, Y:-18.47, Z:-5.42 [[ 9.99924358e-01 1.21542449e-02 1.88485438e-03 2.09233478e+02] [-1.21538673e-02 9.99926117e-01 -2.11651299e-04 -1.84671822e+01] [-1.88728758e-03 1.88727020e-04 9.99998201e-01 -5.41872366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99241403699997 meters 0.09257630939361934 Centerline is valid? [True, True] Translation: X:209.26, Y:-18.46, Z:-5.42 [[ 9.99920162e-01 1.25815916e-02 1.17194933e-03 2.09263372e+02] [-1.25814449e-02 9.99920842e-01 -1.32486618e-04 -1.84581308e+01] [-1.17352346e-03 1.17731224e-04 9.99999304e-01 -5.41676895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02241403699998 meters 0.08996954833475723 Centerline is valid? [True, True] Translation: X:209.29, Y:-18.46, Z:-5.42 [[ 9.99907793e-01 1.35588919e-02 7.50114138e-04 2.09292780e+02] [-1.35588314e-02 9.99908071e-01 -8.56333785e-05 -1.84562508e+01] [-7.51206275e-04 7.54548113e-05 9.99999715e-01 -5.41657452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05241403699998 meters 0.09187570582518378 Centerline is valid? [True, True] Translation: X:209.32, Y:-18.46, Z:-5.42 [[ 9.99902093e-01 1.39862609e-02 4.33498794e-04 2.09320396e+02] [-1.39862404e-02 9.99902186e-01 -5.04372237e-05 -1.84625512e+01] [-4.34161820e-04 4.43692672e-05 9.99999905e-01 -5.41904404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08241403699998 meters 0.09081160145585729 Centerline is valid? [True, True] Translation: X:209.35, Y:-18.46, Z:-5.42 [[ 9.99883830e-01 1.52400867e-02 2.58087770e-04 2.09349868e+02] [-1.52400795e-02 9.99883863e-01 -2.97842855e-05 -1.84640434e+01] [-2.58511712e-04 2.58475473e-05 9.99999966e-01 -5.41898463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11241403699998 meters 0.0913465868989385 Centerline is valid? [True, True] Translation: X:209.38, Y:-18.47, Z:-5.42 [[ 9.99874809e-01 1.58058807e-02 7.35181127e-04 2.09378633e+02] [-1.58058233e-02 9.99875077e-01 -8.37845779e-05 -1.84682545e+01] [-7.36413575e-04 7.21539458e-05 9.99999726e-01 -5.42074547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14241403699998 meters 0.08949805250235637 Centerline is valid? [True, True] Translation: X:209.41, Y:-18.47, Z:-5.42 [[ 9.99872040e-01 1.59556966e-02 1.14890193e-03 2.09407916e+02] [-1.59555582e-02 9.99872694e-01 -1.29593545e-04 -1.84679480e+01] [-1.15082342e-03 1.11245590e-04 9.99999332e-01 -5.42070162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17241403699998 meters 0.08833463734918348 Centerline is valid? [True, True] Translation: X:209.44, Y:-18.47, Z:-5.42 [[ 9.99849387e-01 1.71791109e-02 2.46587651e-03 2.09437898e+02] [-1.71784879e-02 9.99852401e-01 -2.73615185e-04 -1.84698728e+01] [-2.47021301e-03 2.31213946e-04 9.99996922e-01 -5.42074888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20241403699998 meters 0.08931967029828898 Centerline is valid? [True, True] Translation: X:209.47, Y:-18.47, Z:-5.42 [[ 9.99855210e-01 1.68334157e-02 2.48890127e-03 2.09465264e+02] [-1.68327735e-02 9.99858280e-01 -2.78762565e-04 -1.84740344e+01] [-2.49324107e-03 2.36827091e-04 9.99996864e-01 -5.42267566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23241403699998 meters 0.08954193886875426 Centerline is valid? [True, True] Translation: X:209.49, Y:-18.48, Z:-5.42 [[ 9.99855912e-01 1.67921834e-02 2.48532579e-03 2.09493526e+02] [-1.67915460e-02 9.99858974e-01 -2.77093240e-04 -1.84774194e+01] [-2.48962829e-03 2.35320852e-04 9.99996873e-01 -5.42349955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26241403699999 meters 0.09147800837947291 Centerline is valid? [True, True] Translation: X:209.52, Y:-18.48, Z:-5.43 [[ 9.99859278e-01 1.66695159e-02 1.88444945e-03 2.09521101e+02] [-1.66691474e-02 9.99861038e-01 -2.11082955e-04 -1.84840840e+01] [-1.88770623e-03 1.79641085e-04 9.99998202e-01 -5.42717220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.292414037 meters 0.09074151819221923 Centerline is valid? [True, True] Translation: X:209.55, Y:-18.49, Z:-5.43 [[ 9.99863622e-01 1.64358311e-02 1.61241958e-03 2.09549671e+02] [-1.64355615e-02 9.99864911e-01 -1.80316215e-04 -1.84856302e+01] [-1.61516541e-03 1.53790602e-04 9.99998684e-01 -5.42761483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.322414037 meters 0.09096770738757379 Centerline is valid? [True, True] Translation: X:209.58, Y:-18.49, Z:-5.43 [[ 9.99870655e-01 1.59302399e-02 2.21379605e-03 2.09577844e+02] [-1.59297327e-02 9.99873083e-01 -2.46559515e-04 -1.84890413e+01] [-2.21744283e-03 2.11262445e-04 9.99997519e-01 -5.42867234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.352414037 meters 0.09131419345260845 Centerline is valid? [True, True] Translation: X:209.61, Y:-18.49, Z:-5.43 [[ 9.99866510e-01 1.60440622e-02 3.09018744e-03 2.09605618e+02] [-1.60430766e-02 9.99871243e-01 -3.43444755e-04 -1.84917484e+01] [-3.09529980e-03 2.93822795e-04 9.99995166e-01 -5.42904457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.382414037 meters 0.09024731812857734 Centerline is valid? [True, True] Translation: X:209.64, Y:-18.49, Z:-5.43 [[ 9.99865587e-01 1.61309284e-02 2.93273298e-03 2.09635111e+02] [-1.61300426e-02 9.99869849e-01 -3.25450267e-04 -1.84917182e+01] [-2.93760110e-03 2.78101414e-04 9.99995647e-01 -5.42831794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.412414037 meters 0.09157842612599729 Centerline is valid? [True, True] Translation: X:209.66, Y:-18.50, Z:-5.43 [[ 9.99862278e-01 1.62696953e-02 3.27456751e-03 2.09662114e+02] [-1.62685916e-02 9.99867592e-01 -3.63392031e-04 -1.84964015e+01] [-3.28004620e-03 3.10069382e-04 9.99994573e-01 -5.42988516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.442414037 meters 0.09097249110763674 Centerline is valid? [True, True] Translation: X:209.69, Y:-18.50, Z:-5.43 [[ 9.99879951e-01 1.50561270e-02 3.66018173e-03 2.09691275e+02] [-1.50547454e-02 9.99886589e-01 -4.04724483e-04 -1.84965602e+01] [-3.66586021e-03 3.49572792e-04 9.99993220e-01 -5.42969984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.472414037 meters 0.09291094742474681 Centerline is valid? [True, True] Translation: X:209.72, Y:-18.50, Z:-5.43 [[ 9.99894810e-01 1.42239180e-02 2.83725905e-03 2.09719041e+02] [-1.42230860e-02 9.99898798e-01 -3.13219093e-04 -1.85029903e+01] [-2.84142712e-03 2.72831566e-04 9.99995926e-01 -5.43224121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.502414037 meters 0.09188856517535411 Centerline is valid? [True, True] Translation: X:209.75, Y:-18.50, Z:-5.43 [[ 9.99927858e-01 1.17217704e-02 2.62276715e-03 2.09749200e+02] [-1.17210531e-02 9.99931264e-01 -2.88674111e-04 -1.85036791e+01] [-2.62597064e-03 2.57911693e-04 9.99996519e-01 -5.43249037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.532414037 meters 0.09602038988101909 Centerline is valid? [True, True] Translation: X:209.78, Y:-18.51, Z:-5.44 [[ 9.99942202e-01 1.02004697e-02 3.39762655e-03 2.09776578e+02] [-1.01992527e-02 9.99947916e-01 -3.75305980e-04 -1.85140537e+01] [-3.40127788e-03 3.40631036e-04 9.99994158e-01 -5.43603024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.562414037 meters 0.09507045105676767 Centerline is valid? [True, True] Translation: X:209.81, Y:-18.52, Z:-5.44 [[ 9.99958142e-01 8.39069829e-03 3.64837722e-03 2.09806654e+02] [-8.38928813e-03 9.99964729e-01 -4.01649515e-04 -1.85152139e+01] [-3.65161866e-03 3.71025415e-04 9.99993264e-01 -5.43647339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.592414037 meters 0.09736256748692797 Centerline is valid? [True, True] Translation: X:209.84, Y:-18.52, Z:-5.44 [[ 9.99978951e-01 5.34196787e-03 3.68261807e-03 2.09835561e+02] [-5.34051290e-03 9.99985657e-01 -4.04812536e-04 -1.85216774e+01] [-3.68472775e-03 3.85136945e-04 9.99993137e-01 -5.43810602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.622414037 meters 0.09564571615386212 Centerline is valid? [True, True] Translation: X:209.87, Y:-18.52, Z:-5.44 [[ 9.99982171e-01 4.34682640e-03 4.09420947e-03 2.09866170e+02] [-4.34501965e-03 9.99990459e-01 -4.50085606e-04 -1.85216423e+01] [-4.09612685e-03 4.32288161e-04 9.99991517e-01 -5.43796761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65241403699997 meters 0.09594161260763971 Centerline is valid? [True, True] Translation: X:209.90, Y:-18.52, Z:-5.44 [[ 9.99983611e-01 3.26483620e-03 4.70295456e-03 2.09896315e+02] [-3.26244040e-03 9.99994545e-01 -5.17006316e-04 -1.85248828e+01] [-4.70461684e-03 5.01654734e-04 9.99988807e-01 -5.43924141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68241403699997 meters 0.0997143284800498 Centerline is valid? [True, True] Translation: X:209.93, Y:-18.53, Z:-5.44 [[ 9.99984258e-01 2.06779226e-03 5.21620271e-03 2.09925310e+02] [-2.06484191e-03 9.99997705e-01 -5.70934968e-04 -1.85340417e+01] [-5.21737131e-03 5.60155346e-04 9.99986233e-01 -5.44114099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71241403699997 meters 0.0956572642283282 Centerline is valid? [True, True] Translation: X:209.96, Y:-18.53, Z:-5.44 [[ 9.99982177e-01 2.18171006e-03 5.55749828e-03 2.09958178e+02] [-2.17838438e-03 9.99997445e-01 -6.04395740e-04 -1.85301137e+01] [-5.55880270e-03 5.92278600e-04 9.99984374e-01 -5.43975763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74241403699997 meters 0.10114669132829875 Centerline is valid? [True, False] Translation: X:209.96, Y:-18.53, Z:-5.44 [[ 9.99982856e-01 2.20840547e-03 5.42324304e-03 2.09958443e+02] [-2.20480830e-03 9.99997346e-01 -6.69177664e-04 -1.85298073e+01] [-5.42470646e-03 6.57208980e-04 9.99985070e-01 -5.43972600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77241403699998 meters 0.09677044199381982 Centerline is valid? [False, True] Translation: X:209.96, Y:-18.53, Z:-5.44 [[ 9.99983398e-01 1.92857992e-03 5.42995530e-03 2.09958397e+02] [-1.92248036e-03 9.99997515e-01 -1.12831250e-03 -1.85283977e+01] [-5.43211785e-03 1.11785478e-03 9.99984621e-01 -5.43970152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80241403699998 meters 0.09906020927212197 Centerline is valid? [True, True] Translation: X:209.99, Y:-18.54, Z:-5.44 [[ 9.99981146e-01 2.43750168e-03 5.63615323e-03 2.09989512e+02] [-2.43405905e-03 9.99996847e-01 -6.17590568e-04 -1.85355204e+01] [-5.63764084e-03 6.03860194e-04 9.99983926e-01 -5.44273988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83241403699998 meters 0.09630666448142497 Centerline is valid? [True, True] Translation: X:210.02, Y:-18.53, Z:-5.44 [[ 9.99983968e-01 2.45184327e-03 5.10404798e-03 2.10022408e+02] [-2.44901838e-03 9.99996845e-01 -5.59636477e-04 -1.85334538e+01] [-5.10540402e-03 5.47127598e-04 9.99986818e-01 -5.44384968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86241403699998 meters 0.09630888031108573 Centerline is valid? [True, True] Translation: X:210.05, Y:-18.54, Z:-5.45 [[ 9.99975930e-01 3.60435290e-03 5.92863299e-03 2.10053894e+02] [-3.60051283e-03 9.99993301e-01 -6.58262048e-04 -1.85355852e+01] [-5.93096588e-03 6.36900085e-04 9.99982209e-01 -5.44541032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89241403699998 meters 0.09702822977515366 Centerline is valid? [True, True] Translation: X:210.08, Y:-18.54, Z:-5.45 [[ 9.99975097e-01 4.24026505e-03 5.64132897e-03 2.10084491e+02] [-4.23682464e-03 9.99990831e-01 -6.21668981e-04 -1.85390874e+01] [-5.64391329e-03 5.97752179e-04 9.99983894e-01 -5.44697122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92241403699998 meters 0.09615231820731174 Centerline is valid? [True, True] Translation: X:210.12, Y:-18.54, Z:-5.45 [[ 9.99962640e-01 5.20791232e-03 6.89899781e-03 2.10115481e+02] [-5.20272814e-03 9.99986170e-01 -7.69174174e-04 -1.85397380e+01] [-6.90290819e-03 7.33251828e-04 9.99975906e-01 -5.44743626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95241403699998 meters 0.09601977211291299 Centerline is valid? [True, True] Translation: X:210.15, Y:-18.54, Z:-5.45 [[ 9.99942463e-01 6.59758462e-03 8.45832429e-03 2.10146282e+02] [-6.58984004e-03 9.99977842e-01 -9.43159821e-04 -1.85405016e+01] [-8.46435945e-03 8.87366550e-04 9.99963783e-01 -5.44795916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98241403699998 meters 0.09600726543758828 Centerline is valid? [True, True] Translation: X:210.18, Y:-18.54, Z:-5.45 [[ 9.99944002e-01 6.67210249e-03 8.21443015e-03 2.10177584e+02] [-6.66480126e-03 9.99977371e-01 -9.15883014e-04 -1.85425742e+01] [-8.22035513e-03 8.61084182e-04 9.99965842e-01 -5.44823368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01241403699999 meters 0.0955030736362107 Centerline is valid? [True, True] Translation: X:210.21, Y:-18.54, Z:-5.45 [[ 9.99933141e-01 7.21491217e-03 9.03646788e-03 2.10209174e+02] [-7.20609459e-03 9.99973528e-01 -1.00795807e-03 -1.85443403e+01] [-9.04350100e-03 9.42773034e-04 9.99958662e-01 -5.44921440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.042414037 meters 0.09636987921172092 Centerline is valid? [True, True] Translation: X:210.24, Y:-18.55, Z:-5.45 [[ 9.99933987e-01 6.96722337e-03 9.13674449e-03 2.10240278e+02] [-6.95819566e-03 9.99975272e-01 -1.01948335e-03 -1.85484428e+01] [-9.14362152e-03 9.55840799e-04 9.99957739e-01 -5.45049125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.072414037 meters 0.09514070384019864 Centerline is valid? [True, True] Translation: X:210.27, Y:-18.55, Z:-5.45 [[ 9.99929144e-01 5.90619910e-03 1.03355260e-02 2.10271566e+02] [-5.89458565e-03 9.99981961e-01 -1.15374571e-03 -1.85486512e+01] [-1.03421538e-02 1.09274032e-03 9.99945921e-01 -5.45069094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.102414037 meters 0.09919443283812186 Centerline is valid? [True, True] Translation: X:210.30, Y:-18.56, Z:-5.45 [[ 9.99923356e-01 5.59803023e-03 1.10427951e-02 2.10301854e+02] [-5.58479700e-03 9.99983650e-01 -1.22883211e-03 -1.85592859e+01] [-1.10494935e-02 1.16706616e-03 9.99938271e-01 -5.45323487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.132414037 meters 0.10162482388478672 Centerline is valid? [True, False] Translation: X:210.30, Y:-18.56, Z:-5.45 [[ 9.99922225e-01 5.52745914e-03 1.11799608e-02 2.10301732e+02] [-5.51403448e-03 9.99984040e-01 -1.23124751e-03 -1.85591041e+01] [-1.11865880e-02 1.16950506e-03 9.99936744e-01 -5.45344366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.162414037 meters 0.10307790948560076 Centerline is valid? [False, False] Translation: X:210.30, Y:-18.56, Z:-5.45 [[ 9.99922178e-01 5.46358156e-03 1.12155081e-02 2.10301673e+02] [-5.44937461e-03 9.99984311e-01 -1.29689302e-03 -1.85589028e+01] [-1.12224178e-02 1.23567459e-03 9.99936263e-01 -5.45347134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.192414037 meters 0.09761237821396443 Centerline is valid? [False, True] Translation: X:210.31, Y:-18.56, Z:-5.45 [[ 9.99993789e-01 9.31640142e-04 3.39916193e-03 2.10311265e+02] [-9.32624837e-04 9.99999524e-01 2.88114222e-04 -1.85579792e+01] [-3.39889190e-03 -2.91282575e-04 9.99994181e-01 -5.44883407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.222414037 meters 0.1082263664432243 Centerline is valid? [True, False] Translation: X:210.31, Y:-18.56, Z:-5.45 [[ 9.99992753e-01 7.51143491e-04 3.73227638e-03 2.10310586e+02] [-7.52362947e-04 9.99999664e-01 3.25339266e-04 -1.85585093e+01] [-3.73203074e-03 -3.28144935e-04 9.99992982e-01 -5.44882910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.252414037 meters 0.1082263664432243 Centerline is valid? [False, False] Translation: X:210.31, Y:-18.56, Z:-5.45 [[ 9.99992753e-01 7.51143491e-04 3.73227638e-03 2.10310586e+02] [-7.52362947e-04 9.99999664e-01 3.25339266e-04 -1.85585093e+01] [-3.73203074e-03 -3.28144935e-04 9.99992982e-01 -5.44882910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.282414037 meters 0.10920391178343818 Centerline is valid? [False, False] Translation: X:210.31, Y:-18.56, Z:-5.45 [[ 9.99992524e-01 9.91758814e-04 3.73752028e-03 2.10310907e+02] [-9.94572284e-04 9.99999223e-01 7.50980437e-04 -1.85592263e+01] [-3.73677259e-03 -7.54692056e-04 9.99992733e-01 -5.44935613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.312414037 meters 0.10189302703981244 Centerline is valid? [False, False] Translation: X:210.31, Y:-18.56, Z:-5.45 [[ 9.99992279e-01 1.18656435e-03 3.74609190e-03 2.10311186e+02] [-1.19065310e-03 9.99998698e-01 1.08942805e-03 -1.85597798e+01] [-3.74479434e-03 -1.09387994e-03 9.99992390e-01 -5.44981381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.342414037 meters 0.10228931975435208 Centerline is valid? [False, False] Translation: X:210.31, Y:-18.56, Z:-5.45 [[ 9.99991560e-01 9.45293302e-04 3.99837192e-03 2.10310511e+02] [-9.49215375e-04 9.99999070e-01 9.79133564e-04 -1.85599522e+01] [-3.99744264e-03 -9.82920616e-04 9.99991527e-01 -5.44957543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.372414037 meters 0.10475611231740571 Centerline is valid? [False, False] Translation: X:210.31, Y:-18.56, Z:-5.45 [[ 9.99991420e-01 9.61527830e-04 4.02940095e-03 2.10310450e+02] [-9.65721996e-04 9.99998994e-01 1.03907426e-03 -1.85601078e+01] [-4.02839779e-03 -1.04295663e-03 9.99991342e-01 -5.44958134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40241403699997 meters 0.10365139387920971 Centerline is valid? [False, False] Translation: X:210.31, Y:-18.56, Z:-5.45 [[ 9.99991286e-01 7.74874738e-04 4.10216862e-03 2.10310085e+02] [-7.78213998e-04 9.99999367e-01 8.12489664e-04 -1.85598404e+01] [-4.10153645e-03 -8.15674949e-04 9.99991256e-01 -5.44925714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43241403699997 meters 0.10646639790298973 Centerline is valid? [False, False] Translation: X:210.31, Y:-18.56, Z:-5.45 [[ 9.99991418e-01 9.81690161e-04 4.02486554e-03 2.10310385e+02] [-9.86010429e-04 9.99998940e-01 1.07155069e-03 -1.85603441e+01] [-4.02380934e-03 -1.07551006e-03 9.99991326e-01 -5.44944852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46241403699997 meters 0.10250468950481106 Centerline is valid? [False, False] Translation: X:210.31, Y:-18.56, Z:-5.45 [[ 9.99991661e-01 1.00876716e-03 3.95735507e-03 2.10310490e+02] [-1.01307884e-03 9.99998895e-01 1.08768261e-03 -1.85604075e+01] [-3.95625348e-03 -1.09168265e-03 9.99991578e-01 -5.44940177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49241403699997 meters 0.10521348600209478 Centerline is valid? [False, False] Translation: X:210.31, Y:-18.56, Z:-5.45 [[ 9.99991944e-01 9.78402089e-04 3.89293772e-03 2.10310492e+02] [-9.82305732e-04 9.99999017e-01 1.00096434e-03 -1.85603429e+01] [-3.89195454e-03 -1.00478033e-03 9.99991922e-01 -5.44919593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52241403699998 meters 0.10559812820327094 Centerline is valid? [False, False] Translation: X:210.31, Y:-18.56, Z:-5.45 [[ 9.99992067e-01 1.16016624e-03 3.81051038e-03 2.10310823e+02] [-1.16491268e-03 9.99998548e-01 1.24363455e-03 -1.85607213e+01] [-3.80906202e-03 -1.24806360e-03 9.99991967e-01 -5.44943060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55241403699998 meters 0.10534700793801685 Centerline is valid? [False, False] Translation: X:210.31, Y:-18.56, Z:-5.45 [[ 9.99991317e-01 1.01183275e-03 4.04246722e-03 2.10309962e+02] [-1.01689481e-03 9.99998701e-01 1.25036267e-03 -1.85616805e+01] [-4.04119681e-03 -1.25446258e-03 9.99991047e-01 -5.44884930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58241403699998 meters 0.1061086526668557 Centerline is valid? [False, False] Translation: X:210.31, Y:-18.56, Z:-5.45 [[ 9.99991240e-01 1.18923678e-03 4.01326631e-03 2.10309947e+02] [-1.19544487e-03 9.99998092e-01 1.54484841e-03 -1.85628329e+01] [-4.01142146e-03 -1.54963252e-03 9.99990754e-01 -5.44871873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61241403699998 meters 0.10547581501836134 Centerline is valid? [False, False] Translation: X:210.31, Y:-18.56, Z:-5.45 [[ 9.99990662e-01 1.22005976e-03 4.14576629e-03 2.10309532e+02] [-1.22731679e-03 9.99997718e-01 1.74837404e-03 -1.85638730e+01] [-4.14362372e-03 -1.75344589e-03 9.99989878e-01 -5.44850283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64241403699998 meters 0.10621326844623773 Centerline is valid? [False, False] Translation: X:210.31, Y:-18.57, Z:-5.45 [[ 9.99990980e-01 -2.41595885e-03 3.49330021e-03 2.10310837e+02] [ 2.42299473e-03 9.99995042e-01 -2.01127916e-03 -1.85651098e+01] [-3.48842372e-03 2.01972527e-03 9.99991876e-01 -5.44839831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67241403699998 meters 0.10784935828638112 Centerline is valid? [False, False] Translation: X:210.31, Y:-18.57, Z:-5.45 [[ 9.99992205e-01 -1.94013823e-03 3.43892358e-03 2.10311392e+02] [ 1.94441589e-03 9.99997340e-01 -1.24098802e-03 -1.85666403e+01] [-3.43650674e-03 1.24766504e-03 9.99993317e-01 -5.44908914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70241403699998 meters 0.10736797415939867 Centerline is valid? [False, False] Translation: X:210.31, Y:-18.57, Z:-5.45 [[ 9.99993129e-01 -1.64557399e-03 3.32182081e-03 2.10311716e+02] [ 1.64824711e-03 9.99998320e-01 -8.02136498e-04 -1.85677674e+01] [-3.32049526e-03 8.07606168e-04 9.99994161e-01 -5.44921367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73241403699998 meters 0.10696596724086425 Centerline is valid? [False, False] Translation: X:210.31, Y:-18.57, Z:-5.45 [[ 9.99993485e-01 -1.54807039e-03 3.26094759e-03 2.10311697e+02] [ 1.55022933e-03 9.99998581e-01 -6.59635917e-04 -1.85684398e+01] [-3.25992180e-03 6.64686836e-04 9.99994466e-01 -5.44898136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76241403699999 meters 0.11184647576941732 Centerline is valid? [False, False] Translation: X:210.31, Y:-18.57, Z:-5.45 [[ 9.99995431e-01 -8.64405427e-04 2.89684580e-03 2.10312741e+02] [ 8.63809011e-04 9.99999605e-01 2.07129549e-04 -1.85703658e+01] [-2.89702370e-03 -2.04626281e-04 9.99995783e-01 -5.44939767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.792414037 meters 0.10755385261299848 Centerline is valid? [False, False] Translation: X:210.31, Y:-18.57, Z:-5.45 [[ 9.99995867e-01 -7.15143155e-04 2.78487702e-03 2.10312846e+02] [ 7.14049617e-04 9.99999668e-01 3.93644498e-04 -1.85711802e+01] [-2.78515761e-03 -3.91654330e-04 9.99996045e-01 -5.44920360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.822414037 meters 0.10621855203128241 Centerline is valid? [False, False] Translation: X:210.31, Y:-18.57, Z:-5.45 [[ 9.99996023e-01 -6.32534883e-04 2.74838274e-03 2.10312725e+02] [ 6.31113705e-04 9.99999667e-01 5.17932709e-04 -1.85719320e+01] [-2.74870943e-03 -5.16196107e-04 9.99996089e-01 -5.44890692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.852414037 meters 0.10586197346322891 Centerline is valid? [False, False] Translation: X:210.31, Y:-18.57, Z:-5.45 [[ 9.99995744e-01 -3.86316469e-04 2.89188914e-03 2.10312116e+02] [ 3.83135421e-04 9.99999321e-01 1.10046255e-03 -1.85745499e+01] [-2.89231231e-03 -1.09934988e-03 9.99995213e-01 -5.44837107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.882414037 meters 0.1078191698853227 Centerline is valid? [False, False] Translation: X:210.31, Y:-18.58, Z:-5.45 [[ 9.99995758e-01 9.30386513e-06 2.91280908e-03 2.10312274e+02] [-1.45030082e-05 9.99998407e-01 1.78490804e-03 -1.85763567e+01] [-2.91278783e-03 -1.78494272e-03 9.99994165e-01 -5.44866750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.912414037 meters 0.1045220434932214 Centerline is valid? [False, False] Translation: X:210.31, Y:-18.58, Z:-5.45 [[ 9.99995673e-01 1.14972932e-04 2.93956308e-03 2.10312032e+02] [-1.20971411e-04 9.99997911e-01 2.04050598e-03 -1.85775799e+01] [-2.93932234e-03 -2.04085275e-03 9.99993598e-01 -5.44838537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.942414037 meters 0.10615847890672861 Centerline is valid? [False, False] Translation: X:210.31, Y:-18.58, Z:-5.45 [[ 9.99995477e-01 6.04959202e-04 2.94620592e-03 2.10312164e+02] [-6.13547961e-04 9.99995563e-01 2.91516220e-03 -1.85802753e+01] [-2.94442929e-03 -2.91695665e-03 9.99991411e-01 -5.44860865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.972414037 meters 0.10801891548156836 Centerline is valid? [False, False] Translation: X:210.31, Y:-18.58, Z:-5.45 [[ 9.99995587e-01 8.71165752e-04 2.84008158e-03 2.10312533e+02] [-8.80556410e-04 9.99994144e-01 3.30690251e-03 -1.85812839e+01] [-2.83718409e-03 -3.30938877e-03 9.99990499e-01 -5.44883903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.002414037 meters 0.1014084797497507 Centerline is valid? [False, False] Translation: X:210.31, Y:-18.58, Z:-5.45 [[ 9.99995772e-01 1.03569114e-03 2.71722832e-03 2.10312826e+02] [-1.04517734e-03 9.99993357e-01 3.49203524e-03 -1.85818346e+01] [-2.71359360e-03 -3.49486046e-03 9.99990211e-01 -5.44890600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.032414037 meters 0.10140711025255005 Centerline is valid? [False, False] Translation: X:210.31, Y:-18.58, Z:-5.45 [[ 9.99996300e-01 1.22556849e-03 2.42870244e-03 2.10313187e+02] [-1.23427157e-03 9.99992812e-01 3.58517157e-03 -1.85824648e+01] [-2.42429111e-03 -3.58815598e-03 9.99990624e-01 -5.44854451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.062414037 meters 0.10049589323623886 Centerline is valid? [False, False] Translation: X:210.31, Y:-18.58, Z:-5.45 [[ 9.99996473e-01 1.33964180e-03 2.29343724e-03 2.10313231e+02] [-1.34810703e-03 9.99992270e-01 3.69350602e-03 -1.85831307e+01] [-2.28847153e-03 -3.69658479e-03 9.99990549e-01 -5.44818579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.092414037 meters 0.09808650203645006 Centerline is valid? [False, True] Translation: X:210.31, Y:-18.58, Z:-5.45 [[ 9.99996646e-01 1.48450477e-03 2.12209946e-03 2.10313373e+02] [-1.49266365e-03 9.99991481e-01 3.84832171e-03 -1.85838812e+01] [-2.11636853e-03 -3.85147639e-03 9.99990344e-01 -5.44788540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.122414037 meters 0.09845958813285748 Centerline is valid? [True, True] Translation: X:210.34, Y:-18.59, Z:-5.45 [[ 9.99990060e-01 3.80598102e-03 2.32243718e-03 2.10343099e+02] [-3.80536284e-03 9.99992723e-01 -2.70535753e-04 -1.85883003e+01] [-2.32344993e-03 2.61695348e-04 9.99997267e-01 -5.44756034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15241403699997 meters 0.09953039315325561 Centerline is valid? [True, True] Translation: X:210.37, Y:-18.59, Z:-5.45 [[ 9.99988520e-01 4.47894051e-03 1.70276475e-03 2.10372419e+02] [-4.47860965e-03 9.99989951e-01 -1.98069178e-04 -1.85945352e+01] [-1.70363478e-03 1.90440886e-04 9.99998531e-01 -5.44905639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18241403699997 meters 0.09808599543499763 Centerline is valid? [True, True] Translation: X:210.40, Y:-18.60, Z:-5.45 [[ 9.99982530e-01 5.60828865e-03 1.86730560e-03 2.10402509e+02] [-5.60789130e-03 9.99984252e-01 -2.17960829e-04 -1.85969255e+01] [-1.86849858e-03 2.07485374e-04 9.99998233e-01 -5.44936831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21241403699997 meters 0.09808270544432067 Centerline is valid? [True, True] Translation: X:210.43, Y:-18.60, Z:-5.45 [[ 9.99976211e-01 6.75140871e-03 1.41243296e-03 2.10432145e+02] [-6.75118277e-03 9.99977197e-01 -1.64668747e-04 -1.86025983e+01] [-1.41351249e-03 1.55129236e-04 9.99998989e-01 -5.45102191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24241403699997 meters 0.09832300461189518 Centerline is valid? [True, True] Translation: X:210.46, Y:-18.61, Z:-5.45 [[ 9.99970389e-01 7.66963655e-03 6.31447959e-04 2.10460160e+02] [-7.66959062e-03 9.99970585e-01 -7.51250652e-05 -1.86076007e+01] [-6.32005567e-04 7.02798933e-05 9.99999798e-01 -5.45167703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27241403699998 meters 0.09923878899726496 Centerline is valid? [True, True] Translation: X:210.49, Y:-18.61, Z:-5.45 [[ 9.99964480e-01 8.38988179e-03 8.05855640e-04 2.10489063e+02] [-8.38980801e-03 9.99964800e-01 -9.48940460e-05 -1.86133483e+01] [-8.06623424e-04 8.81297012e-05 9.99999671e-01 -5.45320810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30241403699998 meters 0.09454713161751205 Centerline is valid? [True, True] Translation: X:210.52, Y:-18.61, Z:-5.45 [[ 9.99960192e-01 8.92210869e-03 9.79378421e-05 2.10518574e+02] [-8.92210745e-03 9.99960197e-01 -1.31580773e-05 -1.86092418e+01] [-9.80513417e-05 1.22837415e-05 9.99999995e-01 -5.45227705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33241403699998 meters 0.09744993321231246 Centerline is valid? [True, True] Translation: X:210.55, Y:-18.62, Z:-5.45 [[ 9.99944574e-01 1.05282515e-02 -7.22823854e-05 2.10546111e+02] [-1.05282510e-02 9.99944576e-01 7.05934020e-06 -1.86192750e+01] [ 7.23527018e-05 -6.29794183e-06 9.99999997e-01 -5.45426286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36241403699998 meters 0.09343408983318349 Centerline is valid? [True, True] Translation: X:210.58, Y:-18.62, Z:-5.45 [[ 9.99937179e-01 1.12058245e-02 -2.61065023e-04 2.10575551e+02] [-1.12058174e-02 9.99937212e-01 2.84991392e-05 -1.86157988e+01] [ 2.61367987e-04 -2.55719018e-05 9.99999966e-01 -5.45313991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39241403699998 meters 0.0899431443592352 Centerline is valid? [True, True] Translation: X:210.60, Y:-18.61, Z:-5.45 [[ 9.99933871e-01 1.14790580e-02 -6.96497458e-04 2.10604869e+02] [-1.14790058e-02 9.99934111e-01 7.88880590e-05 -1.86132543e+01] [ 6.97357127e-04 -7.08877439e-05 9.99999754e-01 -5.45183559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42241403699998 meters 0.0904410919500827 Centerline is valid? [True, True] Translation: X:210.63, Y:-18.62, Z:-5.45 [[ 9.99931534e-01 1.17015928e-02 2.20391837e-05 2.10633018e+02] [-1.17015927e-02 9.99931534e-01 -4.38074745e-06 -1.86187202e+01] [-2.20889365e-05 4.12255396e-06 1.00000000e+00 -5.45223895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45241403699998 meters 0.09279692087896048 Centerline is valid? [True, True] Translation: X:210.66, Y:-18.63, Z:-5.45 [[ 9.99920413e-01 1.25673689e-02 -1.10863663e-03 2.10659703e+02] [-1.25672368e-02 9.99921021e-01 1.26032829e-04 -1.86284123e+01] [ 1.11013297e-03 -1.12090299e-04 9.99999378e-01 -5.45461729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48241403699998 meters 0.09297681035619791 Centerline is valid? [True, True] Translation: X:210.69, Y:-18.63, Z:-5.46 [[ 9.99915299e-01 1.28944898e-02 -1.76855268e-03 2.10688036e+02] [-1.28941511e-02 9.99916846e-01 2.02791170e-04 -1.86324303e+01] [ 1.77102051e-03 -1.79970008e-04 9.99998416e-01 -5.45545791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51241403699999 meters 0.09166769662811981 Centerline is valid? [True, True] Translation: X:210.72, Y:-18.63, Z:-5.46 [[ 9.99915890e-01 1.27089536e-02 -2.58755494e-03 2.10716980e+02] [-1.27082263e-02 9.99919203e-01 2.97312218e-04 -1.86339477e+01] [ 2.59112440e-03 -2.64403977e-04 9.99996608e-01 -5.45594804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.542414037 meters 0.09352036557899178 Centerline is valid? [True, True] Translation: X:210.74, Y:-18.64, Z:-5.46 [[ 9.99911813e-01 1.28410368e-02 -3.38725464e-03 2.10744415e+02] [-1.28397919e-02 9.99917491e-01 3.89023504e-04 -1.86409461e+01] [ 3.39197063e-03 -3.45497552e-04 9.99994188e-01 -5.45713685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.572414037 meters 0.09383353393627794 Centerline is valid? [True, True] Translation: X:210.77, Y:-18.64, Z:-5.46 [[ 9.99907947e-01 1.29303948e-02 -4.11116026e-03 2.10771909e+02] [-1.29285631e-02 9.99916311e-01 4.71826425e-04 -1.86446859e+01] [ 4.11691710e-03 -4.18631598e-04 9.99991438e-01 -5.45812753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.602414037 meters 0.09291649244489313 Centerline is valid? [True, True] Translation: X:210.80, Y:-18.65, Z:-5.46 [[ 9.99915218e-01 1.24802103e-02 -3.71493511e-03 2.10800571e+02] [-1.24787102e-02 9.99922047e-01 4.26701229e-04 -1.86466457e+01] [ 3.71997084e-03 -3.80307454e-04 9.99993009e-01 -5.45799317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.632414037 meters 0.09499342892845453 Centerline is valid? [True, True] Translation: X:210.83, Y:-18.66, Z:-5.46 [[ 9.99927505e-01 1.15218935e-02 -3.49735214e-03 2.10827818e+02] [-1.15205594e-02 9.99933556e-01 4.01382686e-04 -1.86550980e+01] [ 3.50174444e-03 -3.61062135e-04 9.99993804e-01 -5.45947071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.662414037 meters 0.09630139172966433 Centerline is valid? [True, True] Translation: X:210.85, Y:-18.66, Z:-5.46 [[ 9.99934094e-01 1.11440647e-02 -2.76012038e-03 2.10854945e+02] [-1.11432351e-02 9.99937862e-01 3.15767515e-04 -1.86615437e+01] [ 2.76346781e-03 -2.84990034e-04 9.99996141e-01 -5.46132299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.692414037 meters 0.09625928351882762 Centerline is valid? [True, True] Translation: X:210.88, Y:-18.67, Z:-5.46 [[ 9.99956532e-01 9.11783165e-03 -1.94894242e-03 2.10884556e+02] [-9.11741215e-03 9.99958410e-01 2.24019715e-04 -1.86665120e+01] [ 1.95090394e-03 -2.06240666e-04 9.99998076e-01 -5.46129929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.722414037 meters 0.0923587131135363 Centerline is valid? [True, True] Translation: X:210.91, Y:-18.66, Z:-5.46 [[ 9.99961164e-01 8.66854588e-03 -1.58962923e-03 2.10914407e+02] [-8.66826871e-03 9.99962413e-01 1.81169501e-04 -1.86631325e+01] [ 1.59113995e-03 -1.67383131e-04 9.99998720e-01 -5.46047983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.752414037 meters 0.09314233572115267 Centerline is valid? [True, True] Translation: X:210.94, Y:-18.67, Z:-5.46 [[ 9.99960579e-01 8.68894168e-03 -1.82838638e-03 2.10943007e+02] [-8.68857474e-03 9.99962232e-01 2.08535294e-04 -1.86686604e+01] [ 1.83012928e-03 -1.92641001e-04 9.99998307e-01 -5.46134695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.782414037 meters 0.09111527648579841 Centerline is valid? [True, True] Translation: X:210.97, Y:-18.67, Z:-5.46 [[ 9.99957724e-01 8.47900896e-03 -3.55764108e-03 2.10972217e+02] [-8.47761344e-03 9.99963981e-01 4.07156882e-04 -1.86686273e+01] [ 3.56096523e-03 -3.76979364e-04 9.99993589e-01 -5.46151306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.812414037 meters 0.09346125107015783 Centerline is valid? [True, True] Translation: X:211.00, Y:-18.68, Z:-5.46 [[ 9.99951414e-01 9.23292306e-03 -3.45284038e-03 2.10999603e+02] [-9.23161396e-03 9.99957310e-01 3.94881082e-04 -1.86769675e+01] [ 3.45633889e-03 -3.62986607e-04 9.99993961e-01 -5.46413183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.842414037 meters 0.09182292597896993 Centerline is valid? [True, True] Translation: X:211.03, Y:-18.68, Z:-5.46 [[ 9.99954264e-01 8.98400977e-03 -3.27990119e-03 2.11028520e+02] [-8.98282824e-03 9.99959583e-01 3.74785949e-04 -1.86776329e+01] [ 3.28313571e-03 -3.45306018e-04 9.99994551e-01 -5.46404822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.872414037 meters 0.09199483545662991 Centerline is valid? [True, True] Translation: X:211.06, Y:-18.68, Z:-5.47 [[ 9.99953216e-01 8.67864024e-03 -4.27174008e-03 2.11056500e+02] [-8.67663454e-03 9.99962238e-01 4.87836750e-04 -1.86816288e+01] [ 4.27581253e-03 -4.50749599e-04 9.99990757e-01 -5.46501476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90241403699997 meters 0.09410112738107973 Centerline is valid? [True, True] Translation: X:211.08, Y:-18.69, Z:-5.47 [[ 9.99950432e-01 8.82005331e-03 -4.61948332e-03 2.11083447e+02] [-8.81771022e-03 9.99960984e-01 5.27340799e-04 -1.86892597e+01] [ 4.62395426e-03 -4.86581395e-04 9.99989191e-01 -5.46673294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93241403699997 meters 0.09431667589521874 Centerline is valid? [True, True] Translation: X:211.11, Y:-18.69, Z:-5.47 [[ 9.99956732e-01 7.80035805e-03 -5.06841985e-03 2.11112153e+02] [-7.79752002e-03 9.99969431e-01 5.79463718e-04 -1.86943799e+01] [ 5.07278494e-03 -5.39917540e-04 9.99986988e-01 -5.46864035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96241403699997 meters 0.09265605716488069 Centerline is valid? [True, True] Translation: X:211.14, Y:-18.70, Z:-5.47 [[ 9.99953837e-01 7.33466328e-03 -6.20691290e-03 2.11140859e+02] [-7.33040181e-03 9.99972881e-01 7.09039862e-04 -1.86954237e+01] [ 6.21194515e-03 -6.63507965e-04 9.99980486e-01 -5.46929199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99241403699997 meters 0.0931452295343948 Centerline is valid? [True, True] Translation: X:211.17, Y:-18.70, Z:-5.47 [[ 9.99960116e-01 6.62071446e-03 -5.99438475e-03 2.11169362e+02] [-6.61673010e-03 9.99977875e-01 6.84270595e-04 -1.87005147e+01] [ 5.99878249e-03 -6.44580077e-04 9.99981799e-01 -5.47027381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02241403699998 meters 0.09389571993157583 Centerline is valid? [True, True] Translation: X:211.20, Y:-18.71, Z:-5.47 [[ 9.99967770e-01 6.04883370e-03 -5.27924542e-03 2.11197804e+02] [-6.04573846e-03 9.99981543e-01 6.02064229e-04 -1.87053297e+01] [ 5.28278977e-03 -5.70127887e-04 9.99985883e-01 -5.47096260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05241403699998 meters 0.09416954864755185 Centerline is valid? [True, True] Translation: X:211.23, Y:-18.71, Z:-5.47 [[ 9.99966253e-01 5.43391318e-03 -6.16161783e-03 2.11226651e+02] [-5.42968265e-03 9.99985012e-01 7.03114311e-04 -1.87085640e+01] [ 6.16534614e-03 -6.69634954e-04 9.99980770e-01 -5.47205648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08241403699998 meters 0.09494135791100079 Centerline is valid? [True, True] Translation: X:211.25, Y:-18.71, Z:-5.47 [[ 9.99965312e-01 5.71901777e-03 -6.05532341e-03 2.11254483e+02] [-5.71494569e-03 9.99983432e-01 6.89569824e-04 -1.87127329e+01] [ 6.05916674e-03 -6.54940060e-04 9.99981429e-01 -5.47301892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11241403699998 meters 0.09607807769011997 Centerline is valid? [True, True] Translation: X:211.28, Y:-18.72, Z:-5.47 [[ 9.99966186e-01 5.16209325e-03 -6.40146437e-03 2.11282907e+02] [-5.15753009e-03 9.99986434e-01 7.29132941e-04 -1.87161133e+01] [ 6.40514138e-03 -6.96092541e-04 9.99979245e-01 -5.47477505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14241403699998 meters 0.09607807769011997 Centerline is valid? [True, True] Translation: X:211.31, Y:-18.72, Z:-5.48 [[ 9.99966703e-01 5.06089231e-03 -6.40163719e-03 2.11310369e+02] [-5.05633669e-03 9.99986952e-01 7.27617763e-04 -1.87191420e+01] [ 6.40523606e-03 -6.95224702e-04 9.99979245e-01 -5.47548861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17241403699998 meters 0.09476364085476807 Centerline is valid? [True, True] Translation: X:211.34, Y:-18.72, Z:-5.48 [[ 9.99972322e-01 5.56000731e-03 -4.94374406e-03 2.11339024e+02] [-5.55729679e-03 9.99984400e-01 5.61841126e-04 -1.87194518e+01] [ 4.94679078e-03 -5.34351723e-04 9.99987622e-01 -5.47574434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20241403699998 meters 0.09619981598511487 Centerline is valid? [True, True] Translation: X:211.37, Y:-18.72, Z:-5.48 [[ 9.99978525e-01 5.38507962e-03 -3.73496911e-03 2.11366607e+02] [-5.38353573e-03 9.99985419e-01 4.23289683e-04 -1.87242607e+01] [ 3.73719410e-03 -4.03173253e-04 9.99992935e-01 -5.47626292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23241403699998 meters 0.09480627663311585 Centerline is valid? [True, True] Translation: X:211.40, Y:-18.72, Z:-5.48 [[ 9.99981604e-01 5.24746781e-03 -3.04222255e-03 2.11395452e+02] [-5.24644349e-03 9.99986178e-01 3.44585683e-04 -1.87241731e+01] [ 3.04398871e-03 -3.28618495e-04 9.99995313e-01 -5.47548484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26241403699999 meters 0.09559601915418908 Centerline is valid? [True, True] Translation: X:211.42, Y:-18.73, Z:-5.48 [[ 9.99986809e-01 4.72200329e-03 -2.02085698e-03 2.11422546e+02] [-4.72155361e-03 9.99988828e-01 2.27230719e-04 -1.87272919e+01] [ 2.02190738e-03 -2.17686137e-04 9.99997932e-01 -5.47559869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.292414037 meters 0.09647725442227775 Centerline is valid? [True, True] Translation: X:211.45, Y:-18.73, Z:-5.48 [[ 9.99987788e-01 4.81450170e-03 -1.11547942e-03 2.11451183e+02] [-4.81436516e-03 9.99988403e-01 1.25060398e-04 -1.87313063e+01] [ 1.11606859e-03 -1.19688546e-04 9.99999370e-01 -5.47658366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.322414037 meters 0.09590062522885853 Centerline is valid? [True, True] Translation: X:211.48, Y:-18.73, Z:-5.48 [[ 9.99990522e-01 4.12440205e-03 -1.39454760e-03 2.11480398e+02] [-4.12418688e-03 9.99991483e-01 1.57136472e-04 -1.87326168e+01] [ 1.39518382e-03 -1.51383608e-04 9.99999015e-01 -5.47730974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.352414037 meters 0.09428995789442873 Centerline is valid? [True, True] Translation: X:211.51, Y:-18.73, Z:-5.48 [[ 9.99988877e-01 4.60721127e-03 -1.01006456e-03 2.11509266e+02] [-4.60709954e-03 9.99989381e-01 1.12916577e-04 -1.87315319e+01] [ 1.01057406e-03 -1.08261853e-04 9.99999484e-01 -5.47917085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.382414037 meters 0.09611053138025245 Centerline is valid? [True, True] Translation: X:211.54, Y:-18.74, Z:-5.48 [[ 9.99988132e-01 4.35307121e-03 -2.18787334e-03 2.11537755e+02] [-4.35254107e-03 9.99990497e-01 2.47009737e-04 -1.87370924e+01] [ 2.18892780e-03 -2.37483997e-04 9.99997576e-01 -5.48139722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.412414037 meters 0.09649290866529832 Centerline is valid? [True, True] Translation: X:211.57, Y:-18.74, Z:-5.48 [[ 9.99985669e-01 5.08181762e-03 -1.68452004e-03 2.11566302e+02] [-5.08150580e-03 9.99987071e-01 1.89337826e-04 -1.87401408e+01] [ 1.68546044e-03 -1.80775214e-04 9.99998563e-01 -5.48278698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.442414037 meters 0.09535345850859088 Centerline is valid? [True, True] Translation: X:211.60, Y:-18.74, Z:-5.48 [[ 9.99978087e-01 6.57316246e-03 -7.86428088e-04 2.11596782e+02] [-6.57309466e-03 9.99978393e-01 8.87581248e-05 -1.87393879e+01] [ 7.86994517e-04 -8.35869137e-05 9.99999687e-01 -5.48375842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.472414037 meters 0.09400536930020013 Centerline is valid? [True, True] Translation: X:211.63, Y:-18.74, Z:-5.48 [[ 9.99976686e-01 6.82367465e-03 2.54116978e-04 2.11626160e+02] [-6.82366710e-03 9.99976718e-01 -3.05739020e-05 -1.87389821e+01] [-2.54319688e-04 2.88391796e-05 9.99999967e-01 -5.48361351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.502414037 meters 0.09438596788584544 Centerline is valid? [True, True] Translation: X:211.65, Y:-18.74, Z:-5.48 [[ 9.99973168e-01 7.20755096e-03 1.30910675e-03 2.11654620e+02] [-7.20736061e-03 9.99974015e-01 -1.50062037e-04 -1.87421587e+01] [-1.31015432e-03 1.40622806e-04 9.99999132e-01 -5.48402022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.532414037 meters 0.09544731378938268 Centerline is valid? [True, True] Translation: X:211.68, Y:-18.75, Z:-5.48 [[ 9.99969966e-01 6.82721257e-03 3.66839975e-03 2.11683079e+02] [-6.82572798e-03 9.99976617e-01 -4.17064963e-04 -1.87454830e+01] [-3.67116136e-03 3.92012937e-04 9.99993184e-01 -5.48358620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.562414037 meters 0.09550235243340557 Centerline is valid? [True, True] Translation: X:211.71, Y:-18.75, Z:-5.48 [[ 9.99959458e-01 6.87811801e-03 5.81158249e-03 2.11712231e+02] [-6.87440504e-03 9.99976154e-01 -6.58626979e-04 -1.87483799e+01] [-5.81597402e-03 6.18649105e-04 9.99982896e-01 -5.48306066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.592414037 meters 0.0971086756287641 Centerline is valid? [True, True] Translation: X:211.74, Y:-18.75, Z:-5.48 [[ 9.99960619e-01 6.32660065e-03 6.22367641e-03 2.11742300e+02] [-6.32233979e-03 9.99979766e-01 -7.04058246e-04 -1.87539098e+01] [-6.22800478e-03 6.64682323e-04 9.99980385e-01 -5.48395944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.622414037 meters 0.09775005735289743 Centerline is valid? [True, True] Translation: X:211.77, Y:-18.76, Z:-5.49 [[ 9.99973577e-01 4.41748354e-03 5.77331494e-03 2.11773052e+02] [-4.41378647e-03 9.99990046e-01 -6.52956755e-04 -1.87567914e+01] [-5.77614190e-03 6.27457323e-04 9.99983121e-01 -5.48575953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65241403699997 meters 0.09425671755344579 Centerline is valid? [True, True] Translation: X:211.81, Y:-18.75, Z:-5.49 [[ 9.99980822e-01 4.33748404e-03 4.42056996e-03 2.11805257e+02] [-4.33533478e-03 9.99990480e-01 -4.95661718e-04 -1.87539240e+01] [-4.42267780e-03 4.76487561e-04 9.99990106e-01 -5.48685217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68241403699997 meters 0.09593624360094373 Centerline is valid? [True, True] Translation: X:211.83, Y:-18.76, Z:-5.49 [[ 9.99985944e-01 3.06016512e-03 4.32988400e-03 2.11834971e+02] [-3.05807445e-03 9.99995204e-01 -4.89385087e-04 -1.87592483e+01] [-4.33136083e-03 4.76137101e-04 9.99990506e-01 -5.48917969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71241403699997 meters 0.09571972638671962 Centerline is valid? [True, True] Translation: X:211.87, Y:-18.76, Z:-5.49 [[ 9.99994324e-01 2.29499083e-03 2.46670467e-03 2.11866012e+02] [-2.29431009e-03 9.99997329e-01 -2.78764308e-04 -1.87607848e+01] [-2.46733784e-03 2.73103341e-04 9.99996919e-01 -5.49116307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74241403699997 meters 0.10022984234823766 Centerline is valid? [True, False] Translation: X:211.87, Y:-18.76, Z:-5.49 [[ 9.99994269e-01 2.35854830e-03 2.42876465e-03 2.11866538e+02] [-2.35792895e-03 9.99997187e-01 -2.57839767e-04 -1.87601287e+01] [-2.42936595e-03 2.52111434e-04 9.99997017e-01 -5.49182963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77241403699998 meters 0.10084121375473247 Centerline is valid? [False, False] Translation: X:211.87, Y:-18.76, Z:-5.49 [[ 9.99994662e-01 2.30694976e-03 2.31390266e-03 2.11866915e+02] [-2.30589746e-03 9.99997237e-01 -4.57335313e-04 -1.87591974e+01] [-2.31495131e-03 4.51997250e-04 9.99997218e-01 -5.49204047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80241403699998 meters 0.09757265412411548 Centerline is valid? [False, True] Translation: X:211.87, Y:-18.76, Z:-5.49 [[ 9.99995815e-01 1.82102365e-03 2.24812567e-03 2.11866775e+02] [-1.81800612e-03 9.99997445e-01 -1.34355658e-03 -1.87568020e+01] [-2.25056657e-03 1.33946385e-03 9.99996570e-01 -5.49163111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83241403699998 meters 0.10205192497122116 Centerline is valid? [True, False] Translation: X:211.87, Y:-18.76, Z:-5.49 [[ 9.99996238e-01 1.73734102e-03 2.12243344e-03 2.11866969e+02] [-1.73398278e-03 9.99997244e-01 -1.58307462e-03 -1.87560064e+01] [-2.12517793e-03 1.57938840e-03 9.99996495e-01 -5.49152431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86241403699998 meters 0.09992765170272813 Centerline is valid? [False, True] Translation: X:211.87, Y:-18.76, Z:-5.49 [[ 9.99996617e-01 1.65203442e-03 2.00917810e-03 2.11867108e+02] [-1.64838665e-03 9.99996993e-01 -1.81585475e-03 -1.87553262e+01] [-2.01217191e-03 1.81253670e-03 9.99996333e-01 -5.49137352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89241403699998 meters 0.10011069121804235 Centerline is valid? [True, False] Translation: X:211.87, Y:-18.76, Z:-5.49 [[ 9.99996433e-01 1.87360002e-03 1.90337916e-03 2.11867677e+02] [-1.87063448e-03 9.99997036e-01 -1.55862756e-03 -1.87553568e+01] [-1.90629376e-03 1.55506148e-03 9.99996974e-01 -5.49189580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92241403699998 meters 0.1014431674028932 Centerline is valid? [False, False] Translation: X:211.87, Y:-18.75, Z:-5.49 [[ 9.99996669e-01 1.63608799e-03 1.99635327e-03 2.11867304e+02] [-1.63241426e-03 9.99996974e-01 -1.84046246e-03 -1.87549388e+01] [-1.99935839e-03 1.83719746e-03 9.99996314e-01 -5.49162311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95241403699998 meters 0.10155991589096178 Centerline is valid? [False, False] Translation: X:211.87, Y:-18.76, Z:-5.49 [[ 9.99996611e-01 1.74346831e-03 1.93333314e-03 2.11867563e+02] [-1.74018286e-03 9.99997041e-01 -1.69975302e-03 -1.87550902e+01] [-1.93629088e-03 1.69638291e-03 9.99996687e-01 -5.49183943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98241403699998 meters 0.1001223265843034 Centerline is valid? [False, False] Translation: X:211.87, Y:-18.76, Z:-5.49 [[ 9.99996629e-01 1.75277073e-03 1.91554004e-03 2.11867691e+02] [-1.74956820e-03 9.99997071e-01 -1.67226618e-03 -1.87550178e+01] [-1.91846553e-03 1.66890917e-03 9.99996767e-01 -5.49198621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01241403699999 meters 0.09873499259083861 Centerline is valid? [False, True] Translation: X:211.87, Y:-18.75, Z:-5.49 [[ 9.99996333e-01 1.97494008e-03 1.85297608e-03 2.11868448e+02] [-1.97241840e-03 9.99997128e-01 -1.36172159e-03 -1.87548176e+01] [-1.85566007e-03 1.35806175e-03 9.99997356e-01 -5.49293685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.042414037 meters 0.10226356164241374 Centerline is valid? [True, False] Translation: X:211.87, Y:-18.76, Z:-5.49 [[ 9.99995954e-01 2.23439852e-03 1.76036479e-03 2.11869065e+02] [-2.23262040e-03 9.99996996e-01 -1.01140214e-03 -1.87550193e+01] [-1.76261938e-03 1.00746782e-03 9.99997939e-01 -5.49358774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.072414037 meters 0.10098265922536598 Centerline is valid? [False, False] Translation: X:211.87, Y:-18.75, Z:-5.49 [[ 9.99996413e-01 1.99541356e-03 1.78696272e-03 2.11868779e+02] [-1.99298652e-03 9.99997091e-01 -1.35894664e-03 -1.87544486e+01] [-1.78966918e-03 1.35538037e-03 9.99997480e-01 -5.49324110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.102414037 meters 0.09931034046674594 Centerline is valid? [False, True] Translation: X:211.87, Y:-18.75, Z:-5.49 [[ 9.99996089e-01 2.25449955e-03 1.65489214e-03 2.11869450e+02] [-2.25271838e-03 9.99996882e-01 -1.07738056e-03 -1.87544785e+01] [-1.65731593e-03 1.07364834e-03 9.99998050e-01 -5.49384112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.132414037 meters 0.09943600296111121 Centerline is valid? [True, True] Translation: X:211.90, Y:-18.76, Z:-5.50 [[ 9.99996137e-01 2.66844366e-03 7.77726406e-04 2.11899705e+02] [-2.66837478e-03 9.99996436e-01 -8.95937771e-05 -1.87577537e+01] [-7.77962710e-04 8.75181655e-05 9.99999694e-01 -5.49538193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.162414037 meters 0.1019077675841406 Centerline is valid? [True, False] Translation: X:211.90, Y:-18.76, Z:-5.50 [[ 9.99995879e-01 2.81565948e-03 5.60633539e-04 2.11900496e+02] [-2.81562525e-03 9.99996034e-01 -6.18414594e-05 -1.87571086e+01] [-5.60805440e-04 6.02626706e-05 9.99999841e-01 -5.49586290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.192414037 meters 0.099808813295393 Centerline is valid? [False, True] Translation: X:211.90, Y:-18.76, Z:-5.50 [[ 9.99996890e-01 2.47795187e-03 2.82209903e-04 2.11900713e+02] [-2.47771120e-03 9.99996569e-01 -8.49979489e-04 -1.87551610e+01] [-2.84315143e-04 8.49277611e-04 9.99999599e-01 -5.49532679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.222414037 meters 0.09963834090195044 Centerline is valid? [True, True] Translation: X:211.93, Y:-18.76, Z:-5.50 [[ 9.99994553e-01 3.23857609e-03 6.36368152e-04 2.11930005e+02] [-3.23853042e-03 9.99994753e-01 -7.27815381e-05 -1.87581328e+01] [-6.36600521e-04 7.07202441e-05 9.99999795e-01 -5.49647802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.252414037 meters 0.09681939362640522 Centerline is valid? [True, True] Translation: X:211.96, Y:-18.76, Z:-5.50 [[ 9.99993676e-01 3.49740490e-03 6.44397899e-04 2.11959790e+02] [-3.49735813e-03 9.99993882e-01 -7.36855001e-05 -1.87557625e+01] [-6.44651664e-04 7.14313439e-05 9.99999790e-01 -5.49604230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.282414037 meters 0.0972160263292333 Centerline is valid? [True, True] Translation: X:211.99, Y:-18.76, Z:-5.50 [[ 9.99989787e-01 4.22671674e-03 1.60042961e-03 2.11989093e+02] [-4.22643195e-03 9.99991052e-01 -1.81284627e-04 -1.87589678e+01] [-1.60118153e-03 1.74518669e-04 9.99998703e-01 -5.49662694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.312414037 meters 0.09920313052713073 Centerline is valid? [True, True] Translation: X:212.02, Y:-18.77, Z:-5.50 [[ 9.99987935e-01 4.34436803e-03 2.29280080e-03 2.12018222e+02] [-4.34378437e-03 9.99990532e-01 -2.59483382e-04 -1.87657540e+01] [-2.29390638e-03 2.49520819e-04 9.99997338e-01 -5.49702979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.342414037 meters 0.09586142052935609 Centerline is valid? [True, True] Translation: X:212.05, Y:-18.76, Z:-5.50 [[ 9.99988338e-01 4.22683249e-03 2.33619620e-03 2.12048898e+02] [-4.22622539e-03 9.99991034e-01 -2.64741587e-04 -1.87626262e+01] [-2.33729427e-03 2.54865208e-04 9.99997236e-01 -5.49599528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.372414037 meters 0.09837392893492299 Centerline is valid? [True, True] Translation: X:212.08, Y:-18.77, Z:-5.50 [[ 9.99985750e-01 4.78678236e-03 2.36359378e-03 2.12077810e+02] [-4.78616362e-03 9.99988511e-01 -2.67364671e-04 -1.87694880e+01] [-2.36484644e-03 2.56048315e-04 9.99997171e-01 -5.49835049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40241403699997 meters 0.09828301353341871 Centerline is valid? [True, True] Translation: X:212.11, Y:-18.77, Z:-5.50 [[ 9.99985927e-01 5.09602682e-03 1.47545229e-03 2.12107367e+02] [-5.09578529e-03 9.99987002e-01 -1.67416224e-04 -1.87719905e+01] [-1.47628627e-03 1.59895280e-04 9.99998898e-01 -5.50014425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43241403699997 meters 0.09922369056237983 Centerline is valid? [True, True] Translation: X:212.14, Y:-18.78, Z:-5.50 [[ 9.99987455e-01 5.00560160e-03 1.86024037e-04 2.12136433e+02] [-5.00559763e-03 9.99987472e-01 -2.18208581e-05 -1.87767396e+01] [-1.86130933e-04 2.08894229e-05 9.99999982e-01 -5.50230476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46241403699997 meters 0.09798044660610027 Centerline is valid? [True, True] Translation: X:212.17, Y:-18.78, Z:-5.50 [[ 9.99989749e-01 4.51340375e-03 -3.62131366e-04 2.12165951e+02] [-4.51338955e-03 9.99989814e-01 4.00236654e-05 -1.87768118e+01] [ 3.62308321e-04 -3.83888152e-05 9.99999934e-01 -5.50291408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49241403699997 meters 0.09772075037531652 Centerline is valid? [True, True] Translation: X:212.20, Y:-18.78, Z:-5.50 [[ 9.99989565e-01 4.52661157e-03 -6.15500730e-04 2.12195086e+02] [-4.52657072e-03 9.99989753e-01 6.77310707e-05 -1.87795564e+01] [ 6.15801015e-04 -6.49442564e-05 9.99999808e-01 -5.50351080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52241403699998 meters 0.097944725859205 Centerline is valid? [True, True] Translation: X:212.22, Y:-18.78, Z:-5.50 [[ 9.99989482e-01 4.55335497e-03 -5.51002996e-04 2.12223970e+02] [-4.55332236e-03 9.99989632e-01 6.04240407e-05 -1.87828584e+01] [ 5.51272415e-04 -5.79145109e-05 9.99999846e-01 -5.50395483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55241403699998 meters 0.0994850372850943 Centerline is valid? [True, True] Translation: X:212.25, Y:-18.79, Z:-5.50 [[ 9.99990446e-01 4.36883203e-03 1.46728645e-04 2.12251824e+02] [-4.36882946e-03 9.99990456e-01 -1.77766837e-05 -1.87890983e+01] [-1.46804908e-04 1.71354814e-05 9.99999989e-01 -5.50484169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58241403699998 meters 0.09969551356131659 Centerline is valid? [True, True] Translation: X:212.28, Y:-18.79, Z:-5.51 [[ 9.99990884e-01 4.26573579e-03 -1.88841856e-04 2.12280630e+02] [-4.26573216e-03 9.99990902e-01 1.96120369e-05 -1.87929580e+01] [ 1.88923797e-04 -1.88063093e-05 9.99999982e-01 -5.50508540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61241403699998 meters 0.09804255810801028 Centerline is valid? [True, True] Translation: X:212.31, Y:-18.79, Z:-5.50 [[ 9.99993364e-01 3.64035172e-03 1.42197348e-04 2.12309627e+02] [-3.64034925e-03 9.99993374e-01 -1.76714467e-05 -1.87940669e+01] [-1.42260736e-04 1.71536814e-05 9.99999990e-01 -5.50483715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64241403699998 meters 0.09660804386143272 Centerline is valid? [True, True] Translation: X:212.34, Y:-18.80, Z:-5.51 [[ 9.99993855e-01 3.47648845e-03 -4.51960818e-04 2.12339050e+02] [-3.47646620e-03 9.99993956e-01 4.99859771e-05 -1.87952533e+01] [ 4.52131862e-04 -4.84144434e-05 9.99999897e-01 -5.50569991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67241403699998 meters 0.10036327172800727 Centerline is valid? [True, False] Translation: X:212.34, Y:-18.80, Z:-5.51 [[ 9.99992728e-01 3.77113335e-03 -5.67594991e-04 2.12339625e+02] [-3.77089497e-03 9.99992802e-01 4.20477250e-04 -1.87957965e+01] [ 5.69176581e-04 -4.18333852e-04 9.99999751e-01 -5.50616757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70241403699998 meters 0.09786249361021027 Centerline is valid? [False, True] Translation: X:212.34, Y:-18.80, Z:-5.51 [[ 9.99992869e-01 3.73488202e-03 -5.59629091e-04 2.12339430e+02] [-3.73466351e-03 9.99992950e-01 3.90998401e-04 -1.87961592e+01] [ 5.61085478e-04 -3.88905586e-04 9.99999767e-01 -5.50588916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73241403699998 meters 0.09819783751070355 Centerline is valid? [True, True] Translation: X:212.37, Y:-18.80, Z:-5.51 [[ 9.99990507e-01 4.27727409e-03 -8.31371703e-04 2.12368463e+02] [-4.27719880e-03 9.99990848e-01 9.23137091e-05 -1.88003555e+01] [ 8.31758946e-04 -8.87568907e-05 9.99999650e-01 -5.50667132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76241403699999 meters 0.09707799907728469 Centerline is valid? [True, True] Translation: X:212.40, Y:-18.80, Z:-5.51 [[ 9.99989153e-01 4.58504233e-03 -8.19838782e-04 2.12396988e+02] [-4.58496965e-03 9.99989485e-01 9.05122219e-05 -1.88016560e+01] [ 8.20245164e-04 -8.67523041e-05 9.99999660e-01 -5.50711911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.792414037 meters 0.09852891128552821 Centerline is valid? [True, True] Translation: X:212.42, Y:-18.81, Z:-5.51 [[ 9.99987165e-01 5.02137978e-03 -6.74466834e-04 2.12424702e+02] [-5.02133092e-03 9.99987390e-01 7.41223763e-05 -1.88078662e+01] [ 6.74830526e-04 -7.07347038e-05 9.99999770e-01 -5.50820484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.822414037 meters 0.09796916266326841 Centerline is valid? [True, True] Translation: X:212.45, Y:-18.81, Z:-5.51 [[ 9.99986124e-01 5.19764606e-03 -8.58101383e-04 2.12453434e+02] [-5.19756667e-03 9.99986488e-01 9.47160167e-05 -1.88107511e+01] [ 8.58582089e-04 -9.02546633e-05 9.99999627e-01 -5.50823624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.852414037 meters 0.09970032004038996 Centerline is valid? [True, True] Translation: X:212.48, Y:-18.82, Z:-5.51 [[ 9.99986356e-01 5.04063813e-03 -1.37082243e-03 2.12480738e+02] [-5.04043471e-03 9.99987285e-01 1.51806809e-04 -1.88175276e+01] [ 1.37157021e-03 -1.44895197e-04 9.99999049e-01 -5.50986601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.882414037 meters 0.09831553462696543 Centerline is valid? [True, True] Translation: X:212.51, Y:-18.82, Z:-5.51 [[ 9.99989659e-01 4.47034257e-03 -8.35570296e-04 2.12509321e+02] [-4.47026719e-03 9.99990004e-01 9.20585554e-05 -1.88180373e+01] [ 8.35973477e-04 -8.83223809e-05 9.99999647e-01 -5.51034720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.912414037 meters 0.09818499855479314 Centerline is valid? [True, True] Translation: X:212.54, Y:-18.82, Z:-5.51 [[ 9.99992491e-01 3.65542334e-03 -1.28678360e-03 2.12538737e+02] [-3.65524167e-03 9.99993309e-01 1.43503434e-04 -1.88208287e+01] [ 1.28729955e-03 -1.38798851e-04 9.99999162e-01 -5.51020790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.942414037 meters 0.09695117503726744 Centerline is valid? [True, True] Translation: X:212.57, Y:-18.82, Z:-5.51 [[ 9.99994240e-01 3.27936246e-03 -8.74519166e-04 2.12567245e+02] [-3.27927947e-03 9.99994619e-01 9.63136931e-05 -1.88225693e+01] [ 8.74830307e-04 -9.34453457e-05 9.99999613e-01 -5.50990517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.972414037 meters 0.09809332840938144 Centerline is valid? [True, True] Translation: X:212.60, Y:-18.83, Z:-5.51 [[ 9.99996205e-01 1.22904174e-03 -2.46549250e-03 2.12597407e+02] [-1.22836403e-03 9.99999207e-01 2.76370696e-04 -1.88281392e+01] [ 2.46583022e-03 -2.73341125e-04 9.99996922e-01 -5.51020539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.002414037 meters 0.09803788626653123 Centerline is valid? [True, True] Translation: X:212.63, Y:-18.83, Z:-5.51 [[ 9.99996879e-01 1.06154029e-04 -2.49602426e-03 2.12626330e+02] [-1.05459416e-04 9.99999956e-01 2.78417937e-04 -1.88315093e+01] [ 2.49605371e-03 -2.78153839e-04 9.99996846e-01 -5.51087439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.032414037 meters 0.09972089891988925 Centerline is valid? [True, True] Translation: X:212.66, Y:-18.84, Z:-5.51 [[ 9.99991768e-01 -1.03185963e-03 -3.92406309e-03 2.12656275e+02] [ 1.03359314e-03 9.99999369e-01 4.39760438e-04 -1.88383046e+01] [ 3.92360684e-03 -4.43812703e-04 9.99992204e-01 -5.51270052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.062414037 meters 0.09972089891988925 Centerline is valid? [True, True] Translation: X:212.69, Y:-18.84, Z:-5.51 [[ 9.99991732e-01 -1.06615425e-03 -3.92417428e-03 2.12685437e+02] [ 1.06788417e-03 9.99999334e-01 4.38768114e-04 -1.88415360e+01] [ 3.92370387e-03 -4.42955050e-04 9.99992204e-01 -5.51343898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.092414037 meters 0.0991649313341317 Centerline is valid? [True, True] Translation: X:212.72, Y:-18.84, Z:-5.51 [[ 9.99984368e-01 -2.67249484e-03 -4.91132892e-03 2.12715410e+02] [ 2.67522647e-03 9.99996270e-01 5.49704598e-04 -1.88442692e+01] [ 4.90984152e-03 -5.62834922e-04 9.99987788e-01 -5.51341349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.122414037 meters 0.09939638462323998 Centerline is valid? [True, True] Translation: X:212.74, Y:-18.85, Z:-5.51 [[ 9.99987195e-01 -2.81648973e-03 -4.20451282e-03 2.12744465e+02] [ 2.81849022e-03 9.99995918e-01 4.69946274e-04 -1.88478856e+01] [ 4.20317206e-03 -4.81790634e-04 9.99991051e-01 -5.51334815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15241403699997 meters 0.1000072822425847 Centerline is valid? [True, False] Translation: X:212.74, Y:-18.85, Z:-5.51 [[ 9.99987102e-01 -2.86853486e-03 -4.19122539e-03 2.12744356e+02] [ 2.87034557e-03 9.99995790e-01 4.26072585e-04 -1.88478012e+01] [ 4.18998554e-03 -4.38097355e-04 9.99991126e-01 -5.51322593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18241403699997 meters 0.09818254522296974 Centerline is valid? [False, True] Translation: X:212.74, Y:-18.85, Z:-5.51 [[ 9.99987734e-01 -2.47715299e-03 -4.28908856e-03 2.12744753e+02] [ 2.48139234e-03 9.99996438e-01 9.83365220e-04 -1.88489774e+01] [ 4.28663734e-03 -9.93996070e-04 9.99990318e-01 -5.51348632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21241403699997 meters 0.10333865579950731 Centerline is valid? [True, False] Translation: X:212.74, Y:-18.85, Z:-5.51 [[ 9.99987989e-01 -2.35547826e-03 -4.29809644e-03 2.12744737e+02] [ 2.36059866e-03 9.99996510e-01 1.18663534e-03 -1.88496926e+01] [ 4.29528635e-03 -1.19676717e-03 9.99990059e-01 -5.51342084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24241403699997 meters 0.099335533922903 Centerline is valid? [False, True] Translation: X:212.75, Y:-18.85, Z:-5.51 [[ 9.99988583e-01 -2.02578564e-03 -4.32773578e-03 2.12745059e+02] [ 2.03322883e-03 9.99996460e-01 1.71617326e-03 -1.88508206e+01] [ 4.32424386e-03 -1.72495295e-03 9.99989163e-01 -5.51379841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27241403699998 meters 0.10027220521742415 Centerline is valid? [True, False] Translation: X:212.74, Y:-18.85, Z:-5.51 [[ 9.99989242e-01 -1.83060776e-03 -4.26198294e-03 2.12744866e+02] [ 1.83985924e-03 9.99995958e-01 2.16779066e-03 -1.88524332e+01] [ 4.25799734e-03 -2.17560879e-03 9.99988568e-01 -5.51371613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30241403699998 meters 0.10425347098671987 Centerline is valid? [False, False] Translation: X:212.74, Y:-18.85, Z:-5.51 [[ 9.99989493e-01 -1.77987743e-03 -4.22448088e-03 2.12744669e+02] [ 1.78979046e-03 9.99995651e-01 2.34394697e-03 -1.88532711e+01] [ 4.22029058e-03 -2.35148328e-03 9.99988330e-01 -5.51354867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33241403699998 meters 0.09908857782815497 Centerline is valid? [False, True] Translation: X:212.74, Y:-18.86, Z:-5.51 [[ 9.99990422e-01 -1.56636583e-03 -4.08695178e-03 2.12744468e+02] [ 1.57805528e-03 9.99994669e-01 2.85853403e-03 -1.88550515e+01] [ 4.08245249e-03 -2.86495608e-03 9.99987563e-01 -5.51365978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36241403699998 meters 0.10209734472366809 Centerline is valid? [True, False] Translation: X:212.74, Y:-18.86, Z:-5.51 [[ 9.99990628e-01 -1.44713428e-03 -4.08049302e-03 2.12744354e+02] [ 1.45987229e-03 9.99994066e-01 3.12043575e-03 -1.88561107e+01] [ 4.07595312e-03 -3.12636350e-03 9.99986806e-01 -5.51352520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39241403699998 meters 0.10263883184839004 Centerline is valid? [False, False] Translation: X:212.74, Y:-18.86, Z:-5.51 [[ 9.99991023e-01 -1.36050534e-03 -4.01279369e-03 2.12744178e+02] [ 1.37403920e-03 9.99993371e-01 3.37185312e-03 -1.88570569e+01] [ 4.00817966e-03 -3.37733659e-03 9.99986264e-01 -5.51348497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42241403699998 meters 0.09987018243944519 Centerline is valid? [False, True] Translation: X:212.74, Y:-18.86, Z:-5.51 [[ 9.99991422e-01 -1.23954787e-03 -3.95222089e-03 2.12744093e+02] [ 1.25399254e-03 9.99992536e-01 3.65444352e-03 -1.88579707e+01] [ 3.94766154e-03 -3.65936823e-03 9.99985512e-01 -5.51354861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45241403699998 meters 0.09911354103433763 Centerline is valid? [True, True] Translation: X:212.77, Y:-18.86, Z:-5.51 [[ 9.99987885e-01 -1.48402921e-03 -4.69341455e-03 2.12773290e+02] [ 1.48656517e-03 9.99998751e-01 5.36879900e-04 -1.88599746e+01] [ 4.69261195e-03 -5.43850462e-04 9.99988842e-01 -5.51199727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48241403699998 meters 0.10039787445144843 Centerline is valid? [True, False] Translation: X:212.77, Y:-18.86, Z:-5.51 [[ 9.99987904e-01 -1.01231239e-03 -4.81313580e-03 2.12773867e+02] [ 1.01825045e-03 9.99998723e-01 1.23142802e-03 -1.88613954e+01] [ 4.81188307e-03 -1.23631410e-03 9.99987659e-01 -5.51247709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51241403699999 meters 0.10159667041579336 Centerline is valid? [False, False] Translation: X:212.77, Y:-18.86, Z:-5.51 [[ 9.99988024e-01 -9.19025199e-04 -4.80695723e-03 2.12773733e+02] [ 9.25903592e-04 9.99998550e-01 1.42889502e-03 -1.88622911e+01] [ 4.80563708e-03 -1.43332869e-03 9.99987426e-01 -5.51231134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.542414037 meters 0.10110546318585983 Centerline is valid? [False, False] Translation: X:212.77, Y:-18.86, Z:-5.51 [[ 9.99988271e-01 -4.64035408e-04 -4.82100631e-03 2.12774107e+02] [ 4.74507045e-04 9.99997530e-01 2.17116881e-03 -1.88640499e+01] [ 4.81998690e-03 -2.17343094e-03 9.99986022e-01 -5.51278522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.572414037 meters 0.10102759769624248 Centerline is valid? [False, False] Translation: X:212.77, Y:-18.86, Z:-5.51 [[ 9.99988597e-01 -4.56493853e-04 -4.75363941e-03 2.12773889e+02] [ 4.67330960e-04 9.99997294e-01 2.27888852e-03 -1.88645982e+01] [ 4.75258625e-03 -2.28108406e-03 9.99986105e-01 -5.51267930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.602414037 meters 0.09882438335028235 Centerline is valid? [False, True] Translation: X:212.77, Y:-18.87, Z:-5.51 [[ 9.99988900e-01 -4.27680544e-04 -4.69221213e-03 2.12773528e+02] [ 4.39130257e-04 9.99996928e-01 2.43939379e-03 -1.88655124e+01] [ 4.69115443e-03 -2.44142721e-03 9.99986016e-01 -5.51234252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.632414037 meters 0.1030464154743024 Centerline is valid? [True, False] Translation: X:212.77, Y:-18.87, Z:-5.51 [[ 9.99978695e-01 -3.94488248e-03 -5.20066460e-03 2.12774890e+02] [ 3.94009837e-03 9.99991805e-01 -9.29827823e-04 -1.88671246e+01] [ 5.20429004e-03 9.09316884e-04 9.99986044e-01 -5.51280117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.662414037 meters 0.10338277893669835 Centerline is valid? [False, False] Translation: X:212.77, Y:-18.87, Z:-5.51 [[ 9.99979975e-01 -3.82933336e-03 -5.03851337e-03 2.12774457e+02] [ 3.82667458e-03 9.99992534e-01 -5.37226584e-04 -1.88686414e+01] [ 5.04053298e-03 5.17935075e-04 9.99987162e-01 -5.51265595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.692414037 meters 0.0992689739496316 Centerline is valid? [False, True] Translation: X:212.78, Y:-18.87, Z:-5.51 [[ 9.99981823e-01 -3.24661616e-03 -5.08059973e-03 2.12775038e+02] [ 3.24886951e-03 9.99994628e-01 4.35331669e-04 -1.88706731e+01] [ 5.07915908e-03 -4.51829961e-04 9.99986999e-01 -5.51341445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.722414037 meters 0.09978126443334327 Centerline is valid? [True, True] Translation: X:212.80, Y:-18.88, Z:-5.52 [[ 9.99972097e-01 -4.32140203e-03 -6.09352539e-03 2.12804933e+02] [ 4.32573999e-03 9.99990400e-01 6.98897042e-04 -1.88782925e+01] [ 6.09044668e-03 -7.25236547e-04 9.99981190e-01 -5.51520353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.752414037 meters 0.10178227335021856 Centerline is valid? [True, False] Translation: X:212.81, Y:-18.88, Z:-5.52 [[ 9.99973915e-01 -3.79915687e-03 -6.14289998e-03 2.12805403e+02] [ 3.80898819e-03 9.99991482e-01 1.58953008e-03 -1.88802614e+01] [ 6.13680878e-03 -1.61288685e-03 9.99979869e-01 -5.51577580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.782414037 meters 0.09812363353224778 Centerline is valid? [False, True] Translation: X:212.81, Y:-18.88, Z:-5.52 [[ 9.99974860e-01 -3.69833274e-03 -6.04996249e-03 2.12805118e+02] [ 3.70973156e-03 9.99991363e-01 1.87397772e-03 -1.88814060e+01] [ 6.04297964e-03 -1.89637435e-03 9.99979943e-01 -5.51562921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.812414037 meters 0.1006593275584783 Centerline is valid? [True, False] Translation: X:212.80, Y:-18.88, Z:-5.52 [[ 9.99977202e-01 -3.27535239e-03 -5.90481437e-03 2.12804741e+02] [ 3.29203629e-03 9.99990611e-01 2.81797198e-03 -1.88844796e+01] [ 5.89552908e-03 -2.83734660e-03 9.99978596e-01 -5.51549230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.842414037 meters 0.10272376953531707 Centerline is valid? [False, False] Translation: X:212.80, Y:-18.89, Z:-5.52 [[ 9.99978950e-01 -2.84942728e-03 -5.82932518e-03 2.12804924e+02] [ 2.87058046e-03 9.99989315e-01 3.62360995e-03 -1.88864014e+01] [ 5.81893768e-03 -3.64026722e-03 9.99976444e-01 -5.51596909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.872414037 meters 0.10322065456772725 Centerline is valid? [False, False] Translation: X:212.80, Y:-18.89, Z:-5.52 [[ 9.99979916e-01 -2.67791265e-03 -5.74416558e-03 2.12804637e+02] [ 2.70126076e-03 9.99988107e-01 4.06076531e-03 -1.88879479e+01] [ 5.73322289e-03 -4.07620024e-03 9.99975257e-01 -5.51581531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90241403699997 meters 0.09671698199395146 Centerline is valid? [False, True] Translation: X:212.80, Y:-18.89, Z:-5.52 [[ 9.99980995e-01 -2.52696007e-03 -5.62344963e-03 2.12804248e+02] [ 2.55213205e-03 9.99986737e-01 4.47358757e-03 -1.88895588e+01] [ 5.61207046e-03 -4.48785433e-03 9.99974182e-01 -5.51559468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93241403699997 meters 0.0976991445954002 Centerline is valid? [True, True] Translation: X:212.83, Y:-18.90, Z:-5.51 [[ 9.99979350e-01 -2.57642763e-03 -5.88737805e-03 2.12832553e+02] [ 2.58057146e-03 9.99996428e-01 6.96362317e-04 -1.88958180e+01] [ 5.88556289e-03 -7.11540737e-04 9.99982427e-01 -5.51491434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96241403699997 meters 0.09892736995125864 Centerline is valid? [True, True] Translation: X:212.86, Y:-18.90, Z:-5.52 [[ 9.99979300e-01 -2.74514641e-03 -5.81932087e-03 2.12860807e+02] [ 2.74919866e-03 9.99995984e-01 6.88459809e-04 -1.89025611e+01] [ 5.81740758e-03 -7.04444027e-04 9.99982831e-01 -5.51585784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99241403699997 meters 0.09975350729425639 Centerline is valid? [True, True] Translation: X:212.89, Y:-18.91, Z:-5.52 [[ 9.99980171e-01 -2.56332756e-03 -5.75219824e-03 2.12889011e+02] [ 2.56724683e-03 9.99996477e-01 6.74070701e-04 -1.89087550e+01] [ 5.75045011e-03 -6.88824648e-04 9.99983229e-01 -5.51717635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02241403699998 meters 0.0996881928721902 Centerline is valid? [True, True] Translation: X:212.92, Y:-18.91, Z:-5.52 [[ 9.99975629e-01 -2.41178816e-03 -6.55165353e-03 2.12917163e+02] [ 2.41686477e-03 9.99996785e-01 7.67053431e-04 -1.89144523e+01] [ 6.54978250e-03 -7.82869198e-04 9.99978243e-01 -5.51824479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05241403699998 meters 0.10154482923704167 Centerline is valid? [True, False] Translation: X:212.92, Y:-18.92, Z:-5.52 [[ 9.99976404e-01 -1.86405968e-03 -6.61185036e-03 2.12917832e+02] [ 1.87479514e-03 9.99996934e-01 1.61784352e-03 -1.89160471e+01] [ 6.60881433e-03 -1.63020121e-03 9.99976833e-01 -5.51906744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08241403699998 meters 0.1015785039226752 Centerline is valid? [False, False] Translation: X:212.92, Y:-18.92, Z:-5.52 [[ 9.99976965e-01 -1.72267595e-03 -6.56520467e-03 2.12917850e+02] [ 1.73520374e-03 9.99996684e-01 1.90299268e-03 -1.89168695e+01] [ 6.56190466e-03 -1.91434081e-03 9.99976638e-01 -5.51923821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11241403699998 meters 0.09699680930231261 Centerline is valid? [False, True] Translation: X:212.92, Y:-18.92, Z:-5.52 [[ 9.99977285e-01 -1.52538892e-03 -6.56523695e-03 2.12917979e+02] [ 1.54032179e-03 9.99996237e-01 2.27008214e-03 -1.89177713e+01] [ 6.56174949e-03 -2.28014315e-03 9.99975872e-01 -5.51942474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14241403699998 meters 0.10070724877757628 Centerline is valid? [True, False] Translation: X:212.92, Y:-18.92, Z:-5.52 [[ 9.99977593e-01 -1.49516867e-03 -6.52524541e-03 2.12917694e+02] [ 1.51103221e-03 9.99995914e-01 2.42685009e-03 -1.89186510e+01] [ 6.52159019e-03 -2.43665557e-03 9.99975765e-01 -5.51911504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17241403699998 meters 0.10069011054028566 Centerline is valid? [False, False] Translation: X:212.92, Y:-18.92, Z:-5.52 [[ 9.99977969e-01 -1.62266202e-03 -6.43650537e-03 2.12917282e+02] [ 1.63752171e-03 9.99996005e-01 2.30406085e-03 -1.89187544e+01] [ 6.43274094e-03 -2.31455001e-03 9.99976631e-01 -5.51875456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20241403699998 meters 0.10015730841704594 Centerline is valid? [False, False] Translation: X:212.92, Y:-18.92, Z:-5.52 [[ 9.99977861e-01 -1.35048369e-03 -6.51563803e-03 2.12917677e+02] [ 1.36826214e-03 9.99995351e-01 2.72489547e-03 -1.89194686e+01] [ 6.51192781e-03 -2.73375025e-03 9.99975060e-01 -5.51910738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23241403699998 meters 0.09914673228592752 Centerline is valid? [False, True] Translation: X:212.92, Y:-18.92, Z:-5.52 [[ 9.99977975e-01 -1.40335939e-03 -6.48690117e-03 2.12917347e+02] [ 1.42093122e-03 9.99995332e-01 2.70500143e-03 -1.89198535e+01] [ 6.48307480e-03 -2.71415929e-03 9.99975301e-01 -5.51871812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26241403699999 meters 0.09901448860415213 Centerline is valid? [True, True] Translation: X:212.95, Y:-18.92, Z:-5.52 [[ 9.99978605e-01 -1.31556289e-03 -6.40766067e-03 2.12945615e+02] [ 1.32043160e-03 9.99998843e-01 7.55655240e-04 -1.89226508e+01] [ 6.40665915e-03 -7.64099951e-04 9.99979185e-01 -5.51934330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.292414037 meters 0.1004825472287448 Centerline is valid? [True, False] Translation: X:212.95, Y:-18.92, Z:-5.52 [[ 9.99978847e-01 -1.07325111e-03 -6.41507116e-03 2.12945961e+02] [ 1.08077484e-03 9.99998732e-01 1.16946839e-03 -1.89233256e+01] [ 6.41380789e-03 -1.17637690e-03 9.99978739e-01 -5.51984083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.322414037 meters 0.10438202072550319 Centerline is valid? [False, False] Translation: X:212.95, Y:-18.92, Z:-5.52 [[ 9.99978676e-01 -7.31124919e-04 -6.48948811e-03 2.12946575e+02] [ 7.41963366e-04 9.99998334e-01 1.66790390e-03 -1.89240899e+01] [ 6.48825785e-03 -1.67268330e-03 9.99977552e-01 -5.52053245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.352414037 meters 0.09564148772657521 Centerline is valid? [False, True] Translation: X:212.95, Y:-18.92, Z:-5.52 [[ 9.99979307e-01 -7.65517831e-04 -6.38744853e-03 2.12946367e+02] [ 7.76647474e-04 9.99998184e-01 1.74012539e-03 -1.89244838e+01] [ 6.38610484e-03 -1.74505018e-03 9.99978086e-01 -5.52051846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.382414037 meters 0.097435079534776 Centerline is valid? [True, True] Translation: X:212.97, Y:-18.93, Z:-5.52 [[ 9.99975729e-01 -1.18656137e-03 -6.86534821e-03 2.12973558e+02] [ 1.19223544e-03 9.99998951e-01 8.22445961e-04 -1.89305271e+01] [ 6.86436512e-03 -8.30611111e-04 9.99976095e-01 -5.52180883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.412414037 meters 0.09871706411761763 Centerline is valid? [True, True] Translation: X:213.00, Y:-18.94, Z:-5.52 [[ 9.99977362e-01 -1.68066657e-03 -6.51540637e-03 2.13000585e+02] [ 1.68578091e-03 9.99998275e-01 7.79547692e-04 -1.89357833e+01] [ 6.51408497e-03 -7.90513592e-04 9.99978471e-01 -5.52291682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.442414037 meters 0.10081963554962212 Centerline is valid? [True, False] Translation: X:213.00, Y:-18.94, Z:-5.52 [[ 9.99977846e-01 -1.74823610e-03 -6.42264257e-03 2.13000240e+02] [ 1.75315436e-03 9.99998174e-01 7.60217927e-04 -1.89361521e+01] [ 6.42130180e-03 -7.71460970e-04 9.99979086e-01 -5.52266990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.472414037 meters 0.09937618934120628 Centerline is valid? [False, True] Translation: X:213.00, Y:-18.94, Z:-5.52 [[ 9.99977884e-01 -1.75348644e-03 -6.41528975e-03 2.13000210e+02] [ 1.75839444e-03 9.99998166e-01 7.59488149e-04 -1.89362223e+01] [ 6.41394623e-03 -7.70751963e-04 9.99979133e-01 -5.52264519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.502414037 meters 0.09808658244354786 Centerline is valid? [True, True] Translation: X:213.03, Y:-18.94, Z:-5.52 [[ 9.99981494e-01 -2.28936649e-03 -5.63650209e-03 2.13028863e+02] [ 2.29317502e-03 9.99997147e-01 6.69320272e-04 -1.89375266e+01] [ 5.63495369e-03 -6.82233372e-04 9.99983891e-01 -5.52207944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.532414037 meters 0.09746392363355717 Centerline is valid? [True, True] Translation: X:213.06, Y:-18.94, Z:-5.52 [[ 9.99984783e-01 -2.64399157e-03 -4.84179002e-03 2.13057396e+02] [ 2.64679526e-03 9.99996333e-01 5.72745205e-04 -1.89399812e+01] [ 4.84025794e-03 -5.85551717e-04 9.99988114e-01 -5.52189317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.562414037 meters 0.10103236664950274 Centerline is valid? [True, False] Translation: X:213.06, Y:-18.94, Z:-5.52 [[ 9.99984776e-01 -2.37057269e-03 -4.98274344e-03 2.13057920e+02] [ 2.37520200e-03 9.99996753e-01 9.23356366e-04 -1.89404176e+01] [ 4.98053837e-03 -9.35177331e-04 9.99987160e-01 -5.52224442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.592414037 meters 0.10156846866694416 Centerline is valid? [False, False] Translation: X:213.06, Y:-18.94, Z:-5.52 [[ 9.99984680e-01 -2.05851367e-03 -5.13827986e-03 2.13058632e+02] [ 2.06529745e-03 9.99997002e-01 1.31528586e-03 -1.89408505e+01] [ 5.13555693e-03 -1.32587779e-03 9.99985934e-01 -5.52282885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.622414037 meters 0.10466325026012557 Centerline is valid? [False, False] Translation: X:213.06, Y:-18.94, Z:-5.52 [[ 9.99985027e-01 -1.91287078e-03 -5.12706277e-03 2.13058861e+02] [ 1.92104081e-03 9.99996892e-01 1.58905901e-03 -1.89414114e+01] [ 5.12400718e-03 -1.59888452e-03 9.99985594e-01 -5.52319941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65241403699997 meters 0.09743762549875817 Centerline is valid? [False, True] Translation: X:213.06, Y:-18.94, Z:-5.52 [[ 9.99985183e-01 -1.81278249e-03 -5.13300710e-03 2.13058950e+02] [ 1.82183977e-03 9.99996791e-01 1.76039074e-03 -1.89418955e+01] [ 5.12979942e-03 -1.76971618e-03 9.99985277e-01 -5.52331529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68241403699997 meters 0.10385463034171766 Centerline is valid? [True, False] Translation: X:213.06, Y:-18.94, Z:-5.52 [[ 9.99985462e-01 -1.50720946e-03 -5.17719989e-03 2.13059476e+02] [ 1.51867362e-03 9.99996402e-01 2.21113823e-03 -1.89424964e+01] [ 5.17384862e-03 -2.21896856e-03 9.99984154e-01 -5.52395196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71241403699997 meters 0.09693316592519555 Centerline is valid? [False, True] Translation: X:213.06, Y:-18.94, Z:-5.52 [[ 9.99985862e-01 -1.63610271e-03 -5.05951883e-03 2.13059092e+02] [ 1.64693833e-03 9.99996358e-01 2.13820644e-03 -1.89426826e+01] [ 5.05600207e-03 -2.14650893e-03 9.99984915e-01 -5.52372650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74241403699997 meters 0.10310112766650083 Centerline is valid? [True, False] Translation: X:213.06, Y:-18.94, Z:-5.52 [[ 9.99986059e-01 -1.58432378e-03 -5.03695652e-03 2.13059111e+02] [ 1.59558298e-03 9.99996236e-01 2.23208656e-03 -1.89428636e+01] [ 5.03340121e-03 -2.24009233e-03 9.99984823e-01 -5.52380110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77241403699998 meters 0.09901639497503849 Centerline is valid? [False, True] Translation: X:213.06, Y:-18.94, Z:-5.52 [[ 9.99986191e-01 -1.61488809e-03 -5.00104798e-03 2.13059000e+02] [ 1.62601395e-03 9.99996211e-01 2.22144000e-03 -1.89429730e+01] [ 4.99744165e-03 -2.22954110e-03 9.99985027e-01 -5.52372838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80241403699998 meters 0.0980933229498795 Centerline is valid? [True, True] Translation: X:213.09, Y:-18.94, Z:-5.52 [[ 9.99989356e-01 -1.75004913e-03 -4.26911196e-03 2.13087800e+02] [ 1.75229103e-03 9.99998329e-01 5.21459554e-04 -1.89443717e+01] [ 4.26819224e-03 -5.28934730e-04 9.99990751e-01 -5.52363202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83241403699998 meters 0.1017665564913586 Centerline is valid? [True, False] Translation: X:213.09, Y:-18.95, Z:-5.52 [[ 9.99990121e-01 -1.44013774e-03 -4.20512570e-03 2.13088021e+02] [ 1.44466703e-03 9.99998379e-01 1.07424864e-03 -1.89455057e+01] [ 4.20357182e-03 -1.08031304e-03 9.99990581e-01 -5.52414126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86241403699998 meters 0.10268504452762679 Centerline is valid? [False, False] Translation: X:213.09, Y:-18.95, Z:-5.52 [[ 9.99990033e-01 -1.47882686e-03 -4.21269923e-03 2.13087959e+02] [ 1.48326314e-03 9.99998349e-01 1.05014411e-03 -1.89456522e+01] [ 4.21113930e-03 -1.05638218e-03 9.99990575e-01 -5.52404495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89241403699998 meters 0.10433085901453401 Centerline is valid? [False, False] Translation: X:213.09, Y:-18.95, Z:-5.52 [[ 9.99990289e-01 -1.21190713e-03 -4.23709608e-03 2.13088106e+02] [ 1.21825021e-03 9.99998141e-01 1.49477377e-03 -1.89466276e+01] [ 4.23527668e-03 -1.49992109e-03 9.99989906e-01 -5.52419303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92241403699998 meters 0.10580744840175503 Centerline is valid? [False, False] Translation: X:213.09, Y:-18.95, Z:-5.52 [[ 9.99990295e-01 -1.35873098e-03 -4.19102363e-03 2.13087679e+02] [ 1.36432065e-03 9.99998183e-01 1.33115265e-03 -1.89467200e+01] [ 4.18920734e-03 -1.33685763e-03 9.99990332e-01 -5.52369998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95241403699998 meters 0.10580744840175503 Centerline is valid? [False, False] Translation: X:213.09, Y:-18.95, Z:-5.52 [[ 9.99990295e-01 -1.35873098e-03 -4.19102363e-03 2.13087679e+02] [ 1.36432065e-03 9.99998183e-01 1.33115265e-03 -1.89467200e+01] [ 4.18920734e-03 -1.33685763e-03 9.99990332e-01 -5.52369998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98241403699998 meters 0.10312655340548328 Centerline is valid? [False, False] Translation: X:213.09, Y:-18.95, Z:-5.52 [[ 9.99990271e-01 -1.10158265e-03 -4.27131406e-03 2.13088085e+02] [ 1.10876837e-03 9.99997974e-01 1.68031966e-03 -1.89472800e+01] [ 4.26945439e-03 -1.68503921e-03 9.99989466e-01 -5.52403869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01241403699999 meters 0.1019910943956862 Centerline is valid? [False, False] Translation: X:213.09, Y:-18.95, Z:-5.52 [[ 9.99990131e-01 -1.03437374e-03 -4.32068200e-03 2.13088221e+02] [ 1.04202199e-03 9.99997894e-01 1.76827495e-03 -1.89474444e+01] [ 4.31884384e-03 -1.77275974e-03 9.99989102e-01 -5.52408495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.042414037 meters 0.10885525953793329 Centerline is valid? [False, False] Translation: X:213.09, Y:-18.95, Z:-5.52 [[ 9.99989856e-01 -8.61401377e-04 -4.42112605e-03 2.13088601e+02] [ 8.70126112e-04 9.99997677e-01 1.97187522e-03 -1.89478965e+01] [ 4.41941721e-03 -1.97570215e-03 9.99988283e-01 -5.52430744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.072414037 meters 0.10296025095108602 Centerline is valid? [False, False] Translation: X:213.09, Y:-18.95, Z:-5.52 [[ 9.99989639e-01 -8.88456949e-04 -4.46450785e-03 2.13088671e+02] [ 8.97060422e-04 9.99997744e-01 1.92544932e-03 -1.89478260e+01] [ 4.46278710e-03 -1.92943430e-03 9.99988180e-01 -5.52429310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.102414037 meters 0.09894960590130317 Centerline is valid? [False, True] Translation: X:213.09, Y:-18.95, Z:-5.52 [[ 9.99989010e-01 -6.35085766e-04 -4.64503152e-03 2.13089451e+02] [ 6.45232229e-04 9.99997409e-01 2.18319677e-03 -1.89478780e+01] [ 4.64363296e-03 -2.18616990e-03 9.99986829e-01 -5.52490096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.132414037 meters 0.09915840625565876 Centerline is valid? [True, True] Translation: X:213.12, Y:-18.95, Z:-5.53 [[ 9.99989776e-01 6.62846372e-04 -4.47309236e-03 2.13119505e+02] [-6.60424002e-04 9.99999634e-01 5.42997802e-04 -1.89505788e+01] [ 4.47345065e-03 -5.40038113e-04 9.99989848e-01 -5.52623680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.162414037 meters 0.09908103914629851 Centerline is valid? [True, True] Translation: X:213.15, Y:-18.95, Z:-5.53 [[ 9.99980543e-01 3.11528273e-03 -5.40453957e-03 2.13149371e+02] [-3.11177966e-03 9.99994943e-01 6.56460298e-04 -1.89534916e+01] [ 5.40655730e-03 -6.39629788e-04 9.99985180e-01 -5.52807047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.192414037 meters 0.09895949505003786 Centerline is valid? [True, True] Translation: X:213.18, Y:-18.96, Z:-5.53 [[ 9.99982825e-01 4.21266294e-03 -4.07481906e-03 2.13178967e+02] [-4.21068443e-03 9.99991013e-01 4.94004044e-04 -1.89563530e+01] [ 4.07686352e-03 -4.76837782e-04 9.99991576e-01 -5.52891047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.222414037 meters 0.1007932936467429 Centerline is valid? [True, False] Translation: X:213.18, Y:-18.96, Z:-5.53 [[ 9.99982244e-01 4.25468982e-03 -4.17243599e-03 2.13179384e+02] [-4.25290044e-03 9.99990861e-01 4.37634662e-04 -1.89558520e+01] [ 4.17425986e-03 -4.19881937e-04 9.99991200e-01 -5.52920159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.252414037 meters 0.10042647761369387 Centerline is valid? [False, False] Translation: X:213.18, Y:-18.95, Z:-5.53 [[ 9.99984356e-01 3.71909705e-03 -4.17811647e-03 2.13178772e+02] [-3.72101886e-03 9.99992975e-01 -4.52290126e-04 -1.89542277e+01] [ 4.17640500e-03 4.67829900e-04 9.99991169e-01 -5.52823192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.282414037 meters 0.09433907710591324 Centerline is valid? [False, True] Translation: X:213.18, Y:-18.95, Z:-5.53 [[ 9.99983759e-01 3.77370757e-03 -4.27086120e-03 2.13179130e+02] [-3.77572426e-03 9.99992764e-01 -4.64232508e-04 -1.89537844e+01] [ 4.26907842e-03 4.80350563e-04 9.99990772e-01 -5.52846119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.312414037 meters 0.09649653594189031 Centerline is valid? [True, True] Translation: X:213.21, Y:-18.96, Z:-5.53 [[ 9.99982667e-01 4.35046457e-03 -3.96721801e-03 2.13206484e+02] [-4.34863586e-03 9.99990434e-01 4.69463867e-04 -1.89612223e+01] [ 3.96922245e-03 -4.52203743e-04 9.99992020e-01 -5.53009343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.342414037 meters 0.09939488021220086 Centerline is valid? [True, True] Translation: X:213.23, Y:-18.97, Z:-5.53 [[ 9.99986534e-01 4.44109708e-03 -2.68491677e-03 2.13233787e+02] [-4.44026202e-03 9.99990092e-01 3.16898441e-04 -1.89682052e+01] [ 2.68629755e-03 -3.04972440e-04 9.99996345e-01 -5.53124681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.372414037 meters 0.09760568704215392 Centerline is valid? [True, True] Translation: X:213.26, Y:-18.97, Z:-5.53 [[ 9.99986072e-01 4.50277896e-03 -2.75336146e-03 2.13262654e+02] [-4.50190034e-03 9.99989814e-01 3.25220832e-04 -1.89681718e+01] [ 2.75479781e-03 -3.12820943e-04 9.99996157e-01 -5.53133348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40241403699997 meters 0.09733154344262941 Centerline is valid? [True, True] Translation: X:213.29, Y:-18.97, Z:-5.53 [[ 9.99987348e-01 4.23856081e-03 -2.70888261e-03 2.13291320e+02] [-4.23770998e-03 9.99990970e-01 3.19749609e-04 -1.89710922e+01] [ 2.71021343e-03 -3.08266105e-04 9.99996280e-01 -5.53214628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43241403699997 meters 0.09942055217061048 Centerline is valid? [True, True] Translation: X:213.32, Y:-18.98, Z:-5.53 [[ 9.99984854e-01 4.31649029e-03 -3.41468324e-03 2.13318720e+02] [-4.31513969e-03 9.99990609e-01 4.02795747e-04 -1.89771134e+01] [ 3.41638984e-03 -3.88054811e-04 9.99994089e-01 -5.53444113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46241403699997 meters 0.10020788042415787 Centerline is valid? [True, False] Translation: X:213.32, Y:-18.98, Z:-5.54 [[ 9.99984123e-01 4.41537151e-03 -3.50113611e-03 2.13319284e+02] [-4.41375359e-03 9.99990149e-01 4.69707362e-04 -1.89767331e+01] [ 3.50317556e-03 -4.54246752e-04 9.99993761e-01 -5.53502224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49241403699997 meters 0.09606718057512298 Centerline is valid? [False, True] Translation: X:213.32, Y:-18.98, Z:-5.53 [[ 9.99984832e-01 4.26300339e-03 -3.48740796e-03 2.13319228e+02] [-4.26229994e-03 9.99990894e-01 2.09119955e-04 -1.89761260e+01] [ 3.48826768e-03 -1.94252405e-04 9.99993897e-01 -5.53497137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52241403699998 meters 0.09750732159305255 Centerline is valid? [True, True] Translation: X:213.35, Y:-18.98, Z:-5.54 [[ 9.99986961e-01 4.18719820e-03 -2.92332242e-03 2.13346806e+02] [-4.18621107e-03 9.99991179e-01 3.43711608e-04 -1.89809615e+01] [ 2.92473582e-03 -3.31469482e-04 9.99995668e-01 -5.53675870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55241403699998 meters 0.09559112921663454 Centerline is valid? [True, True] Translation: X:213.38, Y:-18.98, Z:-5.54 [[ 9.99986261e-01 3.70711050e-03 -3.70619395e-03 2.13376146e+02] [-3.70551653e-03 9.99993039e-01 4.36854782e-04 -1.89802354e+01] [ 3.70778762e-03 -4.23115417e-04 9.99993037e-01 -5.53713522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58241403699998 meters 0.09883449701627627 Centerline is valid? [True, True] Translation: X:213.40, Y:-18.99, Z:-5.54 [[ 9.99990961e-01 3.26361957e-03 -2.72535866e-03 2.13403485e+02] [-3.26275967e-03 9.99994626e-01 3.19902289e-04 -1.89888262e+01] [ 2.72638805e-03 -3.11007207e-04 9.99996235e-01 -5.53920266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61241403699998 meters 0.09586301481859867 Centerline is valid? [True, True] Translation: X:213.43, Y:-18.99, Z:-5.54 [[ 9.99995874e-01 2.40934699e-03 -1.56438345e-03 2.13432727e+02] [-2.40906353e-03 9.99997081e-01 1.83052063e-04 -1.89863394e+01] [ 1.56481992e-03 -1.79282609e-04 9.99998760e-01 -5.53853966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64241403699998 meters 0.09760379856129917 Centerline is valid? [True, True] Translation: X:213.46, Y:-18.99, Z:-5.54 [[ 9.99998453e-01 1.36152779e-03 -1.11342826e-03 2.13460639e+02] [-1.36138368e-03 9.99999065e-01 1.30172624e-04 -1.89922012e+01] [ 1.11360446e-03 -1.28656619e-04 9.99999372e-01 -5.53957062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67241403699998 meters 0.09750684442044395 Centerline is valid? [True, True] Translation: X:213.49, Y:-19.00, Z:-5.54 [[ 9.99999401e-01 1.03232454e-03 -3.64801462e-04 2.13489878e+02] [-1.03230920e-03 9.99999466e-01 4.22344506e-05 -1.89956001e+01] [ 3.64844867e-04 -4.18578373e-05 9.99999933e-01 -5.53960647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70241403699998 meters 0.10062158124770862 Centerline is valid? [True, False] Translation: X:213.49, Y:-19.00, Z:-5.54 [[ 9.99999432e-01 1.01538125e-03 -3.23381003e-04 2.13489887e+02] [-1.01537392e-03 9.99999484e-01 2.28264575e-05 -1.89954001e+01] [ 3.23404014e-04 -2.24980919e-05 9.99999947e-01 -5.53972161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73241403699998 meters 0.10320670490378273 Centerline is valid? [False, False] Translation: X:213.49, Y:-19.00, Z:-5.54 [[ 9.99999609e-01 8.37755542e-04 -2.84060281e-04 2.13489635e+02] [-8.37811307e-04 9.99999630e-01 -1.96249904e-04 -1.89950292e+01] [ 2.83895766e-04 1.96487816e-04 9.99999940e-01 -5.53947612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76241403699999 meters 0.10016289068672277 Centerline is valid? [False, False] Translation: X:213.49, Y:-18.99, Z:-5.54 [[ 9.99999667e-01 7.82871936e-04 -2.32097954e-04 2.13489608e+02] [-7.82929085e-04 9.99999663e-01 -2.46236734e-04 -1.89947902e+01] [ 2.31905104e-04 2.46418368e-04 9.99999943e-01 -5.53956498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.792414037 meters 0.09948483752790967 Centerline is valid? [False, True] Translation: X:213.49, Y:-18.99, Z:-5.54 [[ 9.99999616e-01 8.37662901e-04 -2.57899171e-04 2.13489753e+02] [-8.37707273e-04 9.99999634e-01 -1.71989666e-04 -1.89948893e+01] [ 2.57755008e-04 1.72205644e-04 9.99999952e-01 -5.53970043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.822414037 meters 0.09664369407059471 Centerline is valid? [True, True] Translation: X:213.52, Y:-18.99, Z:-5.54 [[ 9.99998875e-01 3.23698836e-04 -1.46446922e-03 2.13520703e+02] [-3.23440312e-04 9.99999932e-01 1.76764159e-04 -1.89938925e+01] [ 1.46452634e-03 -1.76290292e-04 9.99998912e-01 -5.54020754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.852414037 meters 0.09702334337953478 Centerline is valid? [True, True] Translation: X:213.55, Y:-19.00, Z:-5.54 [[ 9.99998880e-01 1.58997214e-04 -1.48845611e-03 2.13549928e+02] [-1.58731221e-04 9.99999971e-01 1.78820600e-04 -1.89983012e+01] [ 1.48848450e-03 -1.78584135e-04 9.99998876e-01 -5.54131297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.882414037 meters 0.09763790889489889 Centerline is valid? [True, True] Translation: X:213.58, Y:-19.00, Z:-5.54 [[ 9.99998808e-01 -9.69741938e-05 -1.54083985e-03 2.13579466e+02] [ 9.72595022e-05 9.99999978e-01 1.85090320e-04 -1.90030494e+01] [ 1.54082187e-03 -1.85239961e-04 9.99998796e-01 -5.54213908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.912414037 meters 0.09863985861929093 Centerline is valid? [True, True] Translation: X:213.61, Y:-19.01, Z:-5.54 [[ 9.99999863e-01 1.29089331e-04 -5.07996302e-04 2.13608618e+02] [-1.29058419e-04 9.99999990e-01 6.08825929e-05 -1.90089461e+01] [ 5.08004156e-04 -6.08170233e-05 9.99999869e-01 -5.54350117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.942414037 meters 0.10157315631207145 Centerline is valid? [True, False] Translation: X:213.61, Y:-19.01, Z:-5.54 [[ 9.99999909e-01 5.59999320e-05 -4.22068429e-04 2.13608196e+02] [-5.59663316e-05 9.99999995e-01 7.96202860e-05 -1.90094886e+01] [ 4.22072886e-04 -7.95966572e-05 9.99999908e-01 -5.54314730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.972414037 meters 0.0992320597817511 Centerline is valid? [False, True] Translation: X:213.61, Y:-19.01, Z:-5.54 [[ 9.99999904e-01 2.44561703e-04 -3.62445906e-04 2.13608348e+02] [-2.44403570e-04 9.99999875e-01 4.36272802e-04 -1.90101175e+01] [ 3.62552556e-04 -4.36184178e-04 9.99999839e-01 -5.54353514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.002414037 meters 0.09653287477662274 Centerline is valid? [True, True] Translation: X:213.64, Y:-19.01, Z:-5.54 [[ 9.99999346e-01 -2.14227941e-04 1.12327859e-03 2.13639123e+02] [ 2.14381943e-04 9.99999968e-01 -1.36981650e-04 -1.90108468e+01] [-1.12324921e-03 1.37222371e-04 9.99999360e-01 -5.54387925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.032414037 meters 0.09808355296004928 Centerline is valid? [True, True] Translation: X:213.67, Y:-19.02, Z:-5.55 [[ 9.99999853e-01 -5.34305113e-04 -9.50158664e-05 2.13668945e+02] [ 5.34306254e-04 9.99999857e-01 1.19869915e-05 -1.90181082e+01] [ 9.50094481e-05 -1.20377573e-05 9.99999995e-01 -5.54525007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.062414037 meters 0.10169964218946798 Centerline is valid? [True, False] Translation: X:213.67, Y:-19.02, Z:-5.55 [[ 9.99999865e-01 -5.16956591e-04 -5.07784586e-05 2.13668732e+02] [ 5.16963101e-04 9.99999858e-01 1.28280831e-04 -1.90187884e+01] [ 5.07121358e-05 -1.28307064e-04 9.99999990e-01 -5.54506736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.092414037 meters 0.10225910315377736 Centerline is valid? [False, False] Translation: X:213.67, Y:-19.02, Z:-5.55 [[ 9.99999956e-01 -2.95016689e-04 1.79011122e-05 2.13668914e+02] [ 2.95006390e-04 9.99999793e-01 5.72640625e-04 -1.90197981e+01] [-1.80700471e-05 -5.72635319e-04 9.99999836e-01 -5.54553417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.122414037 meters 0.10245346445770256 Centerline is valid? [False, False] Translation: X:213.67, Y:-19.02, Z:-5.55 [[ 9.99999997e-01 1.13473324e-05 -7.62045374e-05 2.13669444e+02] [-1.12687044e-05 9.99999468e-01 1.03172329e-03 -1.90204312e+01] [ 7.62162041e-05 -1.03172243e-03 9.99999465e-01 -5.54605276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15241403699997 meters 0.10156365274555472 Centerline is valid? [False, False] Translation: X:213.67, Y:-19.02, Z:-5.55 [[ 9.99999956e-01 2.72052937e-04 -1.22323873e-04 2.13669746e+02] [-2.71878024e-04 9.99998944e-01 1.42766196e-03 -1.90212263e+01] [ 1.22712143e-04 -1.42762864e-03 9.99998973e-01 -5.54635537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18241403699997 meters 0.10224688650611037 Centerline is valid? [False, False] Translation: X:213.67, Y:-19.02, Z:-5.55 [[ 9.99999927e-01 3.80843360e-04 -2.11138706e-05 2.13669277e+02] [-3.80805630e-04 9.99998380e-01 1.75910659e-03 -1.90227366e+01] [ 2.17837804e-05 -1.75909842e-03 9.99998453e-01 -5.54595527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21241403699997 meters 0.10656531823690826 Centerline is valid? [False, False] Translation: X:213.67, Y:-19.02, Z:-5.55 [[ 9.99999961e-01 2.65872252e-04 8.88810087e-05 2.13668774e+02] [-2.66021122e-04 9.99998555e-01 1.67914208e-03 -1.90230886e+01] [-8.84344429e-05 -1.67916566e-03 9.99998586e-01 -5.54551376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24241403699997 meters 0.10335783778343803 Centerline is valid? [False, False] Translation: X:213.67, Y:-19.02, Z:-5.55 [[ 9.99999928e-01 3.71279267e-04 8.22542249e-05 2.13668772e+02] [-3.71433748e-04 9.99998152e-01 1.88610920e-03 -1.90236942e+01] [-8.15537997e-05 -1.88613961e-03 9.99998218e-01 -5.54550021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27241403699998 meters 0.10181390814681306 Centerline is valid? [False, False] Translation: X:213.67, Y:-19.02, Z:-5.55 [[ 9.99999905e-01 4.34139762e-04 2.49788148e-05 2.13668613e+02] [-4.34189669e-04 9.99997837e-01 2.03389185e-03 -1.90245485e+01] [-2.40957675e-05 -2.03390250e-03 9.99997931e-01 -5.54511023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30241403699998 meters 0.10390479916296312 Centerline is valid? [False, False] Translation: X:213.67, Y:-19.02, Z:-5.55 [[ 9.99999856e-01 5.33123887e-04 -6.54426404e-05 2.13668801e+02] [-5.32983052e-04 9.99997582e-01 2.13351588e-03 -1.90248284e+01] [ 6.65799104e-05 -2.13348069e-03 9.99997722e-01 -5.54511142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33241403699998 meters 0.1036955385563499 Centerline is valid? [False, False] Translation: X:213.67, Y:-19.03, Z:-5.55 [[ 9.99999439e-01 -7.97556698e-04 -6.97246701e-04 2.13672281e+02] [ 7.97926223e-04 9.99999541e-01 5.29859662e-04 -1.90250836e+01] [ 6.96823788e-04 -5.30415717e-04 9.99999617e-01 -5.54780396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36241403699998 meters 0.10076952744038929 Centerline is valid? [False, False] Translation: X:213.67, Y:-19.03, Z:-5.55 [[ 9.99999339e-01 -7.80502831e-04 -8.44662183e-04 2.13672486e+02] [ 7.80920875e-04 9.99999573e-01 4.94707923e-04 -1.90251355e+01] [ 8.44275701e-04 -4.95367210e-04 9.99999521e-01 -5.54769614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39241403699998 meters 0.09827058995266454 Centerline is valid? [False, True] Translation: X:213.67, Y:-19.03, Z:-5.55 [[ 9.99999197e-01 -3.42685806e-04 -1.22014253e-03 2.13673589e+02] [ 3.43751299e-04 9.99999560e-01 8.73149915e-04 -1.90256299e+01] [ 1.21984278e-03 -8.73568639e-04 9.99998874e-01 -5.54827348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42241403699998 meters 0.09541057343246886 Centerline is valid? [True, True] Translation: X:213.70, Y:-19.02, Z:-5.55 [[ 9.99995890e-01 9.94506452e-04 -2.68905546e-03 2.13704609e+02] [-9.93644866e-04 9.99999455e-01 3.21721508e-04 -1.90236243e+01] [ 2.68937395e-03 -3.19048219e-04 9.99996333e-01 -5.54758951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45241403699998 meters 0.09616964883063217 Centerline is valid? [True, True] Translation: X:213.73, Y:-19.03, Z:-5.55 [[ 9.99992809e-01 2.61894149e-03 -2.74281137e-03 2.13732728e+02] [-2.61805469e-03 9.99996519e-01 3.26857494e-04 -1.90283560e+01] [ 2.74365785e-03 -3.19674313e-04 9.99996185e-01 -5.54948156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48241403699998 meters 0.09734340723927815 Centerline is valid? [True, True] Translation: X:213.76, Y:-19.03, Z:-5.55 [[ 9.99982546e-01 4.95441827e-03 -3.21899699e-03 2.13761493e+02] [-4.95320611e-03 9.99987659e-01 3.84426793e-04 -1.90330224e+01] [ 3.22086187e-03 -3.68475727e-04 9.99994745e-01 -5.55118883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51241403699999 meters 0.0952161255909736 Centerline is valid? [True, True] Translation: X:213.79, Y:-19.03, Z:-5.55 [[ 9.99976025e-01 6.50750919e-03 -2.36672578e-03 2.13791303e+02] [-6.50685943e-03 9.99978790e-01 2.82137439e-04 -1.90325695e+01] [ 2.36851159e-03 -2.66730723e-04 9.99997159e-01 -5.55107391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.542414037 meters 0.09499637536891296 Centerline is valid? [True, True] Translation: X:213.82, Y:-19.04, Z:-5.55 [[ 9.99967781e-01 7.59313919e-03 -2.60400816e-03 2.13820615e+02] [-7.59235628e-03 9.99971129e-01 3.10411843e-04 -1.90355375e+01] [ 2.60628998e-03 -2.90631284e-04 9.99996561e-01 -5.55136677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.572414037 meters 0.09655961164692914 Centerline is valid? [True, True] Translation: X:213.85, Y:-19.04, Z:-5.55 [[ 9.99954807e-01 9.05429486e-03 -2.89880552e-03 2.13848862e+02] [-9.05332973e-03 9.99958958e-01 3.45890362e-04 -1.90411192e+01] [ 2.90181834e-03 -3.19630888e-04 9.99995739e-01 -5.55254595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.602414037 meters 0.09720319837051022 Centerline is valid? [True, True] Translation: X:213.88, Y:-19.04, Z:-5.55 [[ 9.99951039e-01 9.61853618e-03 -2.32439048e-03 2.13877226e+02] [-9.61792012e-03 9.99953709e-01 2.76072432e-04 -1.90449393e+01] [ 2.32693830e-03 -2.53703114e-04 9.99997260e-01 -5.55309838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.632414037 meters 0.0968733105066088 Centerline is valid? [True, True] Translation: X:213.91, Y:-19.05, Z:-5.55 [[ 9.99948532e-01 9.65736295e-03 -3.10932306e-03 2.13906296e+02] [-9.65625987e-03 9.99953309e-01 3.69582151e-04 -1.90471117e+01] [ 3.11274707e-03 -3.39538698e-04 9.99995098e-01 -5.55339745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.662414037 meters 0.09569217523787694 Centerline is valid? [True, True] Translation: X:213.94, Y:-19.05, Z:-5.55 [[ 9.99941518e-01 1.04230100e-02 -2.88462130e-03 2.13935450e+02] [-1.04220647e-02 9.99945630e-01 3.42550186e-04 -1.90475481e+01] [ 2.88803486e-03 -3.12466444e-04 9.99995781e-01 -5.55375017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.692414037 meters 0.09536941389160733 Centerline is valid? [True, True] Translation: X:213.96, Y:-19.05, Z:-5.55 [[ 9.99939997e-01 1.04576964e-02 -3.26187578e-03 2.13963701e+02] [-1.04564879e-02 9.99945254e-01 3.87314998e-04 -1.90498494e+01] [ 3.26574763e-03 -3.53183993e-04 9.99994605e-01 -5.55434198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.722414037 meters 0.09695698851512842 Centerline is valid? [True, True] Translation: X:213.99, Y:-19.06, Z:-5.56 [[ 9.99938322e-01 1.07477108e-02 -2.79976546e-03 2.13990928e+02] [-1.07468239e-02 9.99942196e-01 3.31633305e-04 -1.90557889e+01] [ 2.80316793e-03 -3.01524264e-04 9.99996026e-01 -5.55589540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.752414037 meters 0.09786273937641057 Centerline is valid? [True, True] Translation: X:214.02, Y:-19.06, Z:-5.56 [[ 9.99935611e-01 1.07370908e-02 -3.67270522e-03 2.14018407e+02] [-1.07355635e-02 9.99942277e-01 4.35328563e-04 -1.90603099e+01] [ 3.67716738e-03 -3.95871973e-04 9.99993161e-01 -5.55716228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.782414037 meters 0.09314502379488443 Centerline is valid? [True, True] Translation: X:214.05, Y:-19.06, Z:-5.56 [[ 9.99941673e-01 1.02574319e-02 -3.38163980e-03 2.14048062e+02] [-1.02561346e-02 9.99947324e-01 4.00744870e-04 -1.90550524e+01] [ 3.38557229e-03 -3.66038943e-04 9.99994202e-01 -5.55557772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.812414037 meters 0.09870935472388043 Centerline is valid? [True, True] Translation: X:214.07, Y:-19.07, Z:-5.56 [[ 9.99943964e-01 1.01664863e-02 -2.95166607e-03 2.14074379e+02] [-1.01655000e-02 9.99948269e-01 3.48973226e-04 -1.90685948e+01] [ 2.95506121e-03 -3.18948509e-04 9.99995583e-01 -5.55870991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.842414037 meters 0.09773320045967138 Centerline is valid? [True, True] Translation: X:214.10, Y:-19.07, Z:-5.56 [[ 9.99945727e-01 9.74882494e-03 -3.67483642e-03 2.14103295e+02] [-9.74729097e-03 9.99952399e-01 4.35104078e-04 -1.90704123e+01] [ 3.67890325e-03 -3.99260763e-04 9.99993153e-01 -5.55937257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.872414037 meters 0.09773320045967138 Centerline is valid? [True, True] Translation: X:214.13, Y:-19.07, Z:-5.56 [[ 9.99946381e-01 9.68149462e-03 -3.67486567e-03 2.14131583e+02] [-9.67996110e-03 9.99953054e-01 4.34857353e-04 -1.90737016e+01] [ 3.67890322e-03 -3.99261479e-04 9.99993153e-01 -5.55998802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90241403699997 meters 0.09538218895580633 Centerline is valid? [True, True] Translation: X:214.16, Y:-19.07, Z:-5.56 [[ 9.99955616e-01 8.55803539e-03 -3.94030762e-03 2.14161764e+02] [-8.55626103e-03 9.99963286e-01 4.66948764e-04 -1.90733051e+01] [ 3.94415912e-03 -4.33213739e-04 9.99992128e-01 -5.56016839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93241403699997 meters 0.10034913399669786 Centerline is valid? [True, False] Translation: X:214.16, Y:-19.07, Z:-5.56 [[ 9.99955783e-01 8.54152473e-03 -3.93380928e-03 2.14161752e+02] [-8.53965625e-03 9.99963416e-01 4.91529997e-04 -1.90734740e+01] [ 3.93786378e-03 -4.57914884e-04 9.99992142e-01 -5.56019465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96241403699997 meters 0.0972227838843889 Centerline is valid? [False, True] Translation: X:214.16, Y:-19.07, Z:-5.56 [[ 9.99979747e-01 4.48155157e-03 -4.51904605e-03 2.14163130e+02] [-4.49928509e-03 9.99982188e-01 -3.92167093e-03 -1.90720692e+01] [ 4.50139039e-03 3.94192398e-03 9.99982099e-01 -5.56063296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99241403699997 meters 0.09779171257622164 Centerline is valid? [True, True] Translation: X:214.19, Y:-19.08, Z:-5.56 [[ 9.99984320e-01 3.83804170e-03 -4.07784453e-03 2.14191556e+02] [-3.83615922e-03 9.99992532e-01 4.69357003e-04 -1.90782269e+01] [ 4.07961549e-03 -4.53706383e-04 9.99991575e-01 -5.56327521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02241403699998 meters 0.09867575269510982 Centerline is valid? [True, True] Translation: X:214.22, Y:-19.08, Z:-5.56 [[ 9.99993387e-01 2.75285167e-03 -2.37653260e-03 2.14220178e+02] [-2.75221016e-03 9.99996175e-01 2.73163948e-04 -1.90834166e+01] [ 2.37727549e-03 -2.66621424e-04 9.99997139e-01 -5.56416114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05241403699998 meters 0.09851310972293353 Centerline is valid? [True, True] Translation: X:214.25, Y:-19.09, Z:-5.56 [[ 9.99994646e-01 2.31285792e-03 -2.31491258e-03 2.14249079e+02] [-2.31224843e-03 9.99997291e-01 2.65931701e-04 -1.90867598e+01] [ 2.31552137e-03 -2.60577624e-04 9.99997285e-01 -5.56437404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08241403699998 meters 0.09863605501846279 Centerline is valid? [True, True] Translation: X:214.28, Y:-19.09, Z:-5.56 [[ 9.99995358e-01 1.03531949e-03 -2.86583807e-03 2.14279196e+02] [-1.03437745e-03 9.99999411e-01 3.30179243e-04 -1.90896989e+01] [ 2.86617822e-03 -3.27213352e-04 9.99995839e-01 -5.56407885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11241403699998 meters 0.10096221835835073 Centerline is valid? [True, False] Translation: X:214.28, Y:-19.09, Z:-5.56 [[ 9.99994834e-01 1.24428275e-03 -2.96388499e-03 2.14279799e+02] [-1.24254803e-03 9.99999056e-01 5.87056843e-04 -1.90897386e+01] [ 2.96461265e-03 -5.83371041e-04 9.99995435e-01 -5.56466713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14241403699998 meters 0.10122709670226865 Centerline is valid? [False, False] Translation: X:214.28, Y:-19.09, Z:-5.56 [[ 9.99995165e-01 1.00587446e-03 -2.94241811e-03 2.14279618e+02] [-1.00527620e-03 9.99999474e-01 2.04795208e-04 -1.90890306e+01] [ 2.94262256e-03 -2.01836275e-04 9.99995650e-01 -5.56444932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17241403699998 meters 0.09858730012326598 Centerline is valid? [False, True] Translation: X:214.28, Y:-19.09, Z:-5.56 [[ 9.99995367e-01 8.25423143e-04 -2.92994756e-03 2.14279541e+02] [-8.25755311e-04 9.99999653e-01 -1.12162013e-04 -1.90883513e+01] [ 2.92985397e-03 1.14580913e-04 9.99995701e-01 -5.56435525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20241403699998 meters 0.10320383832230326 Centerline is valid? [True, False] Translation: X:214.28, Y:-19.09, Z:-5.56 [[ 9.99995016e-01 8.31408726e-04 -3.04563956e-03 2.14280217e+02] [-8.32201821e-04 9.99999620e-01 -2.59145397e-04 -1.90872140e+01] [ 3.04542294e-03 2.61678692e-04 9.99995328e-01 -5.56498696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23241403699998 meters 0.10124600149005915 Centerline is valid? [False, False] Translation: X:214.28, Y:-19.09, Z:-5.56 [[ 9.99995160e-01 6.38500494e-04 -3.04514299e-03 2.14280224e+02] [-6.40342645e-04 9.99999613e-01 -6.04010518e-04 -1.90862824e+01] [ 3.04475615e-03 6.05957530e-04 9.99995181e-01 -5.56499930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26241403699999 meters 0.09996061629083383 Centerline is valid? [False, True] Translation: X:214.28, Y:-19.09, Z:-5.57 [[ 9.99994713e-01 7.33031529e-04 -3.16804473e-03 2.14280798e+02] [-7.34957507e-04 9.99999546e-01 -6.06817872e-04 -1.90856943e+01] [ 3.16759848e-03 6.09143042e-04 9.99994798e-01 -5.56545113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.292414037 meters 0.09833236014017654 Centerline is valid? [True, True] Translation: X:214.31, Y:-19.09, Z:-5.57 [[ 9.99997521e-01 1.11626443e-03 -1.92658961e-03 2.14310194e+02] [-1.11585262e-03 9.99999354e-01 2.14812074e-04 -1.90850326e+01] [ 1.92682815e-03 -2.12661752e-04 9.99998121e-01 -5.56505098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.322414037 meters 0.09834953842674489 Centerline is valid? [True, True] Translation: X:214.34, Y:-19.09, Z:-5.57 [[ 9.99998613e-01 1.24713323e-03 -1.10369351e-03 2.14339626e+02] [-1.24699573e-03 9.99999215e-01 1.25258922e-04 -1.90876823e+01] [ 1.10384886e-03 -1.23882447e-04 9.99999383e-01 -5.56533898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.352414037 meters 0.10084902608996017 Centerline is valid? [True, False] Translation: X:214.34, Y:-19.09, Z:-5.57 [[ 9.99998680e-01 1.18556748e-03 -1.11142215e-03 2.14339740e+02] [-1.18559048e-03 9.99999297e-01 -2.00380839e-05 -1.90870994e+01] [ 1.11139761e-03 2.13557489e-05 9.99999382e-01 -5.56546236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.382414037 meters 0.10153379606320832 Centerline is valid? [False, False] Translation: X:214.34, Y:-19.09, Z:-5.57 [[ 9.99998659e-01 1.19347947e-03 -1.12114936e-03 2.14340035e+02] [-1.19355216e-03 9.99999286e-01 -6.41645130e-05 -1.90865318e+01] [ 1.12107198e-03 6.55025772e-05 9.99999369e-01 -5.56584472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.412414037 meters 0.09760256024123454 Centerline is valid? [False, True] Translation: X:214.34, Y:-19.09, Z:-5.57 [[ 9.99998944e-01 9.74564330e-04 -1.07851397e-03 2.14339967e+02] [-9.74990297e-04 9.99999447e-01 -3.94501181e-04 -1.90856298e+01] [ 1.07812891e-03 3.95552305e-04 9.99999341e-01 -5.56585723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.442414037 meters 0.09676739214754256 Centerline is valid? [True, True] Translation: X:214.37, Y:-19.09, Z:-5.57 [[ 9.99997992e-01 9.35017726e-04 -1.77255655e-03 2.14369944e+02] [-9.34657821e-04 9.99999542e-01 2.03860258e-04 -1.90870106e+01] [ 1.77274636e-03 -2.02203115e-04 9.99998408e-01 -5.56612365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.472414037 meters 0.09765177813583832 Centerline is valid? [True, True] Translation: X:214.40, Y:-19.09, Z:-5.57 [[ 9.99997350e-01 9.07984759e-04 -2.11564611e-03 2.14399431e+02] [-9.07471795e-04 9.99999559e-01 2.43409306e-04 -1.90908762e+01] [ 2.11586619e-03 -2.41488772e-04 9.99997732e-01 -5.56792721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.502414037 meters 0.0978798438974312 Centerline is valid? [True, True] Translation: X:214.43, Y:-19.09, Z:-5.57 [[ 9.99989959e-01 1.80617591e-03 -4.10124772e-03 2.14429344e+02] [-1.80425314e-03 9.99998261e-01 4.72478699e-04 -1.90914976e+01] [ 4.10209397e-03 -4.65074266e-04 9.99991478e-01 -5.56918658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.532414037 meters 0.09755347960814992 Centerline is valid? [True, True] Translation: X:214.46, Y:-19.09, Z:-5.57 [[ 9.99987728e-01 2.42007051e-03 -4.32281959e-03 2.14458341e+02] [-2.41794461e-03 9.99996953e-01 4.96944810e-04 -1.90930348e+01] [ 4.32400906e-03 -4.86486373e-04 9.99990533e-01 -5.57013920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.562414037 meters 0.09789072497921142 Centerline is valid? [True, True] Translation: X:214.49, Y:-19.10, Z:-5.57 [[ 9.99983715e-01 3.14283404e-03 -4.76370274e-03 2.14487510e+02] [-3.14025891e-03 9.99994919e-01 5.47956546e-04 -1.90958035e+01] [ 4.76540067e-03 -5.32988363e-04 9.99988503e-01 -5.57126979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.592414037 meters 0.09721697480241127 Centerline is valid? [True, True] Translation: X:214.52, Y:-19.10, Z:-5.57 [[ 9.99983632e-01 3.72122306e-03 -4.34598838e-03 2.14517076e+02] [-3.71909313e-03 9.99992960e-01 4.98069067e-04 -1.90952629e+01] [ 4.34781121e-03 -4.81897779e-04 9.99990432e-01 -5.57190805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.622414037 meters 0.09727523232459145 Centerline is valid? [True, True] Translation: X:214.55, Y:-19.10, Z:-5.57 [[ 9.99983159e-01 3.84869880e-03 -4.34385047e-03 2.14546173e+02] [-3.84656969e-03 9.99992478e-01 4.98390565e-04 -1.90974621e+01] [ 4.34573595e-03 -4.81673248e-04 9.99990441e-01 -5.57251307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65241403699997 meters 0.096499416908477 Centerline is valid? [True, True] Translation: X:214.58, Y:-19.10, Z:-5.57 [[ 9.99986166e-01 3.96687854e-03 -3.45431382e-03 2.14575315e+02] [-3.96553485e-03 9.99992059e-01 3.95751438e-04 -1.90980826e+01] [ 3.45585628e-03 -3.82047761e-04 9.99993956e-01 -5.57268704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68241403699997 meters 0.09715059644734364 Centerline is valid? [True, True] Translation: X:214.60, Y:-19.10, Z:-5.57 [[ 9.99984124e-01 5.18864349e-03 -2.19763440e-03 2.14603978e+02] [-5.18810318e-03 9.99986510e-01 2.51487787e-04 -1.90999338e+01] [ 2.19890963e-03 -2.40082240e-04 9.99997554e-01 -5.57303871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71241403699997 meters 0.09526160026133595 Centerline is valid? [True, True] Translation: X:214.63, Y:-19.10, Z:-5.57 [[ 9.99982447e-01 5.43510808e-03 -2.35912496e-03 2.14633415e+02] [-5.43448728e-03 9.99985197e-01 2.69477633e-04 -1.90980766e+01] [ 2.36055468e-03 -2.56652268e-04 9.99997181e-01 -5.57234561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74241403699997 meters 0.09751917526863435 Centerline is valid? [True, True] Translation: X:214.66, Y:-19.10, Z:-5.57 [[ 9.99980784e-01 6.02644153e-03 -1.45368757e-03 2.14660521e+02] [-6.02620808e-03 9.99981829e-01 1.64916988e-04 -1.91038327e+01] [ 1.45465502e-03 -1.56153596e-04 9.99998930e-01 -5.57379584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77241403699998 meters 0.09580486040947186 Centerline is valid? [True, True] Translation: X:214.69, Y:-19.10, Z:-5.57 [[ 9.99978307e-01 6.36006764e-03 -1.71302595e-03 2.14689298e+02] [-6.35974285e-03 9.99979758e-01 1.94979090e-04 -1.91024233e+01] [ 1.71423135e-03 -1.84080456e-04 9.99998514e-01 -5.57344920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80241403699998 meters 0.09636935129727632 Centerline is valid? [True, True] Translation: X:214.72, Y:-19.10, Z:-5.57 [[ 9.99976156e-01 6.82155304e-03 -1.07379267e-03 2.14717403e+02] [-6.82142684e-03 9.99976726e-01 1.21144269e-04 -1.91040030e+01] [ 1.07459407e-03 -1.13816582e-04 9.99999416e-01 -5.57433859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83241403699998 meters 0.09725704911053296 Centerline is valid? [True, True] Translation: X:214.74, Y:-19.11, Z:-5.58 [[ 9.99976404e-01 6.67886235e-03 -1.60758908e-03 2.14744750e+02] [-6.67857791e-03 9.99977681e-01 1.82239570e-04 -1.91076984e+01] [ 1.60877036e-03 -1.71498861e-04 9.99998691e-01 -5.57568807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86241403699998 meters 0.09841416690878442 Centerline is valid? [True, True] Translation: X:214.77, Y:-19.11, Z:-5.58 [[ 9.99976855e-01 6.42732762e-03 -2.23118586e-03 2.14772274e+02] [-6.42677850e-03 9.99979316e-01 2.53194441e-04 -1.91104874e+01] [ 2.23276708e-03 -2.38849244e-04 9.99997479e-01 -5.57788087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89241403699998 meters 0.09963203378622468 Centerline is valid? [True, True] Translation: X:214.80, Y:-19.11, Z:-5.58 [[ 9.99978446e-01 5.50511296e-03 -3.57781750e-03 2.14801607e+02] [-5.50368540e-03 9.99984771e-01 4.08727017e-04 -1.91148643e+01] [ 3.58001310e-03 -3.89027026e-04 9.99993516e-01 -5.57904479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92241403699998 meters 0.09801752816607291 Centerline is valid? [True, True] Translation: X:214.83, Y:-19.11, Z:-5.58 [[ 9.99980450e-01 4.83417591e-03 -3.96617861e-03 2.14830886e+02] [-4.83242025e-03 9.99988222e-01 4.52121189e-04 -1.91144860e+01] [ 3.96831753e-03 -4.32946108e-04 9.99992032e-01 -5.57990705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95241403699998 meters 0.10113755383706013 Centerline is valid? [True, False] Translation: X:214.83, Y:-19.11, Z:-5.58 [[ 9.99982992e-01 4.44401293e-03 -3.77705118e-03 2.14830572e+02] [-4.44425906e-03 9.99990123e-01 -5.67737022e-05 -1.91130391e+01] [ 3.77676157e-03 7.35589306e-05 9.99992865e-01 -5.58000535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98241403699998 meters 0.10033594358232938 Centerline is valid? [False, False] Translation: X:214.83, Y:-19.11, Z:-5.58 [[ 9.99982327e-01 4.55537893e-03 -3.82032133e-03 2.14831025e+02] [-4.55517487e-03 9.99989623e-01 6.21153782e-05 -1.91127850e+01] [ 3.82056465e-03 -4.47120487e-05 9.99992701e-01 -5.58053052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01241403699999 meters 0.0982344498342028 Centerline is valid? [False, True] Translation: X:214.83, Y:-19.11, Z:-5.58 [[ 9.99982278e-01 4.57172712e-03 -3.81355835e-03 2.14831270e+02] [-4.57141506e-03 9.99989547e-01 9.05407302e-05 -1.91124526e+01] [ 3.81393242e-03 -7.31057675e-05 9.99992724e-01 -5.58090157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.042414037 meters 0.09968795857768499 Centerline is valid? [True, True] Translation: X:214.86, Y:-19.12, Z:-5.58 [[ 9.99993651e-01 2.27058114e-03 -2.74652444e-03 2.14860715e+02] [-2.26971449e-03 9.99997373e-01 3.18619851e-04 -1.91173685e+01] [ 2.74724067e-03 -3.12384002e-04 9.99996178e-01 -5.58132144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.072414037 meters 0.09962778175123951 Centerline is valid? [True, True] Translation: X:214.89, Y:-19.12, Z:-5.58 [[ 9.99996742e-01 1.18777534e-03 -2.25957650e-03 2.14890183e+02] [-1.18718733e-03 9.99999261e-01 2.61554346e-04 -1.91202041e+01] [ 2.25988550e-03 -2.58870954e-04 9.99997413e-01 -5.58153314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.102414037 meters 0.10080120985552199 Centerline is valid? [True, False] Translation: X:214.89, Y:-19.12, Z:-5.58 [[ 9.99997331e-01 1.00325418e-03 -2.08128928e-03 2.14889795e+02] [-1.00309992e-03 9.99999494e-01 7.51630530e-05 -1.91198081e+01] [ 2.08136364e-03 -7.30751112e-05 9.99997831e-01 -5.58148248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.132414037 meters 0.10061490922780075 Centerline is valid? [False, False] Translation: X:214.89, Y:-19.12, Z:-5.58 [[ 9.99998344e-01 5.63519838e-04 -1.73068140e-03 2.14888949e+02] [-5.64025126e-04 9.99999798e-01 -2.91484725e-04 -1.91191181e+01] [ 1.73051679e-03 2.92460390e-04 9.99998460e-01 -5.58130859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.162414037 meters 0.10303632655145509 Centerline is valid? [False, False] Translation: X:214.89, Y:-19.12, Z:-5.58 [[ 9.99998192e-01 7.72051613e-04 -1.73758924e-03 2.14889404e+02] [-7.72016105e-04 9.99999702e-01 2.11057468e-05 -1.91193384e+01] [ 1.73760502e-03 -1.97642618e-05 9.99998490e-01 -5.58194181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.192414037 meters 0.10272257963368994 Centerline is valid? [False, False] Translation: X:214.89, Y:-19.12, Z:-5.58 [[ 9.99997999e-01 9.75360144e-04 -1.74666753e-03 2.14889952e+02] [-9.74784555e-04 9.99999470e-01 3.30356139e-04 -1.91194100e+01] [ 1.74698882e-03 -3.28652853e-04 9.99998420e-01 -5.58273702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.222414037 meters 0.1036307753187104 Centerline is valid? [False, False] Translation: X:214.89, Y:-19.12, Z:-5.58 [[ 9.99998708e-01 5.73619951e-04 -1.50137165e-03 2.14889327e+02] [-5.73794294e-04 9.99999829e-01 -1.15694079e-04 -1.91186028e+01] [ 1.50130502e-03 1.16555408e-04 9.99998866e-01 -5.58254785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.252414037 meters 0.10365454225793537 Centerline is valid? [False, False] Translation: X:214.89, Y:-19.12, Z:-5.58 [[ 9.99998725e-01 5.92794251e-04 -1.48301235e-03 2.14889459e+02] [-5.92914881e-04 9.99999821e-01 -8.09027452e-05 -1.91184348e+01] [ 1.48296413e-03 8.17819421e-05 9.99998897e-01 -5.58277954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.282414037 meters 0.10634371930622348 Centerline is valid? [False, False] Translation: X:214.89, Y:-19.12, Z:-5.58 [[ 9.99998498e-01 7.14669541e-04 -1.57912685e-03 2.14890018e+02] [-7.14677726e-04 9.99999745e-01 -4.61868682e-06 -1.91180014e+01] [ 1.57912315e-03 5.74724666e-06 9.99998753e-01 -5.58330659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.312414037 meters 0.10468015997440037 Centerline is valid? [False, False] Translation: X:214.89, Y:-19.12, Z:-5.58 [[ 9.99998697e-01 4.13220961e-04 -1.56078781e-03 2.14889747e+02] [-4.13947759e-04 9.99999806e-01 -4.65366546e-04 -1.91170323e+01] [ 1.56059521e-03 4.66012024e-04 9.99998674e-01 -5.58296522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.342414037 meters 0.10121188519823207 Centerline is valid? [False, False] Translation: X:214.89, Y:-19.12, Z:-5.58 [[ 9.99998809e-01 2.83417879e-04 -1.51724983e-03 2.14889709e+02] [-2.84388484e-04 9.99999755e-01 -6.39536005e-04 -1.91164292e+01] [ 1.51706820e-03 6.39966732e-04 9.99998644e-01 -5.58303547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.372414037 meters 0.10273026435721214 Centerline is valid? [False, False] Translation: X:214.89, Y:-19.12, Z:-5.58 [[ 9.99998569e-01 2.69560334e-04 -1.67010010e-03 2.14890295e+02] [-2.70929782e-04 9.99999627e-01 -8.19807206e-04 -1.91153069e+01] [ 1.66987849e-03 8.20258513e-04 9.99998269e-01 -5.58346333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40241403699997 meters 0.10320265390914828 Centerline is valid? [False, False] Translation: X:214.89, Y:-19.11, Z:-5.58 [[ 9.99998293e-01 3.59158505e-04 -1.81270077e-03 2.14890899e+02] [-3.60630950e-04 9.99999605e-01 -8.12031732e-04 -1.91147535e+01] [ 1.81240840e-03 8.12684062e-04 9.99998027e-01 -5.58392780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43241403699997 meters 0.10323378622583934 Centerline is valid? [False, False] Translation: X:214.89, Y:-19.11, Z:-5.58 [[ 9.99997956e-01 4.84073817e-04 -1.96325869e-03 2.14891575e+02] [-4.85582218e-04 9.99999587e-01 -7.67911413e-04 -1.91141129e+01] [ 1.96288616e-03 7.68863167e-04 9.99997778e-01 -5.58447594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46241403699997 meters 0.101857615585951 Centerline is valid? [False, False] Translation: X:214.89, Y:-19.11, Z:-5.58 [[ 9.99997221e-01 5.56415863e-04 -2.29085925e-03 2.14892588e+02] [-5.58649446e-04 9.99999369e-01 -9.74473331e-04 -1.91125474e+01] [ 2.29031559e-03 9.75750410e-04 9.99996901e-01 -5.58499723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49241403699997 meters 0.10094429080365397 Centerline is valid? [False, False] Translation: X:214.89, Y:-19.11, Z:-5.59 [[ 9.99997043e-01 4.74682620e-04 -2.38525760e-03 2.14892905e+02] [-4.77592547e-04 9.99999142e-01 -1.21954183e-03 -1.91115197e+01] [ 2.38467666e-03 1.22067740e-03 9.99996412e-01 -5.58516108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52241403699998 meters 0.10298885327541729 Centerline is valid? [False, False] Translation: X:214.89, Y:-19.11, Z:-5.59 [[ 9.99996595e-01 6.48228541e-04 -2.52774720e-03 2.14893566e+02] [-6.50940197e-04 9.99999213e-01 -1.07208095e-03 -1.91111834e+01] [ 2.52705026e-03 1.07372271e-03 9.99996231e-01 -5.58570388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55241403699998 meters 0.10382314288450865 Centerline is valid? [False, False] Translation: X:214.89, Y:-19.11, Z:-5.59 [[ 9.99996634e-01 4.20861240e-04 -2.56010464e-03 2.14893634e+02] [-4.24691508e-04 9.99998791e-01 -1.49577777e-03 -1.91097319e+01] [ 2.55947203e-03 1.49685999e-03 9.99995604e-01 -5.58571121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58241403699998 meters 0.10285520715790243 Centerline is valid? [False, False] Translation: X:214.89, Y:-19.11, Z:-5.59 [[ 9.99996155e-01 6.62122845e-04 -2.69271257e-03 2.14894293e+02] [-6.65380067e-04 9.99999048e-01 -1.20892740e-03 -1.91098074e+01] [ 2.69190955e-03 1.21071443e-03 9.99995644e-01 -5.58628235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61241403699998 meters 0.10103856046116844 Centerline is valid? [False, False] Translation: X:214.89, Y:-19.11, Z:-5.59 [[ 9.99996184e-01 7.78483272e-04 -2.65082614e-03 2.14894571e+02] [-7.81106389e-04 9.99999206e-01 -9.88655598e-04 -1.91099024e+01] [ 2.65005439e-03 9.90722402e-04 9.99995998e-01 -5.58683077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64241403699998 meters 0.10218585032302495 Centerline is valid? [False, False] Translation: X:214.89, Y:-19.11, Z:-5.59 [[ 9.99996760e-01 6.14249666e-04 -2.47034367e-03 2.14894183e+02] [-6.16975702e-04 9.99999201e-01 -1.10289439e-03 -1.91098498e+01] [ 2.46966425e-03 1.10441495e-03 9.99996341e-01 -5.58679260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67241403699998 meters 0.10036049512588527 Centerline is valid? [False, False] Translation: X:214.89, Y:-19.11, Z:-5.59 [[ 9.99996478e-01 8.39938995e-04 -2.51771649e-03 2.14894622e+02] [-8.41879943e-04 9.99999349e-01 -7.69955727e-04 -1.91102459e+01] [ 2.51706813e-03 7.72072631e-04 9.99996534e-01 -5.58729644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70241403699998 meters 0.10417345163704922 Centerline is valid? [False, False] Translation: X:214.89, Y:-19.11, Z:-5.59 [[ 9.99996607e-01 9.02162982e-04 -2.44377604e-03 2.14894707e+02] [-9.03647313e-04 9.99999408e-01 -6.06356430e-04 -1.91104171e+01] [ 2.44322756e-03 6.08562684e-04 9.99996830e-01 -5.58762599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73241403699998 meters 0.10437985522073574 Centerline is valid? [False, False] Translation: X:214.89, Y:-19.11, Z:-5.59 [[ 9.99996930e-01 7.16932628e-04 -2.37174461e-03 2.14894408e+02] [-7.18828129e-04 9.99999423e-01 -7.98445197e-04 -1.91100744e+01] [ 2.37117081e-03 8.00147623e-04 9.99996869e-01 -5.58740958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76241403699999 meters 0.10437985522073574 Centerline is valid? [False, False] Translation: X:214.89, Y:-19.11, Z:-5.59 [[ 9.99996930e-01 7.16932628e-04 -2.37174461e-03 2.14894408e+02] [-7.18828129e-04 9.99999423e-01 -7.98445197e-04 -1.91100744e+01] [ 2.37117081e-03 8.00147623e-04 9.99996869e-01 -5.58740958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.792414037 meters 0.10285559842354113 Centerline is valid? [False, False] Translation: X:214.89, Y:-19.11, Z:-5.59 [[ 9.99996666e-01 8.92768751e-04 -2.42313475e-03 2.14894833e+02] [-8.94125151e-04 9.99999444e-01 -5.58745226e-04 -1.91101748e+01] [ 2.42263457e-03 5.60909949e-04 9.99996908e-01 -5.58787176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.822414037 meters 0.10612663076761646 Centerline is valid? [False, False] Translation: X:214.89, Y:-19.11, Z:-5.59 [[ 9.99996842e-01 8.33366138e-04 -2.37082328e-03 2.14894724e+02] [-8.34798675e-04 9.99999470e-01 -6.03310793e-04 -1.91100863e+01] [ 2.37031925e-03 6.05288048e-04 9.99997008e-01 -5.58786714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.852414037 meters 0.10138274876014525 Centerline is valid? [False, False] Translation: X:214.90, Y:-19.11, Z:-5.59 [[ 9.99996485e-01 1.04579452e-03 -2.43652526e-03 2.14895123e+02] [-1.04660551e-03 9.99999397e-01 -3.31594458e-04 -1.91103636e+01] [ 2.43617701e-03 3.34143373e-04 9.99996977e-01 -5.58824792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.882414037 meters 0.1010437880463367 Centerline is valid? [False, False] Translation: X:214.89, Y:-19.11, Z:-5.59 [[ 9.99996986e-01 7.66156240e-04 -2.33257233e-03 2.14894406e+02] [-7.67765761e-04 9.99999468e-01 -6.89202479e-04 -1.91101713e+01] [ 2.33204306e-03 6.90991271e-04 9.99997042e-01 -5.58748986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.912414037 meters 0.10045458680035885 Centerline is valid? [False, False] Translation: X:214.89, Y:-19.11, Z:-5.59 [[ 9.99996516e-01 1.03621046e-03 -2.42790385e-03 2.14894898e+02] [-1.03696620e-03 9.99999414e-01 -3.10032014e-04 -1.91107199e+01] [ 2.42758117e-03 3.12548588e-04 9.99997005e-01 -5.58794581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.942414037 meters 0.10607828221771423 Centerline is valid? [False, False] Translation: X:214.90, Y:-19.11, Z:-5.59 [[ 9.99996094e-01 1.01832205e-03 -2.60295578e-03 2.14895036e+02] [-1.01948305e-03 9.99999381e-01 -4.44741319e-04 -1.91106244e+01] [ 2.60250128e-03 4.47393251e-04 9.99996513e-01 -5.58760830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.972414037 meters 0.10124050490703598 Centerline is valid? [False, False] Translation: X:214.90, Y:-19.11, Z:-5.59 [[ 9.99995454e-01 1.37934404e-03 -2.68117454e-03 2.14895685e+02] [-1.37915601e-03 9.99999046e-01 7.19802329e-05 -1.91113178e+01] [ 2.68127127e-03 -6.82821477e-05 9.99996403e-01 -5.58833096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.002414037 meters 0.10968992402906312 Centerline is valid? [False, False] Translation: X:214.90, Y:-19.11, Z:-5.59 [[ 9.99995388e-01 1.43625466e-03 -2.67609680e-03 2.14895715e+02] [-1.43579254e-03 9.99998954e-01 1.74596569e-04 -1.91117056e+01] [ 2.67634476e-03 -1.70753444e-04 9.99996404e-01 -5.58838549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.032414037 meters 0.10141594510479547 Centerline is valid? [False, False] Translation: X:214.90, Y:-19.11, Z:-5.59 [[ 9.99995118e-01 1.48489204e-03 -2.74951613e-03 2.14895866e+02] [-1.48433724e-03 9.99998878e-01 2.03811112e-04 -1.91118882e+01] [ 2.74981568e-03 -1.99728908e-04 9.99996199e-01 -5.58838930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.062414037 meters 0.10162548174321409 Centerline is valid? [False, False] Translation: X:214.90, Y:-19.11, Z:-5.59 [[ 9.99994785e-01 1.71956848e-03 -2.73359735e-03 2.14896007e+02] [-1.71795967e-03 9.99998350e-01 5.90773371e-04 -1.91129215e+01] [ 2.73460871e-03 -5.86074080e-04 9.99996089e-01 -5.58861925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.092414037 meters 0.0995989411385953 Centerline is valid? [False, True] Translation: X:214.90, Y:-19.11, Z:-5.59 [[ 9.99994703e-01 1.76869366e-03 -2.73246275e-03 2.14895983e+02] [-1.76679112e-03 9.99998195e-01 6.98529904e-04 -1.91133817e+01] [ 2.73369331e-03 -6.93698513e-04 9.99996023e-01 -5.58859229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.122414037 meters 0.10221338704441267 Centerline is valid? [True, False] Translation: X:214.90, Y:-19.11, Z:-5.59 [[ 9.99994993e-01 1.64326116e-03 -2.70448889e-03 2.14895575e+02] [-1.64179154e-03 9.99998503e-01 5.45532308e-04 -1.91135756e+01] [ 2.70538130e-03 -5.41089369e-04 9.99996194e-01 -5.58807201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15241403699997 meters 0.1019090035371708 Centerline is valid? [False, False] Translation: X:214.90, Y:-19.11, Z:-5.59 [[ 9.99994942e-01 1.69702644e-03 -2.69017623e-03 2.14895378e+02] [-1.69518546e-03 9.99998328e-01 6.86468170e-04 -1.91142975e+01] [ 2.69133669e-03 -6.81904349e-04 9.99996146e-01 -5.58783023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18241403699997 meters 0.09636435248288341 Centerline is valid? [False, True] Translation: X:214.90, Y:-19.12, Z:-5.59 [[ 9.99994425e-01 1.94367048e-03 -2.71516988e-03 2.14895380e+02] [-1.94064652e-03 9.99997494e-01 1.11592063e-03 -1.91157158e+01] [ 2.71733206e-03 -1.11064522e-03 9.99995691e-01 -5.58775554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21241403699997 meters 0.09750801351884912 Centerline is valid? [True, True] Translation: X:214.92, Y:-19.12, Z:-5.59 [[ 9.99993602e-01 2.39694283e-03 -2.65513419e-03 2.14923439e+02] [-2.39614259e-03 9.99997083e-01 3.04532472e-04 -1.91218790e+01] [ 2.65585639e-03 -2.98168443e-04 9.99996429e-01 -5.58846934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24241403699997 meters 0.09942120947369744 Centerline is valid? [True, True] Translation: X:214.95, Y:-19.13, Z:-5.59 [[ 9.99993861e-01 2.82258187e-03 -2.07630275e-03 2.14951554e+02] [-2.82209282e-03 9.99995989e-01 2.38431183e-04 -1.91296658e+01] [ 2.07696742e-03 -2.32570200e-04 9.99997816e-01 -5.59042514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27241403699998 meters 0.097759490266711 Centerline is valid? [True, True] Translation: X:214.98, Y:-19.13, Z:-5.59 [[ 9.99991562e-01 3.82607430e-03 -1.49600234e-03 2.14981789e+02] [-3.82582151e-03 9.99992667e-01 1.71804902e-04 -1.91324687e+01] [ 1.49664871e-03 -1.66080014e-04 9.99998866e-01 -5.58965945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30241403699998 meters 0.09936308000561231 Centerline is valid? [True, True] Translation: X:215.01, Y:-19.14, Z:-5.59 [[ 9.99990131e-01 4.36417065e-03 -8.32014167e-04 2.15009940e+02] [-4.36409349e-03 9.99990473e-01 9.45339138e-05 -1.91401400e+01] [ 8.32418802e-04 -9.09019933e-05 9.99999649e-01 -5.59102896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33241403699998 meters 0.09839171142067935 Centerline is valid? [True, True] Translation: X:215.04, Y:-19.14, Z:-5.59 [[ 9.99989826e-01 4.43565310e-03 -8.20214250e-04 2.15038650e+02] [-4.43557851e-03 9.99990158e-01 9.27325852e-05 -1.91426051e+01] [ 8.20617507e-04 -8.90935171e-05 9.99999659e-01 -5.59062156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36241403699998 meters 0.09830020963947768 Centerline is valid? [True, True] Translation: X:215.07, Y:-19.15, Z:-5.59 [[ 9.99991268e-01 4.00027113e-03 -1.20906312e-03 2.15066746e+02] [-4.00010793e-03 9.99991990e-01 1.37364556e-04 -1.91486583e+01] [ 1.20960293e-03 -1.32526973e-04 9.99999260e-01 -5.59122264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39241403699998 meters 0.09452693844493462 Centerline is valid? [True, True] Translation: X:215.10, Y:-19.15, Z:-5.59 [[ 9.99992131e-01 3.17121116e-03 -2.38373308e-03 2.15097092e+02] [-3.17056918e-03 9.99994936e-01 2.73045513e-04 -1.91466833e+01] [ 2.38458690e-03 -2.65485574e-04 9.99997122e-01 -5.59078071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42241403699998 meters 0.10155269074446062 Centerline is valid? [True, False] Translation: X:215.10, Y:-19.15, Z:-5.59 [[ 9.99995230e-01 -1.23801448e-05 -3.08867573e-03 2.15099361e+02] [ 3.88382876e-06 9.99996217e-01 -2.75078659e-03 -1.91483752e+01] [ 3.08869810e-03 2.75076147e-03 9.99991447e-01 -5.59217428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45241403699998 meters 0.10438143470407667 Centerline is valid? [False, False] Translation: X:215.10, Y:-19.15, Z:-5.59 [[ 9.99995074e-01 3.90143459e-04 -3.11459592e-03 2.15099879e+02] [-3.96726280e-04 9.99997688e-01 -2.11320144e-03 -1.91496343e+01] [ 3.11376427e-03 2.11442667e-03 9.99992917e-01 -5.59285596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48241403699998 meters 0.0941117198292924 Centerline is valid? [False, True] Translation: X:215.10, Y:-19.15, Z:-5.59 [[ 9.99995073e-01 4.23459365e-04 -3.11056906e-03 2.15099890e+02] [-4.29829516e-04 9.99997811e-01 -2.04752243e-03 -1.91499917e+01] [ 3.10969521e-03 2.04884935e-03 9.99993066e-01 -5.59286393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51241403699999 meters 0.09692016113545067 Centerline is valid? [True, True] Translation: X:215.13, Y:-19.16, Z:-5.60 [[ 9.99995770e-01 1.43211556e-03 -2.53150519e-03 2.15127828e+02] [-1.43140166e-03 9.99998935e-01 2.83793105e-04 -1.91605813e+01] [ 2.53190892e-03 -2.80168303e-04 9.99996755e-01 -5.59581606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.542414037 meters 0.09690571906778177 Centerline is valid? [True, True] Translation: X:215.16, Y:-19.16, Z:-5.60 [[ 9.99996156e-01 1.47931977e-03 -2.34510652e-03 2.15156931e+02] [-1.47871256e-03 9.99998873e-01 2.60635708e-04 -1.91638723e+01] [ 2.34548944e-03 -2.57166968e-04 9.99997216e-01 -5.59652760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.572414037 meters 0.09496792437946953 Centerline is valid? [True, True] Translation: X:215.19, Y:-19.16, Z:-5.60 [[ 9.99997370e-01 1.82051276e-03 -1.39469786e-03 2.15186970e+02] [-1.82029729e-03 9.99998331e-01 1.55747600e-04 -1.91644743e+01] [ 1.39497908e-03 -1.53208425e-04 9.99999015e-01 -5.59515510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.602414037 meters 0.09674866808222544 Centerline is valid? [True, True] Translation: X:215.21, Y:-19.17, Z:-5.60 [[ 9.99996115e-01 2.78733905e-03 1.34710836e-05 2.15214824e+02] [-2.78733901e-03 9.99996115e-01 -2.86455690e-06 -1.91717739e+01] [-1.34790158e-05 2.82699730e-06 1.00000000e+00 -5.59684787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.632414037 meters 0.0955040820831151 Centerline is valid? [True, True] Translation: X:215.24, Y:-19.17, Z:-5.60 [[ 9.99991250e-01 4.14209683e-03 5.85100978e-04 2.15244708e+02] [-4.14205884e-03 9.99991419e-01 -6.61247795e-05 -1.91741606e+01] [-5.85369853e-04 6.37006783e-05 9.99999827e-01 -5.59763001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.662414037 meters 0.09668404383866243 Centerline is valid? [True, True] Translation: X:215.27, Y:-19.18, Z:-5.60 [[ 9.99986704e-01 5.08901363e-03 8.32558887e-04 2.15273555e+02] [-5.08893685e-03 9.99987047e-01 -9.43138823e-05 -1.91794803e+01] [-8.33028067e-04 9.00757888e-05 9.99999649e-01 -5.59859474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.692414037 meters 0.09192497543918379 Centerline is valid? [True, True] Translation: X:215.30, Y:-19.17, Z:-5.60 [[ 9.99980178e-01 6.28528942e-03 3.73171430e-04 2.15304443e+02] [-6.28527376e-03 9.99980247e-01 -4.31140335e-05 -1.91745621e+01] [-3.73435042e-04 4.07676943e-05 9.99999929e-01 -5.59821335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.722414037 meters 0.09479098568546769 Centerline is valid? [True, True] Translation: X:215.33, Y:-19.18, Z:-5.60 [[ 9.99973512e-01 7.27835291e-03 1.60649194e-05 2.15332542e+02] [-7.27835286e-03 9.99973512e-01 -3.16220655e-06 -1.91825646e+01] [-1.60875096e-05 3.04519664e-06 1.00000000e+00 -5.60123521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.752414037 meters 0.09494315459030546 Centerline is valid? [True, True] Translation: X:215.36, Y:-19.19, Z:-5.60 [[ 9.99964176e-01 8.46423975e-03 -5.38724230e-05 2.15362592e+02] [-8.46423946e-03 9.99964178e-01 5.59835775e-06 -1.91861306e+01] [ 5.39178790e-05 -5.14216811e-06 9.99999999e-01 -5.60268537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.782414037 meters 0.09363084991933356 Centerline is valid? [True, True] Translation: X:215.39, Y:-19.19, Z:-5.60 [[ 9.99944474e-01 1.04924532e-02 -9.78033925e-04 2.15392217e+02] [-1.04923519e-02 9.99944948e-01 1.08720256e-04 -1.91864991e+01] [ 9.79120824e-04 -9.84523436e-05 9.99999516e-01 -5.60396914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.812414037 meters 0.09253373433462567 Centerline is valid? [True, True] Translation: X:215.42, Y:-19.19, Z:-5.60 [[ 9.99938164e-01 1.09984346e-02 -1.64411785e-03 2.15420732e+02] [-1.09981494e-02 9.99939502e-01 1.82358511e-04 -1.91870546e+01] [ 1.64602404e-03 -1.64264981e-04 9.99998632e-01 -5.60449222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.842414037 meters 0.11292903733190618 Centerline is valid? [True, False] Translation: X:215.49, Y:-19.19, Z:-5.60 [[ 9.99961461e-01 7.78279059e-03 -4.06264403e-03 2.15492810e+02] [-7.77526147e-03 9.99968032e-01 1.86577145e-03 -1.91929078e+01] [ 4.07703506e-03 -1.83411142e-03 9.99990007e-01 -5.60399728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.872414037 meters 0.0923320942605047 Centerline is valid? [False, True] Translation: X:215.44, Y:-19.19, Z:-5.60 [[ 9.99962492e-01 8.26883541e-03 -2.57693261e-03 2.15436119e+02] [-8.25649759e-03 9.99954575e-01 4.76220715e-03 -1.91873633e+01] [ 2.61619346e-03 -4.74075209e-03 9.99985340e-01 -5.60474450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90241403699997 meters 0.09420847315872269 Centerline is valid? [True, True] Translation: X:215.46, Y:-19.19, Z:-5.60 [[ 9.99959951e-01 8.28659863e-03 -3.38061557e-03 2.15463674e+02] [-8.28541632e-03 9.99965609e-01 3.63586881e-04 -1.91910735e+01] [ 3.38351220e-03 -3.35562513e-04 9.99994220e-01 -5.60475863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93241403699997 meters 0.09434553888440649 Centerline is valid? [True, True] Translation: X:215.49, Y:-19.19, Z:-5.61 [[ 9.99963119e-01 8.11658198e-03 -2.80747051e-03 2.15492848e+02] [-8.11576623e-03 9.99967021e-01 3.01836981e-04 -1.91925682e+01] [ 2.80982780e-03 -2.79041075e-04 9.99996013e-01 -5.60605317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96241403699997 meters 0.09148894894638082 Centerline is valid? [True, True] Translation: X:215.52, Y:-19.19, Z:-5.60 [[ 9.99962742e-01 8.21581477e-03 -2.64873481e-03 2.15521823e+02] [-8.21508984e-03 9.99966215e-01 2.84454198e-04 -1.91895253e+01] [ 2.65098235e-03 -2.62684005e-04 9.99996452e-01 -5.60464688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99241403699997 meters 0.08851629481860472 Centerline is valid? [True, True] Translation: X:215.55, Y:-19.19, Z:-5.60 [[ 9.99966307e-01 7.79634469e-03 -2.56951124e-03 2.15550720e+02] [-7.79566309e-03 9.99969575e-01 2.75175411e-04 -1.91854388e+01] [ 2.57157843e-03 -2.55135096e-04 9.99996661e-01 -5.60395499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02241403699998 meters 0.09124750636210659 Centerline is valid? [True, True] Translation: X:215.58, Y:-19.19, Z:-5.60 [[ 9.99975278e-01 6.89300103e-03 -1.38906845e-03 2.15577504e+02] [-6.89280314e-03 9.99976234e-01 1.47205375e-04 -1.91915398e+01] [ 1.39005012e-03 -1.37627160e-04 9.99999024e-01 -5.60461501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05241403699998 meters 0.09321299796420215 Centerline is valid? [True, True] Translation: X:215.61, Y:-19.20, Z:-5.61 [[ 9.99982901e-01 5.74254056e-03 -1.10471538e-03 2.15605095e+02] [-5.74241436e-03 9.99983505e-01 1.17374356e-04 -1.91972832e+01] [ 1.10537118e-03 -1.11028616e-04 9.99999383e-01 -5.60519219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08241403699998 meters 0.09344259663277796 Centerline is valid? [True, True] Translation: X:215.63, Y:-19.20, Z:-5.61 [[ 9.99988726e-01 4.74003807e-03 -2.84024552e-04 2.15634121e+02] [-4.74002992e-03 9.99988766e-01 2.93447326e-05 -1.91999722e+01] [ 2.84160456e-04 -2.79981169e-05 9.99999959e-01 -5.60502334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11241403699998 meters 0.09657919744173328 Centerline is valid? [True, True] Translation: X:215.66, Y:-19.21, Z:-5.61 [[ 9.99998273e-01 1.85761642e-03 5.59653548e-05 2.15662618e+02] [-1.85761616e-03 9.99998275e-01 -4.78837684e-06 -1.92066123e+01] [-5.59741533e-05 4.68440642e-06 9.99999998e-01 -5.60594740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14241403699998 meters 0.09844428869760416 Centerline is valid? [True, True] Translation: X:215.69, Y:-19.21, Z:-5.61 [[ 9.99999962e-01 1.53491277e-04 -2.30593997e-04 2.15691698e+02] [-1.53485646e-04 9.99999988e-01 2.44376241e-05 -1.92116642e+01] [ 2.30597746e-04 -2.44022303e-05 9.99999973e-01 -5.60747211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17241403699998 meters 0.09928508518571745 Centerline is valid? [True, True] Translation: X:215.72, Y:-19.22, Z:-5.61 [[ 9.99998624e-01 -1.45443865e-03 -7.98176553e-04 2.15721619e+02] [ 1.45450741e-03 9.99998939e-01 8.55750906e-05 -1.92154720e+01] [ 7.98051242e-04 -8.67359266e-05 9.99999678e-01 -5.60904323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20241403699998 meters 0.10031602858863826 Centerline is valid? [True, False] Translation: X:215.72, Y:-19.21, Z:-5.61 [[ 9.99998253e-01 -1.77886080e-03 -5.73392398e-04 2.15721112e+02] [ 1.77871652e-03 9.99998386e-01 -2.52040327e-04 -1.92148800e+01] [ 5.73839817e-04 2.51019985e-04 9.99999804e-01 -5.60898125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23241403699998 meters 0.1025726930371238 Centerline is valid? [False, False] Translation: X:215.72, Y:-19.22, Z:-5.61 [[ 9.99998593e-01 -1.60181319e-03 -4.98216713e-04 2.15721496e+02] [ 1.60184907e-03 9.99998714e-01 7.16367461e-05 -1.92150968e+01] [ 4.98101324e-04 -7.24347133e-05 9.99999873e-01 -5.60978312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26241403699999 meters 0.10626941343099387 Centerline is valid? [False, False] Translation: X:215.72, Y:-19.22, Z:-5.61 [[ 9.99998689e-01 -1.60644199e-03 -2.01322103e-04 2.15721471e+02] [ 1.60650124e-03 9.99998666e-01 2.94481929e-04 -1.92150901e+01] [ 2.00848766e-04 -2.94804967e-04 9.99999936e-01 -5.61066070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.292414037 meters 0.10202370781545145 Centerline is valid? [False, False] Translation: X:215.72, Y:-19.22, Z:-5.61 [[ 9.99998811e-01 -1.53614095e-03 -1.31745794e-04 2.15721662e+02] [ 1.53620200e-03 9.99998712e-01 4.64524732e-04 -1.92150343e+01] [ 1.31032049e-04 -4.64726568e-04 9.99999883e-01 -5.61117532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.322414037 meters 0.10300233923860243 Centerline is valid? [False, False] Translation: X:215.72, Y:-19.21, Z:-5.61 [[ 9.99997896e-01 -2.04048360e-03 2.12023098e-04 2.15720516e+02] [ 2.04047589e-03 9.99997918e-01 3.65573609e-05 -1.92146251e+01] [-2.12097251e-04 -3.61246560e-05 9.99999977e-01 -5.61051790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.352414037 meters 0.10460578628446571 Centerline is valid? [False, False] Translation: X:215.72, Y:-19.21, Z:-5.61 [[ 9.99998138e-01 -1.91255555e-03 2.56634060e-04 2.15720748e+02] [ 1.91248918e-03 9.99998138e-01 2.58619590e-04 -1.92147346e+01] [-2.57128206e-04 -2.58128299e-04 9.99999934e-01 -5.61097634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.382414037 meters 0.10379378594484223 Centerline is valid? [False, False] Translation: X:215.72, Y:-19.21, Z:-5.61 [[ 9.99998250e-01 -1.85467240e-03 2.44554330e-04 2.15720876e+02] [ 1.85458469e-03 9.99998216e-01 3.58369537e-04 -1.92147054e+01] [-2.45218551e-04 -3.57915364e-04 9.99999906e-01 -5.61113093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.412414037 meters 0.1138438934586112 Centerline is valid? [False, False] Translation: X:215.72, Y:-19.21, Z:-5.61 [[ 9.99998624e-01 -1.65168945e-03 1.53316460e-04 2.15721387e+02] [ 1.65159496e-03 9.99998447e-01 6.14420365e-04 -1.92148353e+01] [-1.54331053e-04 -6.14166303e-04 9.99999799e-01 -5.61161055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.442414037 meters 0.105905272320132 Centerline is valid? [False, False] Translation: X:215.72, Y:-19.21, Z:-5.61 [[ 9.99998332e-01 -1.82510004e-03 7.37613861e-05 2.15721369e+02] [ 1.82508202e-03 9.99998305e-01 2.43642385e-04 -1.92139554e+01] [-7.42059328e-05 -2.43507358e-04 9.99999968e-01 -5.61133803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.472414037 meters 0.10584281347704122 Centerline is valid? [False, False] Translation: X:215.72, Y:-19.21, Z:-5.61 [[ 9.99998540e-01 -1.70651498e-03 -8.78782545e-05 2.15721965e+02] [ 1.70653949e-03 9.99998505e-01 2.79535498e-04 -1.92135154e+01] [ 8.74010916e-05 -2.79685058e-04 9.99999957e-01 -5.61171369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.502414037 meters 0.10333539832465581 Centerline is valid? [False, False] Translation: X:215.72, Y:-19.21, Z:-5.61 [[ 9.99998786e-01 -1.52997269e-03 -2.95211700e-04 2.15722737e+02] [ 1.53007351e-03 9.99998771e-01 3.41586501e-04 -1.92129712e+01] [ 2.94688719e-04 -3.42037782e-04 9.99999898e-01 -5.61221965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.532414037 meters 0.10548442641447595 Centerline is valid? [False, False] Translation: X:215.72, Y:-19.21, Z:-5.61 [[ 9.99999019e-01 -1.28672984e-03 -5.53410781e-04 2.15723720e+02] [ 1.28699101e-03 9.99999061e-01 4.71814473e-04 -1.92124448e+01] [ 5.52803163e-04 -4.72526245e-04 9.99999736e-01 -5.61287618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.562414037 meters 0.1013916617823906 Centerline is valid? [False, False] Translation: X:215.72, Y:-19.21, Z:-5.61 [[ 9.99998659e-01 -1.28257888e-03 -1.01816852e-03 2.15724703e+02] [ 1.28252415e-03 9.99999176e-01 -5.44006717e-05 -1.92104834e+01] [ 1.01823746e-03 5.30947731e-05 9.99999480e-01 -5.61298360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.592414037 meters 0.10322106491298429 Centerline is valid? [False, False] Translation: X:215.73, Y:-19.21, Z:-5.61 [[ 9.99998438e-01 -1.06201401e-03 -1.41281800e-03 2.15725856e+02] [ 1.06190577e-03 9.99999433e-01 -7.73610703e-05 -1.92095743e+01] [ 1.41289935e-03 7.58606699e-05 9.99998999e-01 -5.61350033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.622414037 meters 0.09876414020204519 Centerline is valid? [False, True] Translation: X:215.73, Y:-19.21, Z:-5.61 [[ 9.99998112e-01 -7.97917704e-04 -1.77162362e-03 2.15727060e+02] [ 7.97800083e-04 9.99999680e-01 -6.70974177e-05 -1.92085462e+01] [ 1.77167659e-03 6.56838896e-05 9.99998428e-01 -5.61417581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65241403699997 meters 0.09913472056485874 Centerline is valid? [True, True] Translation: X:215.76, Y:-19.21, Z:-5.62 [[ 9.99994374e-01 3.17240936e-03 -1.09006369e-03 2.15756733e+02] [-3.17227613e-03 9.99994961e-01 1.23925607e-04 -1.92102071e+01] [ 1.09045134e-03 -1.20466926e-04 9.99999398e-01 -5.61514401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68241403699997 meters 0.09913472056485874 Centerline is valid? [True, True] Translation: X:215.79, Y:-19.21, Z:-5.62 [[ 9.99994588e-01 3.10407488e-03 -1.09021368e-03 2.15785037e+02] [-3.10394303e-03 9.99995175e-01 1.22609850e-04 -1.92133611e+01] [ 1.09058901e-03 -1.19225225e-04 9.99999398e-01 -5.61582389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71241403699997 meters 0.09556850170911664 Centerline is valid? [True, True] Translation: X:215.82, Y:-19.21, Z:-5.61 [[ 9.99985196e-01 5.34450153e-03 -1.02188208e-03 2.15816594e+02] [-5.34438550e-03 9.99985712e-01 1.16245748e-04 -1.92093655e+01] [ 1.02248876e-03 -1.10782695e-04 9.99999471e-01 -5.61452470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74241403699997 meters 0.09823539743074397 Centerline is valid? [True, True] Translation: X:215.85, Y:-19.22, Z:-5.62 [[ 9.99973943e-01 7.21819591e-03 1.02739440e-04 2.15845600e+02] [-7.21819468e-03 9.99973948e-01 -1.22919855e-05 -1.92167771e+01] [-1.02825490e-04 1.15500720e-05 9.99999995e-01 -5.61631764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77241403699998 meters 0.09690712742644374 Centerline is valid? [True, True] Translation: X:215.88, Y:-19.22, Z:-5.62 [[ 9.99961530e-01 8.77006940e-03 1.54610601e-04 2.15875381e+02] [-8.77006666e-03 9.99961542e-01 -1.84235496e-05 -1.92165308e+01] [-1.54766231e-04 1.70668956e-05 9.99999988e-01 -5.61720780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80241403699998 meters 0.09288057133559102 Centerline is valid? [True, True] Translation: X:215.91, Y:-19.21, Z:-5.62 [[ 9.99935909e-01 1.13078776e-02 5.56778076e-04 2.15906799e+02] [-1.13078440e-02 9.99936062e-01 -6.34988697e-05 -1.92110248e+01] [-5.57460514e-04 5.71988403e-05 9.99999843e-01 -5.61627228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83241403699998 meters 0.09633849489880578 Centerline is valid? [True, True] Translation: X:215.93, Y:-19.22, Z:-5.62 [[ 9.99926214e-01 1.21469355e-02 -1.37209385e-04 2.15933917e+02] [-1.21469337e-02 9.99926223e-01 1.35315727e-05 -1.92196117e+01] [ 1.37363629e-04 -1.18639009e-05 9.99999990e-01 -5.61874289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86241403699998 meters 0.09686272836709947 Centerline is valid? [True, True] Translation: X:215.96, Y:-19.22, Z:-5.62 [[ 9.99921407e-01 1.25238565e-02 -5.76739175e-04 2.15961902e+02] [-1.25238216e-02 9.99921572e-01 6.40051790e-05 -1.92232746e+01] [ 5.77495534e-04 -5.67771701e-05 9.99999832e-01 -5.61970586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89241403699998 meters 0.09536548290172621 Centerline is valid? [True, True] Translation: X:215.99, Y:-19.22, Z:-5.62 [[ 9.99919325e-01 1.26582132e-02 -1.05544871e-03 2.15990970e+02] [-1.26580953e-02 9.99919876e-01 1.18359958e-04 -1.92230169e+01] [ 1.05686237e-03 -1.04990439e-04 9.99999436e-01 -5.62012112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92241403699998 meters 0.09605501707140694 Centerline is valid? [True, True] Translation: X:216.02, Y:-19.23, Z:-5.62 [[ 9.99925316e-01 1.21360155e-02 -1.44183983e-03 2.16018570e+02] [-1.21357947e-02 9.99926345e-01 1.61762452e-04 -1.92273392e+01] [ 1.44369678e-03 -1.44252498e-04 9.99998947e-01 -5.62122758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95241403699998 meters 0.09690580964362319 Centerline is valid? [True, True] Translation: X:216.05, Y:-19.23, Z:-5.62 [[ 9.99933818e-01 1.14937574e-02 -5.04058374e-04 2.16046494e+02] [-1.14937311e-02 9.99933943e-01 5.49694540e-05 -1.92319784e+01] [ 5.04656883e-04 -4.91723045e-05 9.99999871e-01 -5.62228856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98241403699998 meters 0.09348373439149207 Centerline is valid? [True, True] Translation: X:216.08, Y:-19.23, Z:-5.62 [[ 9.99937998e-01 1.11112764e-02 -7.35138004e-04 2.16075965e+02] [-1.11112193e-02 9.99938265e-01 8.17284594e-05 -1.92295733e+01] [ 7.36000728e-04 -7.35551125e-05 9.99999726e-01 -5.62151496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01241403699999 meters 0.09715603224140627 Centerline is valid? [True, True] Translation: X:216.10, Y:-19.24, Z:-5.62 [[ 9.99949221e-01 1.00759344e-02 1.78789535e-04 2.16103231e+02] [-1.00759306e-02 9.99949236e-01 -2.19123917e-05 -1.92395291e+01] [-1.79001247e-04 2.01098081e-05 9.99999984e-01 -5.62364405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.042414037 meters 0.09800404738676669 Centerline is valid? [True, True] Translation: X:216.13, Y:-19.24, Z:-5.62 [[ 9.99955751e-01 9.39802263e-03 -4.16332280e-04 2.16132439e+02] [-9.39800412e-03 9.99955837e-01 4.63803219e-05 -1.92442197e+01] [ 4.16749777e-04 -4.24655771e-05 9.99999912e-01 -5.62493587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.072414037 meters 0.0947488295609493 Centerline is valid? [True, True] Translation: X:216.16, Y:-19.24, Z:-5.62 [[ 9.99962268e-01 8.62004440e-03 -1.07580525e-03 2.16162328e+02] [-8.61991911e-03 9.99962840e-01 1.21043520e-04 -1.92416541e+01] [ 1.07680868e-03 -1.11765599e-04 9.99999414e-01 -5.62470359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.102414037 meters 0.09381343763853826 Centerline is valid? [True, True] Translation: X:216.19, Y:-19.24, Z:-5.62 [[ 9.99972752e-01 7.37043823e-03 -4.13773252e-04 2.16191608e+02] [-7.37042000e-03 9.99972837e-01 4.55881108e-05 -1.92431766e+01] [ 4.14098017e-04 -4.25371860e-05 9.99999913e-01 -5.62478759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.132414037 meters 0.09942358932752107 Centerline is valid? [True, True] Translation: X:216.22, Y:-19.26, Z:-5.63 [[ 9.99978511e-01 6.54678787e-03 -3.43508399e-04 2.16218282e+02] [-6.54677504e-03 9.99978569e-01 3.84607660e-05 -1.92563643e+01] [ 3.43752831e-04 -3.62110673e-05 9.99999940e-01 -5.62744367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.162414037 meters 0.09726497449709853 Centerline is valid? [True, True] Translation: X:216.25, Y:-19.26, Z:-5.63 [[ 9.99981518e-01 6.07806823e-03 1.46591674e-04 2.16246987e+02] [-6.07806562e-03 9.99981528e-01 -1.82246067e-05 -1.92559677e+01] [-1.46699736e-04 1.73332761e-05 9.99999989e-01 -5.62640204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.192414037 meters 0.096385174815703 Centerline is valid? [True, True] Translation: X:216.28, Y:-19.26, Z:-5.63 [[ 9.99983004e-01 5.75007263e-03 9.63834778e-04 2.16275536e+02] [-5.74996864e-03 9.99983463e-01 -1.10633060e-04 -1.92575149e+01] [-9.64454987e-04 1.05089160e-04 9.99999529e-01 -5.62618388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.222414037 meters 0.09666977223500994 Centerline is valid? [True, True] Translation: X:216.30, Y:-19.26, Z:-5.63 [[ 9.99987072e-01 5.03296217e-03 7.24898422e-04 2.16304912e+02] [-5.03290348e-03 9.99987331e-01 -8.27679774e-05 -1.92606594e+01] [-7.25305807e-04 7.91185636e-05 9.99999734e-01 -5.62674275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.252414037 meters 0.10028088237989732 Centerline is valid? [True, False] Translation: X:216.30, Y:-19.26, Z:-5.63 [[ 9.99987676e-01 4.89957032e-03 8.01169276e-04 2.16304747e+02] [-4.89935606e-03 9.99987962e-01 -2.69175632e-04 -1.92603415e+01] [-8.02478476e-04 2.65247101e-04 9.99999643e-01 -5.62669521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.282414037 meters 0.09740380860229966 Centerline is valid? [False, True] Translation: X:216.31, Y:-19.26, Z:-5.63 [[ 9.99987075e-01 5.03773054e-03 6.86703170e-04 2.16305394e+02] [-5.03760770e-03 9.99987295e-01 -1.80499013e-04 -1.92599719e+01] [-6.87603750e-04 1.77037339e-04 9.99999748e-01 -5.62726145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.312414037 meters 0.0960285437613798 Centerline is valid? [True, True] Translation: X:216.33, Y:-19.26, Z:-5.63 [[ 9.99986128e-01 5.26675774e-03 -7.59999751e-05 2.16334632e+02] [-5.26675723e-03 9.99986131e-01 6.88246225e-06 -1.92603286e+01] [ 7.60351693e-05 -6.48209335e-06 9.99999997e-01 -5.62801896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.342414037 meters 0.0969739852809284 Centerline is valid? [True, True] Translation: X:216.36, Y:-19.26, Z:-5.63 [[ 9.99982923e-01 5.83852500e-03 -2.56792095e-04 2.16362644e+02] [-5.83851821e-03 9.99982955e-01 2.71868553e-05 -1.92649299e+01] [ 2.56946449e-04 -2.56871057e-05 9.99999967e-01 -5.62918216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.372414037 meters 0.0976914658526933 Centerline is valid? [True, True] Translation: X:216.39, Y:-19.27, Z:-5.63 [[ 9.99969579e-01 7.75235360e-03 -8.61527281e-04 2.16390953e+02] [-7.75227320e-03 9.99969946e-01 9.66293898e-05 -1.92681404e+01] [ 8.62250494e-04 -8.99476554e-05 9.99999624e-01 -5.63078725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40241403699997 meters 0.10033086192475722 Centerline is valid? [True, False] Translation: X:216.39, Y:-19.27, Z:-5.63 [[ 9.99970555e-01 7.61607025e-03 -9.40015404e-04 2.16391054e+02] [-7.61625724e-03 9.99970977e-01 -1.95509224e-04 -1.92672804e+01] [ 9.38499109e-04 2.02662866e-04 9.99999539e-01 -5.63068917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43241403699997 meters 0.09264320173797727 Centerline is valid? [False, True] Translation: X:216.39, Y:-19.27, Z:-5.63 [[ 9.99972068e-01 7.40790367e-03 -9.92961777e-04 2.16390947e+02] [-7.40847529e-03 9.99972393e-01 -5.73226207e-04 -1.92665277e+01] [ 9.88687959e-04 5.80566529e-04 9.99999343e-01 -5.63035989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46241403699997 meters 0.0947126524072096 Centerline is valid? [True, True] Translation: X:216.42, Y:-19.27, Z:-5.63 [[ 9.99962921e-01 8.58773011e-03 6.38456636e-04 2.16418927e+02] [-8.58768609e-03 9.99963123e-01 -7.16648472e-05 -1.92736627e+01] [-6.39048530e-04 6.61793247e-05 9.99999794e-01 -5.63155014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49241403699997 meters 0.09367318569845466 Centerline is valid? [True, True] Translation: X:216.45, Y:-19.27, Z:-5.63 [[ 9.99966051e-01 8.23722955e-03 2.12408844e-04 2.16447657e+02] [-8.23722441e-03 9.99966073e-01 -2.50546135e-05 -1.92742117e+01] [-2.12608018e-04 2.33041036e-05 9.99999977e-01 -5.63201252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52241403699998 meters 0.0939864769153917 Centerline is valid? [True, True] Translation: X:216.48, Y:-19.28, Z:-5.63 [[ 9.99964428e-01 8.43235882e-03 1.94051035e-04 2.16476184e+02] [-8.43235451e-03 9.99964447e-01 -2.30110109e-05 -1.92778003e+01] [-1.94238173e-04 2.13738852e-05 9.99999981e-01 -5.63317603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55241403699998 meters 0.09669565078624444 Centerline is valid? [True, True] Translation: X:216.50, Y:-19.29, Z:-5.64 [[ 9.99967619e-01 7.97464362e-03 -1.07973929e-03 2.16504060e+02] [-7.97452114e-03 9.99968196e-01 1.17686848e-04 -1.92854672e+01] [ 1.08064346e-03 -1.09072634e-04 9.99999410e-01 -5.63598453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58241403699998 meters 0.09644474269555697 Centerline is valid? [True, True] Translation: X:216.53, Y:-19.29, Z:-5.64 [[ 9.99968674e-01 7.88765111e-03 -6.60850568e-04 2.16533130e+02] [-7.88760580e-03 9.99968890e-01 7.11269480e-05 -1.92878662e+01] [ 6.61391033e-04 -6.59121911e-05 9.99999779e-01 -5.63682462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61241403699998 meters 0.0965171523547204 Centerline is valid? [True, True] Translation: X:216.56, Y:-19.29, Z:-5.64 [[ 9.99971036e-01 7.53485012e-03 -1.07388266e-03 2.16561560e+02] [-7.53472929e-03 9.99971607e-01 1.16513216e-04 -1.92907376e+01] [ 1.07473008e-03 -1.08418426e-04 9.99999417e-01 -5.63779705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64241403699998 meters 0.09642402856147235 Centerline is valid? [True, True] Translation: X:216.59, Y:-19.29, Z:-5.64 [[ 9.99975091e-01 6.93912161e-03 -1.29086342e-03 2.16589923e+02] [-6.93894625e-03 9.99975915e-01 1.40278285e-04 -1.92934159e+01] [ 1.29180574e-03 -1.31317558e-04 9.99999157e-01 -5.63848582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67241403699998 meters 0.09702277473808221 Centerline is valid? [True, True] Translation: X:216.62, Y:-19.30, Z:-5.64 [[ 9.99980219e-01 6.24908803e-03 -7.14920855e-04 2.16618446e+02] [-6.24903461e-03 9.99980472e-01 7.69265401e-05 -1.92974343e+01] [ 7.15387615e-04 -7.24574532e-05 9.99999741e-01 -5.63931459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70241403699998 meters 0.0976263729299422 Centerline is valid? [True, True] Translation: X:216.65, Y:-19.30, Z:-5.64 [[ 9.99989527e-01 4.56399365e-03 -3.40129136e-04 2.16648376e+02] [-4.56398134e-03 9.99989584e-01 3.69545097e-05 -1.93016460e+01] [ 3.40294254e-04 -3.54017796e-05 9.99999941e-01 -5.63914439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73241403699998 meters 0.09617722622079589 Centerline is valid? [True, True] Translation: X:216.68, Y:-19.30, Z:-5.64 [[ 9.99994180e-01 3.41026908e-03 1.02222951e-04 2.16678489e+02] [-3.41026787e-03 9.99994185e-01 -1.20427489e-05 -1.93022188e+01] [-1.02263425e-04 1.16940712e-05 9.99999995e-01 -5.63868224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76241403699999 meters 0.09594309889992823 Centerline is valid? [True, True] Translation: X:216.71, Y:-19.30, Z:-5.64 [[ 9.99997655e-01 2.16446060e-03 6.73151323e-05 2.16708158e+02] [-2.16446005e-03 9.99997658e-01 -8.21188466e-06 -1.93045404e+01] [-6.73327489e-05 8.06616449e-06 9.99999998e-01 -5.63961162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.792414037 meters 0.09865328853194263 Centerline is valid? [True, True] Translation: X:216.74, Y:-19.31, Z:-5.64 [[ 9.99999778e-01 -3.82498651e-04 -5.46172187e-04 2.16736725e+02] [ 3.82531661e-04 9.99999925e-01 6.03348366e-05 -1.93120444e+01] [ 5.46149068e-04 -6.05437513e-05 9.99999849e-01 -5.64058068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.822414037 meters 0.1008137776317585 Centerline is valid? [True, False] Translation: X:216.74, Y:-19.31, Z:-5.64 [[ 9.99999841e-01 -3.37839362e-04 -4.52023487e-04 2.16736674e+02] [ 3.37911889e-04 9.99999930e-01 1.60382335e-04 -1.93124211e+01] [ 4.51969272e-04 -1.60535054e-04 9.99999885e-01 -5.64073429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.852414037 meters 0.10107632285874499 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.31, Z:-5.64 [[ 9.99999898e-01 -2.01061884e-04 -4.04419379e-04 2.16736923e+02] [ 2.01228363e-04 9.99999895e-01 4.11651453e-04 -1.93126512e+01] [ 4.04336569e-04 -4.11732792e-04 9.99999833e-01 -5.64122713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.882414037 meters 0.10101106836280364 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.31, Z:-5.64 [[ 9.99999930e-01 -5.82624695e-05 -3.68306182e-04 2.16737358e+02] [ 5.85236713e-05 9.99999747e-01 7.09226495e-04 -1.93126474e+01] [ 3.68264768e-04 -7.09248001e-04 9.99999681e-01 -5.64203782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.912414037 meters 0.10278240940315216 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.31, Z:-5.64 [[ 9.99999963e-01 -8.23484189e-05 -2.57526518e-04 2.16737279e+02] [ 8.25306662e-05 9.99999746e-01 7.07753276e-04 -1.93126563e+01] [ 2.57468170e-04 -7.07774504e-04 9.99999716e-01 -5.64224703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.942414037 meters 0.09961766965089507 Centerline is valid? [False, True] Translation: X:216.74, Y:-19.31, Z:-5.64 [[ 9.99999954e-01 -2.43091096e-04 -1.80327888e-04 2.16737074e+02] [ 2.43183124e-04 9.99999840e-01 5.10489677e-04 -1.93122978e+01] [ 1.80203764e-04 -5.10533507e-04 9.99999853e-01 -5.64217378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.972414037 meters 0.10227096489033059 Centerline is valid? [True, False] Translation: X:216.74, Y:-19.31, Z:-5.64 [[ 9.99999946e-01 -1.14326538e-04 -3.08951104e-04 2.16737602e+02] [ 1.14493146e-04 9.99999848e-01 5.39307537e-04 -1.93120521e+01] [ 3.08889400e-04 -5.39342881e-04 9.99999807e-01 -5.64248839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.002414037 meters 0.1014338876796862 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.31, Z:-5.64 [[ 9.99999898e-01 9.10647375e-05 -4.42658722e-04 2.16738140e+02] [-9.07204751e-05 9.99999693e-01 7.77673174e-04 -1.93121292e+01] [ 4.42729405e-04 -7.77632937e-04 9.99999600e-01 -5.64287585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.032414037 meters 0.09947684799123979 Centerline is valid? [False, True] Translation: X:216.74, Y:-19.31, Z:-5.64 [[ 9.99999922e-01 -4.95230412e-05 -3.92345619e-04 2.16737851e+02] [ 4.97666385e-05 9.99999806e-01 6.20888719e-04 -1.93119736e+01] [ 3.92314795e-04 -6.20908196e-04 9.99999730e-01 -5.64260582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.062414037 meters 0.10281168969177815 Centerline is valid? [True, False] Translation: X:216.74, Y:-19.31, Z:-5.64 [[ 9.99999866e-01 2.24743974e-04 -4.66731875e-04 2.16738179e+02] [-2.24270054e-04 9.99999460e-01 1.01520574e-03 -1.93126150e+01] [ 4.66959784e-04 -1.01510093e-03 9.99999376e-01 -5.64286759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.092414037 meters 0.10063166520519487 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.31, Z:-5.64 [[ 9.99999907e-01 7.77978080e-05 -4.23482974e-04 2.16737822e+02] [-7.74436708e-05 9.99999647e-01 8.36201259e-04 -1.93125438e+01] [ 4.23547880e-04 -8.36168385e-04 9.99999561e-01 -5.64245316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.122414037 meters 0.1021754141491516 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.31, Z:-5.64 [[ 9.99999812e-01 3.07635009e-04 -5.29505109e-04 2.16738261e+02] [-3.07039716e-04 9.99999321e-01 1.12395881e-03 -1.93129320e+01] [ 5.29850519e-04 -1.12379602e-03 9.99999228e-01 -5.64277152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15241403699997 meters 0.10538593542502778 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.31, Z:-5.64 [[ 9.99999878e-01 1.88816232e-04 -4.57087761e-04 2.16737918e+02] [-1.88345044e-04 9.99999451e-01 1.03067187e-03 -1.93130637e+01] [ 4.57282118e-04 -1.03058566e-03 9.99999364e-01 -5.64251104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18241403699997 meters 0.10388436555924058 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.31, Z:-5.64 [[ 9.99999864e-01 3.82032716e-04 -3.56092353e-04 2.16737789e+02] [-3.81519819e-04 9.99998891e-01 1.43930482e-03 -1.93147334e+01] [ 3.56641820e-04 -1.43916877e-03 9.99998901e-01 -5.64254392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21241403699997 meters 0.10816030920196655 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.32, Z:-5.64 [[ 9.99999901e-01 3.66441478e-04 -2.52693054e-04 2.16737500e+02] [-3.66055040e-04 9.99998766e-01 1.52763168e-03 -1.93154600e+01] [ 2.53252529e-04 -1.52753903e-03 9.99998801e-01 -5.64241372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24241403699997 meters 0.10474798926721762 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.32, Z:-5.64 [[ 9.99999907e-01 4.23433548e-04 -8.05290653e-05 2.16737262e+02] [-4.23286928e-04 9.99998269e-01 1.81209951e-03 -1.93164268e+01] [ 8.12962296e-05 -1.81206525e-03 9.99998355e-01 -5.64261182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27241403699998 meters 0.10947492495428028 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.32, Z:-5.64 [[ 9.99994919e-01 -3.11372221e-03 -6.83135851e-04 2.16738910e+02] [ 3.11252386e-03 9.99993628e-01 -1.74829920e-03 -1.93175438e+01] [ 6.88575216e-04 1.74616404e-03 9.99998238e-01 -5.64315797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30241403699998 meters 0.10944563895112074 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.32, Z:-5.64 [[ 9.99995679e-01 -2.89092570e-03 -5.32483658e-04 2.16738895e+02] [ 2.89028916e-03 9.99995112e-01 -1.19231815e-03 -1.93188343e+01] [ 5.35927959e-04 1.19077397e-03 9.99999147e-01 -5.64363088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33241403699998 meters 0.11161160775631464 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.32, Z:-5.64 [[ 9.99996999e-01 -2.38245123e-03 -5.70350739e-04 2.16739398e+02] [ 2.38223792e-03 9.99997092e-01 -3.74389323e-04 -1.93206581e+01] [ 5.71241045e-04 3.73029489e-04 9.99999767e-01 -5.64425411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36241403699998 meters 0.10467847750229275 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.32, Z:-5.64 [[ 9.99997038e-01 -2.41162980e-03 -3.28079780e-04 2.16738774e+02] [ 2.41157484e-03 9.99997078e-01 -1.67801927e-04 -1.93217455e+01] [ 3.28483498e-04 1.67010241e-04 9.99999932e-01 -5.64406717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39241403699998 meters 0.1163174919562737 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.32, Z:-5.64 [[ 9.99997892e-01 -2.05285327e-03 -2.98523488e-05 2.16738501e+02] [ 2.05287455e-03 9.99997626e-01 7.31101842e-04 -1.93241466e+01] [ 2.83514332e-05 -7.31161585e-04 9.99999732e-01 -5.64454554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42241403699998 meters 0.1069164755555429 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.33, Z:-5.64 [[ 9.99998555e-01 -1.69921627e-03 -4.64849195e-05 2.16738801e+02] [ 1.69927549e-03 9.99997705e-01 1.30512274e-03 -1.93255099e+01] [ 4.42671270e-05 -1.30519984e-03 9.99999147e-01 -5.64492235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45241403699998 meters 0.10589915535442859 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.33, Z:-5.64 [[ 9.99998747e-01 -1.58177873e-03 -5.58293473e-05 2.16738634e+02] [ 1.58186180e-03 9.99997592e-01 1.52077074e-03 -1.93265853e+01] [ 5.34236901e-05 -1.52085715e-03 9.99998842e-01 -5.64460727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48241403699998 meters 0.1064923825988845 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.33, Z:-5.64 [[ 9.99998868e-01 -1.50316210e-03 6.05652483e-05 2.16738343e+02] [ 1.50305444e-03 9.99997357e-01 1.73998205e-03 -1.93275985e+01] [-6.31805633e-05 -1.73988905e-03 9.99998484e-01 -5.64449000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51241403699999 meters 0.10846870167750053 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.33, Z:-5.64 [[ 9.99999393e-01 -1.09468509e-03 1.26021142e-04 2.16738263e+02] [ 1.09436694e-03 9.99996282e-01 2.49751946e-03 -1.93300337e+01] [-1.28754671e-04 -2.49738003e-03 9.99996873e-01 -5.64449455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.542414037 meters 0.10682087374281275 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.33, Z:-5.64 [[ 9.99999410e-01 -1.06628874e-03 2.08892206e-04 2.16737880e+02] [ 1.06572816e-03 9.99995879e-01 2.66556864e-03 -1.93310348e+01] [-2.11733612e-04 -2.66534445e-03 9.99996426e-01 -5.64416535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.572414037 meters 0.10682087374281275 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.33, Z:-5.64 [[ 9.99999410e-01 -1.06628874e-03 2.08892206e-04 2.16737880e+02] [ 1.06572816e-03 9.99995879e-01 2.66556864e-03 -1.93310348e+01] [-2.11733612e-04 -2.66534445e-03 9.99996426e-01 -5.64416535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.602414037 meters 0.10863867735948736 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.33, Z:-5.64 [[ 9.99999598e-01 -7.74605210e-04 4.52414917e-04 2.16737192e+02] [ 7.73028734e-04 9.99993665e-01 3.47442088e-03 -1.93341883e+01] [-4.55103356e-04 -3.47406975e-03 9.99993862e-01 -5.64386031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.632414037 meters 0.10745245603348227 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.34, Z:-5.64 [[ 9.99999698e-01 -5.72978468e-04 5.24959720e-04 2.16737048e+02] [ 5.70914711e-04 9.99992142e-01 3.92302020e-03 -1.93357715e+01] [-5.27203401e-04 -3.92271931e-03 9.99992167e-01 -5.64387409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.662414037 meters 0.10994725698958617 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.34, Z:-5.64 [[ 9.99999733e-01 -3.55328440e-04 6.38051326e-04 2.16736854e+02] [ 3.52514767e-04 9.99990238e-01 4.40450135e-03 -1.93373784e+01] [-6.39610142e-04 -4.40427525e-03 9.99990097e-01 -5.64392160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.692414037 meters 0.11022606503886598 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.34, Z:-5.64 [[ 9.99999838e-01 -4.65267618e-05 5.66456319e-04 2.16736983e+02] [ 4.37312395e-05 9.99987826e-01 4.93411918e-03 -1.93390393e+01] [-5.66678991e-04 -4.93409361e-03 9.99987667e-01 -5.64390638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.722414037 meters 0.10826360048278355 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.34, Z:-5.64 [[ 9.99999753e-01 3.92811060e-04 5.82791717e-04 2.16736854e+02] [-3.96156437e-04 9.99983383e-01 5.75129293e-03 -1.93418310e+01] [-5.80522861e-04 -5.75152238e-03 9.99983291e-01 -5.64376830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.752414037 meters 0.10820298890302657 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.34, Z:-5.64 [[ 9.99995498e-01 -2.95030794e-03 -5.47259954e-04 2.16739369e+02] [ 2.95142503e-03 9.99993540e-01 2.05178398e-03 -1.93420910e+01] [ 5.41203023e-04 -2.05338994e-03 9.99997745e-01 -5.64419526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.782414037 meters 0.10541408312354701 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.34, Z:-5.64 [[ 9.99995913e-01 -2.79897743e-03 -5.82070047e-04 2.16739246e+02] [ 2.80032495e-03 9.99993371e-01 2.32726298e-03 -1.93432894e+01] [ 5.75552232e-04 -2.32888345e-03 9.99997123e-01 -5.64390273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.812414037 meters 0.10378094873170036 Centerline is valid? [False, False] Translation: X:216.74, Y:-19.35, Z:-5.64 [[ 9.99997324e-01 -2.16042903e-03 -8.27740860e-04 2.16740181e+02] [ 2.16306010e-03 9.99992569e-01 3.19101551e-03 -1.93450038e+01] [ 8.20840746e-04 -3.19279742e-03 9.99994566e-01 -5.64454454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.842414037 meters 0.09997969431782251 Centerline is valid? [False, True] Translation: X:216.74, Y:-19.35, Z:-5.64 [[ 9.99997971e-01 -1.67413762e-03 -1.12031226e-03 2.16740558e+02] [ 1.67842543e-03 9.99991229e-01 3.83739864e-03 -1.93470899e+01] [ 1.11387810e-03 -3.83927121e-03 9.99992010e-01 -5.64425123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.872414037 meters 0.10012035466094907 Centerline is valid? [True, False] Translation: X:216.74, Y:-19.35, Z:-5.64 [[ 9.99998041e-01 -1.50217023e-03 -1.28893445e-03 2.16740800e+02] [ 1.50736295e-03 9.99990714e-01 4.03721638e-03 -1.93478250e+01] [ 1.28285789e-03 -4.03915136e-03 9.99991020e-01 -5.64410777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90241403699997 meters 0.09568249133319259 Centerline is valid? [False, True] Translation: X:216.74, Y:-19.35, Z:-5.64 [[ 9.99997974e-01 -1.35974774e-03 -1.48407414e-03 2.16741040e+02] [ 1.36592033e-03 9.99990389e-01 4.16615947e-03 -1.93484654e+01] [ 1.47839495e-03 -4.16817816e-03 9.99990220e-01 -5.64388391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93241403699997 meters 0.09815883098027123 Centerline is valid? [True, True] Translation: X:216.77, Y:-19.36, Z:-5.65 [[ 9.99994030e-01 1.57329354e-03 -3.07651760e-03 2.16769271e+02] [-1.57220383e-03 9.99998701e-01 3.56586774e-04 -1.93567535e+01] [ 3.07707462e-03 -3.51747733e-04 9.99995204e-01 -5.64572683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96241403699997 meters 0.09611683797509091 Centerline is valid? [True, True] Translation: X:216.80, Y:-19.36, Z:-5.65 [[ 9.99991776e-01 2.93054162e-03 -2.80365454e-03 2.16799626e+02] [-2.92964201e-03 9.99995656e-01 3.24924258e-04 -1.93573584e+01] [ 2.80459457e-03 -3.16707882e-04 9.99996017e-01 -5.64567116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99241403699997 meters 0.0972928316860325 Centerline is valid? [True, True] Translation: X:216.83, Y:-19.36, Z:-5.65 [[ 9.99985892e-01 4.02869768e-03 -3.46210070e-03 2.16826642e+02] [-4.02733918e-03 9.99991811e-01 3.99275530e-04 -1.93637445e+01] [ 3.46368090e-03 -3.85326843e-04 9.99993927e-01 -5.64769896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02241403699998 meters 0.0955410768704912 Centerline is valid? [True, True] Translation: X:216.86, Y:-19.37, Z:-5.65 [[ 9.99972536e-01 6.67710562e-03 -3.21601119e-03 2.16856892e+02] [-6.67594041e-03 9.99977646e-01 3.72915439e-04 -1.93664481e+01] [ 3.21842930e-03 -3.51435298e-04 9.99994759e-01 -5.64735545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05241403699998 meters 0.09380185661424621 Centerline is valid? [True, True] Translation: X:216.89, Y:-19.37, Z:-5.65 [[ 9.99967241e-01 7.41764224e-03 -3.23974076e-03 2.16886382e+02] [-7.41646843e-03 9.99972428e-01 3.74180010e-04 -1.93672658e+01] [ 3.24242696e-03 -3.50140317e-04 9.99994682e-01 -5.64755747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08241403699998 meters 0.09438537318477379 Centerline is valid? [True, True] Translation: X:216.91, Y:-19.37, Z:-5.65 [[ 9.99962281e-01 8.08378462e-03 -3.17640366e-03 2.16913280e+02] [-8.08266336e-03 9.99967268e-01 3.65676938e-04 -1.93742585e+01] [ 3.17925575e-03 -3.39989344e-04 9.99994888e-01 -5.64873167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11241403699998 meters 0.09557373004518452 Centerline is valid? [True, True] Translation: X:216.94, Y:-19.38, Z:-5.65 [[ 9.99960257e-01 8.33629184e-03 -3.16094321e-03 2.16940544e+02] [-8.33518352e-03 9.99965196e-01 3.63641866e-04 -1.93812829e+01] [ 3.16386462e-03 -3.37280372e-04 9.99994938e-01 -5.64949700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14241403699998 meters 0.09727088444399949 Centerline is valid? [True, True] Translation: X:216.97, Y:-19.39, Z:-5.65 [[ 9.99963575e-01 8.28604029e-03 -2.04700263e-03 2.16968106e+02] [-8.28557633e-03 9.99965646e-01 2.35030188e-04 -1.93889692e+01] [ 2.04887978e-03 -2.18061030e-04 9.99997877e-01 -5.65061750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17241403699998 meters 0.09522014999165361 Centerline is valid? [True, True] Translation: X:217.00, Y:-19.39, Z:-5.65 [[ 9.99964471e-01 8.10510862e-03 -2.31599874e-03 2.16997381e+02] [-8.10451409e-03 9.99967123e-01 2.65972788e-04 -1.93903734e+01] [ 2.31807834e-03 -2.47193294e-04 9.99997283e-01 -5.64969922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20241403699998 meters 0.09661745911893231 Centerline is valid? [True, True] Translation: X:217.03, Y:-19.40, Z:-5.65 [[ 9.99971427e-01 7.29414743e-03 -1.98530012e-03 2.17025334e+02] [-7.29370972e-03 9.99973375e-01 2.27622794e-04 -1.93992804e+01] [ 1.98690758e-03 -2.13136087e-04 9.99998003e-01 -5.65141823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23241403699998 meters 0.09511856222584825 Centerline is valid? [True, True] Translation: X:217.05, Y:-19.40, Z:-5.65 [[ 9.99976319e-01 6.37700296e-03 -2.58752833e-03 2.17054642e+02] [-6.37625301e-03 9.99979627e-01 2.97979266e-04 -1.94029271e+01] [ 2.58937583e-03 -2.81473474e-04 9.99996608e-01 -5.65124507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26241403699999 meters 0.0922340606089303 Centerline is valid? [True, True] Translation: X:217.08, Y:-19.40, Z:-5.65 [[ 9.99977867e-01 6.29158560e-03 -2.16353069e-03 2.17083922e+02] [-6.29106379e-03 9.99980180e-01 2.47909355e-04 -1.94023099e+01] [ 2.16504755e-03 -2.34292959e-04 9.99997629e-01 -5.65045287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.292414037 meters 0.092349931626919 Centerline is valid? [True, True] Translation: X:217.11, Y:-19.41, Z:-5.65 [[ 9.99980006e-01 6.05347414e-03 -1.82839192e-03 2.17112504e+02] [-6.05310184e-03 9.99981658e-01 2.09087265e-04 -1.94070898e+01] [ 1.82962409e-03 -1.98015642e-04 9.99998307e-01 -5.65076323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.322414037 meters 0.0940804808239922 Centerline is valid? [True, True] Translation: X:217.14, Y:-19.42, Z:-5.65 [[ 9.99980503e-01 5.58996807e-03 -2.78310873e-03 2.17139611e+02] [-5.58909716e-03 9.99984329e-01 3.20603016e-04 -1.94165807e+01] [ 2.78485727e-03 -3.05041700e-04 9.99996076e-01 -5.65229701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.352414037 meters 0.09282824970267411 Centerline is valid? [True, True] Translation: X:217.17, Y:-19.42, Z:-5.65 [[ 9.99978611e-01 5.56614287e-03 -3.43432662e-03 2.17168378e+02] [-5.56482192e-03 9.99984439e-01 3.94065953e-04 -1.94192798e+01] [ 3.43646661e-03 -3.74946109e-04 9.99994025e-01 -5.65263582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.382414037 meters 0.09342612383216514 Centerline is valid? [True, True] Translation: X:217.20, Y:-19.42, Z:-5.65 [[ 9.99977110e-01 5.91315310e-03 -3.28856506e-03 2.17197177e+02] [-5.91194305e-03 9.99982453e-01 3.77555774e-04 -1.94249854e+01] [ 3.29073990e-03 -3.58105322e-04 9.99994521e-01 -5.65373440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.412414037 meters 0.09462091010643936 Centerline is valid? [True, True] Translation: X:217.22, Y:-19.43, Z:-5.65 [[ 9.99979407e-01 5.48762465e-03 -3.32744640e-03 2.17223989e+02] [-5.48638674e-03 9.99984877e-01 3.81043220e-04 -1.94312334e+01] [ 3.32948710e-03 -3.62779716e-04 9.99994391e-01 -5.65496081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.442414037 meters 0.09497199725695081 Centerline is valid? [True, True] Translation: X:217.25, Y:-19.44, Z:-5.66 [[ 9.99976233e-01 6.09423793e-03 -3.22401118e-03 2.17252315e+02] [-6.09307889e-03 9.99981369e-01 3.69204025e-04 -1.94363322e+01] [ 3.22620113e-03 -3.49551095e-04 9.99994735e-01 -5.65656304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.472414037 meters 0.09578814463909331 Centerline is valid? [True, True] Translation: X:217.28, Y:-19.44, Z:-5.66 [[ 9.99972065e-01 6.44147955e-03 -3.79172532e-03 2.17279901e+02] [-6.43988078e-03 9.99979170e-01 4.33707706e-04 -1.94430200e+01] [ 3.79444005e-03 -4.09277332e-04 9.99992717e-01 -5.65786734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.502414037 meters 0.09624377633159717 Centerline is valid? [True, True] Translation: X:217.31, Y:-19.45, Z:-5.66 [[ 9.99967051e-01 7.04111492e-03 -4.03982839e-03 2.17307912e+02] [-7.03930332e-03 9.99975117e-01 4.62477408e-04 -1.94484480e+01] [ 4.04298422e-03 -4.34024593e-04 9.99991733e-01 -5.65986691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.532414037 meters 0.09700080567910523 Centerline is valid? [True, True] Translation: X:217.34, Y:-19.45, Z:-5.66 [[ 9.99972072e-01 6.55352245e-03 -3.59261459e-03 2.17335752e+02] [-6.55208997e-03 9.99978451e-01 4.10353138e-04 -1.94543407e+01] [ 3.59522643e-03 -3.86802544e-04 9.99993462e-01 -5.66082010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.562414037 meters 0.09797922275342145 Centerline is valid? [True, True] Translation: X:217.36, Y:-19.46, Z:-5.66 [[ 9.99972668e-01 6.84862421e-03 -2.78576193e-03 2.17363697e+02] [-6.84776468e-03 9.99976503e-01 3.17967162e-04 -1.94616726e+01] [ 2.78787411e-03 -2.98882229e-04 9.99996069e-01 -5.66200786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.592414037 meters 0.0947635919104348 Centerline is valid? [True, True] Translation: X:217.39, Y:-19.46, Z:-5.66 [[ 9.99974768e-01 6.58226914e-03 -2.67171523e-03 2.17393024e+02] [-6.58147841e-03 9.99978295e-01 3.04646422e-04 -1.94603244e+01] [ 2.67366251e-03 -2.87054899e-04 9.99996385e-01 -5.66030372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.622414037 meters 0.09139586952609753 Centerline is valid? [True, True] Translation: X:217.42, Y:-19.46, Z:-5.66 [[ 9.99978743e-01 6.00479749e-03 -2.54086424e-03 2.17422016e+02] [-6.00408131e-03 9.99981933e-01 2.89399645e-04 -1.94577357e+01] [ 2.54255612e-03 -2.74137937e-04 9.99996730e-01 -5.65874988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65241403699997 meters 0.09038215565048952 Centerline is valid? [True, True] Translation: X:217.45, Y:-19.46, Z:-5.66 [[ 9.99973594e-01 6.56646056e-03 -3.11348434e-03 2.17450647e+02] [-6.56538735e-03 9.99978385e-01 3.54794491e-04 -1.94605492e+01] [ 3.11574679e-03 -3.34343892e-04 9.99995090e-01 -5.65860474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68241403699997 meters 0.0928506745904922 Centerline is valid? [True, True] Translation: X:217.48, Y:-19.47, Z:-5.66 [[ 9.99971133e-01 6.92280343e-03 -3.13190304e-03 2.17477844e+02] [-6.92172146e-03 9.99975981e-01 3.56174530e-04 -1.94690190e+01] [ 3.13429354e-03 -3.34486087e-04 9.99995032e-01 -5.66077854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71241403699997 meters 0.0930084291816176 Centerline is valid? [True, True] Translation: X:217.51, Y:-19.47, Z:-5.66 [[ 9.99964063e-01 7.33082416e-03 -4.25811422e-03 2.17506470e+02] [-7.32882339e-03 9.99973026e-01 4.85286966e-04 -1.94734783e+01] [ 4.26155692e-03 -4.54062559e-04 9.99990816e-01 -5.66182262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74241403699997 meters 0.09111092202640847 Centerline is valid? [True, True] Translation: X:217.54, Y:-19.47, Z:-5.66 [[ 9.99951841e-01 8.67089738e-03 -4.59681729e-03 2.17536792e+02] [-8.66857314e-03 9.99962289e-01 5.25303334e-04 -1.94747075e+01] [ 4.60119879e-03 -4.85430189e-04 9.99989297e-01 -5.66244764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77241403699998 meters 0.09332275587053941 Centerline is valid? [True, True] Translation: X:217.56, Y:-19.48, Z:-5.67 [[ 9.99941094e-01 9.89395077e-03 -4.46294714e-03 2.17564634e+02] [-9.89177716e-03 9.99950946e-01 5.08847925e-04 -1.94823831e+01] [ 4.46776273e-03 -4.64671473e-04 9.99989912e-01 -5.66507169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80241403699998 meters 0.09327939811954758 Centerline is valid? [True, True] Translation: X:217.59, Y:-19.49, Z:-5.67 [[ 9.99911289e-01 1.19291490e-02 -5.92540841e-03 2.17593171e+02] [-1.19253470e-02 9.99928662e-01 6.76577397e-04 -1.94856017e+01] [ 5.93305670e-03 -6.05854825e-04 9.99982216e-01 -5.66649846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83241403699998 meters 0.09345271356846792 Centerline is valid? [True, True] Translation: X:217.62, Y:-19.49, Z:-5.67 [[ 9.99901816e-01 1.28524469e-02 -5.58326575e-03 2.17621608e+02] [-1.28490937e-02 9.99917245e-01 6.36024321e-04 -1.94894412e+01] [ 5.59097818e-03 -5.64221969e-04 9.99984211e-01 -5.66746925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86241403699998 meters 0.09313513576980045 Centerline is valid? [True, True] Translation: X:217.65, Y:-19.49, Z:-5.67 [[ 9.99890649e-01 1.39114487e-02 -5.01619698e-03 2.17651761e+02] [-1.39087500e-02 9.99903105e-01 5.72468216e-04 -1.94926577e+01] [ 5.02367480e-03 -5.02636586e-04 9.99987255e-01 -5.66832897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89241403699998 meters 0.09253371655025432 Centerline is valid? [True, True] Translation: X:217.68, Y:-19.50, Z:-5.67 [[ 9.99884792e-01 1.45808376e-02 -4.21911878e-03 2.17680186e+02] [-1.45789415e-02 9.99893606e-01 4.79813763e-04 -1.94953703e+01] [ 4.22566598e-03 -4.18248199e-04 9.99990984e-01 -5.66857054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92241403699998 meters 0.09199543465165386 Centerline is valid? [True, True] Translation: X:217.71, Y:-19.50, Z:-5.67 [[ 9.99865543e-01 1.60167017e-02 -3.51598068e-03 2.17710246e+02] [-1.60153928e-02 9.99871665e-01 4.00112725e-04 -1.94991443e+01] [ 3.52193794e-03 -3.43749115e-04 9.99993739e-01 -5.66852116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95241403699998 meters 0.08910691970861676 Centerline is valid? [True, True] Translation: X:217.74, Y:-19.50, Z:-5.67 [[ 9.99860682e-01 1.62850613e-02 -3.66232420e-03 2.17739529e+02] [-1.62836465e-02 9.99867326e-01 4.15803014e-04 -1.94973293e+01] [ 3.66860968e-03 -3.56109093e-04 9.99993207e-01 -5.66711785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98241403699998 meters 0.09040977031643965 Centerline is valid? [True, True] Translation: X:217.77, Y:-19.50, Z:-5.67 [[ 9.99853423e-01 1.66493222e-02 -3.99161150e-03 2.17766714e+02] [-1.66476469e-02 9.99861316e-01 4.52568839e-04 -1.95034567e+01] [ 3.99859290e-03 -3.86051564e-04 9.99991931e-01 -5.66902516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01241403699999 meters 0.09186127326793857 Centerline is valid? [True, True] Translation: X:217.79, Y:-19.51, Z:-5.67 [[ 9.99850551e-01 1.68315616e-02 -3.94643841e-03 2.17793734e+02] [-1.68299267e-02 9.99858267e-01 4.47115907e-04 -1.95096519e+01] [ 3.95340473e-03 -3.80630817e-04 9.99992113e-01 -5.67056153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.042414037 meters 0.09037507421092233 Centerline is valid? [True, True] Translation: X:217.82, Y:-19.51, Z:-5.67 [[ 9.99847269e-01 1.65970305e-02 -5.47516153e-03 2.17822478e+02] [-1.65938752e-02 9.99862119e-01 6.21227392e-04 -1.95106474e+01] [ 5.48471714e-03 -5.30278364e-04 9.99984818e-01 -5.66997238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.072414037 meters 0.09261637692720838 Centerline is valid? [True, True] Translation: X:217.85, Y:-19.52, Z:-5.67 [[ 9.99839889e-01 1.70145126e-02 -5.54109193e-03 2.17849552e+02] [-1.70112921e-02 9.99855100e-01 6.27821778e-04 -1.95181792e+01] [ 5.55097111e-03 -5.33460124e-04 9.99984451e-01 -5.67309310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.102414037 meters 0.09127089123693732 Centerline is valid? [True, True] Translation: X:217.88, Y:-19.52, Z:-5.67 [[ 9.99838320e-01 1.67748255e-02 -6.47597928e-03 2.17877916e+02] [-1.67704227e-02 9.99859097e-01 7.33575627e-04 -1.95192953e+01] [ 6.48737240e-03 -6.24852113e-04 9.99978762e-01 -5.67344632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.132414037 meters 0.09193061249209004 Centerline is valid? [True, True] Translation: X:217.91, Y:-19.52, Z:-5.67 [[ 9.99841132e-01 1.63862086e-02 -7.01450745e-03 2.17906422e+02] [-1.63810325e-02 9.99865506e-01 7.94731992e-04 -1.95235128e+01] [ 7.02658669e-03 -6.79700860e-04 9.99975082e-01 -5.67438537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.162414037 meters 0.0918279215888291 Centerline is valid? [True, True] Translation: X:217.94, Y:-19.53, Z:-5.68 [[ 9.99840901e-01 1.64146450e-02 -6.98086580e-03 2.17935478e+02] [-1.64095226e-02 9.99865042e-01 7.90428922e-04 -1.95264585e+01] [ 6.99289829e-03 -6.75750491e-04 9.99975321e-01 -5.67521282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.192414037 meters 0.08900620412538386 Centerline is valid? [True, True] Translation: X:217.97, Y:-19.52, Z:-5.67 [[ 9.99862789e-01 1.53157707e-02 -6.31107619e-03 2.17965918e+02] [-1.53115595e-02 9.99882516e-01 7.15053152e-04 -1.95248673e+01] [ 6.32128633e-03 -6.18322621e-04 9.99979829e-01 -5.67364006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.222414037 meters 0.09034751925456577 Centerline is valid? [True, True] Translation: X:217.99, Y:-19.53, Z:-5.67 [[ 9.99876112e-01 1.45030544e-02 -6.11735051e-03 2.17993345e+02] [-1.44991005e-02 9.99894644e-01 6.90190929e-04 -1.95305517e+01] [ 6.12671589e-03 -6.01409342e-04 9.99981051e-01 -5.67496815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.252414037 meters 0.09583702838417088 Centerline is valid? [True, True] Translation: X:218.02, Y:-19.54, Z:-5.68 [[ 9.99891214e-01 1.37573804e-02 -5.31934094e-03 2.18019616e+02] [-1.37543806e-02 9.99905224e-01 6.00125844e-04 -1.95448068e+01] [ 5.32709296e-03 -5.26896319e-04 9.99985672e-01 -5.67838668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.282414037 meters 0.09465742669165936 Centerline is valid? [True, True] Translation: X:218.05, Y:-19.55, Z:-5.68 [[ 9.99910942e-01 1.25122447e-02 -4.64247608e-03 2.18049250e+02] [-1.25099421e-02 9.99921610e-01 5.24688536e-04 -1.95467936e+01] [ 4.64867718e-03 -4.66564701e-04 9.99989086e-01 -5.67769102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.312414037 meters 0.09252652039295164 Centerline is valid? [True, True] Translation: X:218.08, Y:-19.55, Z:-5.68 [[ 9.99914548e-01 1.23083263e-02 -4.40477177e-03 2.18077868e+02] [-1.23062570e-02 9.99924152e-01 4.96562826e-04 -1.95462629e+01] [ 4.41054954e-03 -4.42314140e-04 9.99990176e-01 -5.67650706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.342414037 meters 0.09434558242392897 Centerline is valid? [True, True] Translation: X:218.11, Y:-19.55, Z:-5.68 [[ 9.99922263e-01 1.14936601e-02 -4.83353701e-03 2.18105992e+02] [-1.14911572e-02 9.99933826e-01 5.45282564e-04 -1.95531719e+01] [ 4.83948445e-03 -4.89697242e-04 9.99988170e-01 -5.67802408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.372414037 meters 0.09229106471128982 Centerline is valid? [True, True] Translation: X:218.14, Y:-19.55, Z:-5.68 [[ 9.99926061e-01 1.04388489e-02 -6.23729538e-03 2.18135143e+02] [-1.04346604e-02 9.99945310e-01 7.03682145e-04 -1.95528739e+01] [ 6.24429989e-03 -6.38546056e-04 9.99980300e-01 -5.67798723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40241403699997 meters 0.09310718702048745 Centerline is valid? [True, True] Translation: X:218.16, Y:-19.56, Z:-5.68 [[ 9.99926597e-01 1.00728553e-02 -6.73330746e-03 2.18163038e+02] [-1.00679781e-02 9.99949029e-01 7.57839497e-04 -1.95575151e+01] [ 6.74059787e-03 -6.89993078e-04 9.99977044e-01 -5.67922702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43241403699997 meters 0.09583118199633311 Centerline is valid? [True, True] Translation: X:218.19, Y:-19.57, Z:-5.68 [[ 9.99926937e-01 9.96664086e-03 -6.84005358e-03 2.18189402e+02] [-9.96161431e-03 9.99950087e-01 7.68546577e-04 -1.95658523e+01] [ 6.84737199e-03 -7.00352450e-04 9.99976311e-01 -5.68210968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46241403699997 meters 0.09378809537873523 Centerline is valid? [True, True] Translation: X:218.22, Y:-19.57, Z:-5.68 [[ 9.99931044e-01 9.29680767e-03 -7.17476297e-03 2.18218687e+02] [-9.29125300e-03 9.99956510e-01 8.07140781e-04 -1.95656553e+01] [ 7.18195477e-03 -7.40422586e-04 9.99973935e-01 -5.68184752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49241403699997 meters 0.09378809537873523 Centerline is valid? [True, True] Translation: X:218.25, Y:-19.57, Z:-5.68 [[ 9.99931985e-01 9.19481116e-03 -7.17494450e-03 2.18246142e+02] [-9.18926533e-03 9.99957453e-01 8.05529143e-04 -1.95686453e+01] [ 7.18204592e-03 -7.39541887e-04 9.99973935e-01 -5.68256806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52241403699998 meters 0.09820313631273184 Centerline is valid? [True, True] Translation: X:218.27, Y:-19.58, Z:-5.69 [[ 9.99944969e-01 8.02064218e-03 -6.76230400e-03 2.18272899e+02] [-8.01568741e-03 9.99967585e-01 7.59489484e-04 -1.95807027e+01] [ 6.76817639e-03 -7.05243174e-04 9.99976847e-01 -5.68564329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55241403699998 meters 0.09574353249954867 Centerline is valid? [True, True] Translation: X:218.30, Y:-19.58, Z:-5.68 [[ 9.99949020e-01 7.29109291e-03 -6.98550748e-03 2.18301626e+02] [-7.28579484e-03 9.99973151e-01 7.83584878e-04 -1.95797789e+01] [ 6.99103312e-03 -7.32649957e-04 9.99975294e-01 -5.68468178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58241403699998 meters 0.0910311388050143 Centerline is valid? [True, True] Translation: X:218.33, Y:-19.57, Z:-5.68 [[ 9.99956878e-01 6.23825049e-03 -6.87948882e-03 2.18332326e+02] [-6.23308048e-03 9.99980276e-01 7.72695369e-04 -1.95741596e+01] [ 6.88417339e-03 -7.29781641e-04 9.99976038e-01 -5.68255888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61241403699998 meters 0.09514513586303366 Centerline is valid? [True, True] Translation: X:218.36, Y:-19.58, Z:-5.69 [[ 9.99960514e-01 5.71867429e-03 -6.80195337e-03 2.18358519e+02] [-5.71362572e-03 9.99983387e-01 7.61424494e-04 -1.95841639e+01] [ 6.80619471e-03 -7.22530612e-04 9.99976577e-01 -5.68555232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64241403699998 meters 0.0964012155928195 Centerline is valid? [True, True] Translation: X:218.39, Y:-19.59, Z:-5.69 [[ 9.99959766e-01 5.68240402e-03 -6.94095094e-03 2.18386316e+02] [-5.67714610e-03 9.99983583e-01 7.76989241e-04 -1.95891905e+01] [ 6.94525216e-03 -7.37553187e-04 9.99975609e-01 -5.68659822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67241403699998 meters 0.09484624581954673 Centerline is valid? [True, True] Translation: X:218.42, Y:-19.59, Z:-5.69 [[ 9.99966932e-01 5.27029367e-03 -6.19338312e-03 2.18415614e+02] [-5.26610111e-03 9.99985894e-01 6.93053901e-04 -1.95890102e+01] [ 6.19694835e-03 -6.60416002e-04 9.99980581e-01 -5.68633548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70241403699998 meters 0.09260372772155945 Centerline is valid? [True, True] Translation: X:218.44, Y:-19.59, Z:-5.69 [[ 9.99966468e-01 5.65860782e-03 -5.91971635e-03 2.18444708e+02] [-5.65478745e-03 9.99983793e-01 6.61902257e-04 -1.95869840e+01] [ 5.92336585e-03 -6.28405324e-04 9.99982259e-01 -5.68608706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73241403699998 meters 0.09219564723696344 Centerline is valid? [True, True] Translation: X:218.47, Y:-19.59, Z:-5.69 [[ 9.99967824e-01 6.19815842e-03 -5.09251476e-03 2.18473119e+02] [-6.19534121e-03 9.99980647e-01 5.68795845e-04 -1.95890254e+01] [ 5.09594169e-03 -5.37227677e-04 9.99986871e-01 -5.68678919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76241403699999 meters 0.09633700214580401 Centerline is valid? [True, True] Translation: X:218.50, Y:-19.60, Z:-5.69 [[ 9.99966487e-01 6.42658476e-03 -5.07182774e-03 2.18499728e+02] [-6.42379782e-03 9.99979207e-01 5.65594733e-04 -1.95984367e+01] [ 5.07535712e-03 -5.32995382e-04 9.99986978e-01 -5.68921344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.792414037 meters 0.09069128426807566 Centerline is valid? [True, True] Translation: X:218.53, Y:-19.59, Z:-5.69 [[ 9.99956532e-01 7.94341558e-03 -4.88229881e-03 2.18530421e+02] [-7.94084561e-03 9.99968322e-01 5.45545291e-04 -1.95892979e+01] [ 4.88647764e-03 -5.06751996e-04 9.99987933e-01 -5.68690457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.822414037 meters 0.09587166500208055 Centerline is valid? [True, True] Translation: X:218.56, Y:-19.60, Z:-5.69 [[ 9.99947983e-01 8.91710948e-03 -4.95145761e-03 2.18557031e+02] [-8.91448684e-03 9.99960113e-01 5.51489432e-04 -1.96005646e+01] [ 4.95617780e-03 -5.07321042e-04 9.99987589e-01 -5.69080311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.852414037 meters 0.09097021886378089 Centerline is valid? [True, True] Translation: X:218.59, Y:-19.59, Z:-5.69 [[ 9.99939057e-01 9.67149585e-03 -5.32402784e-03 2.18586840e+02] [-9.66847288e-03 9.99953083e-01 5.93243694e-04 -1.95930700e+01] [ 5.32951561e-03 -5.41732321e-04 9.99985651e-01 -5.68964202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.882414037 meters 0.09262188257454096 Centerline is valid? [True, True] Translation: X:218.62, Y:-19.60, Z:-5.69 [[ 9.99903306e-01 1.20392668e-02 -6.95947106e-03 2.18615801e+02] [-1.20341494e-02 9.99927285e-01 7.76712093e-04 -1.95957200e+01] [ 6.96831605e-03 -6.92885675e-04 9.99975481e-01 -5.69254021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.912414037 meters 0.09213544669595373 Centerline is valid? [True, True] Translation: X:218.64, Y:-19.60, Z:-5.69 [[ 9.99889649e-01 1.30065147e-02 -7.17778043e-03 2.18644763e+02] [-1.30011056e-02 9.99915162e-01 7.99742775e-04 -1.95958987e+01] [ 7.18757335e-03 -7.06335442e-04 9.99973920e-01 -5.69351936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.942414037 meters 0.09093041144316082 Centerline is valid? [True, True] Translation: X:218.67, Y:-19.59, Z:-5.69 [[ 9.99866286e-01 1.45303422e-02 -7.50201017e-03 2.18674484e+02] [-1.45244705e-02 9.99894164e-01 8.36569488e-04 -1.95947634e+01] [ 7.51337183e-03 -7.27494901e-04 9.99971510e-01 -5.69407422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.972414037 meters 0.0884481363352301 Centerline is valid? [True, True] Translation: X:218.70, Y:-19.59, Z:-5.69 [[ 9.99853355e-01 1.52326553e-02 -7.82523614e-03 2.18703983e+02] [-1.52262994e-02 9.99883694e-01 8.71165600e-04 -1.95905075e+01] [ 7.83759618e-03 -7.51888460e-04 9.99969003e-01 -5.69274074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.002414037 meters 0.09117299020668235 Centerline is valid? [True, True] Translation: X:218.73, Y:-19.60, Z:-5.70 [[ 9.99823500e-01 1.76109536e-02 -6.54395076e-03 2.18732560e+02] [-1.76065537e-02 9.99844727e-01 7.29365100e-04 -1.95955322e+01] [ 6.55577947e-03 -6.14019947e-04 9.99978322e-01 -5.69549438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.032414037 meters 0.08972135566222503 Centerline is valid? [True, True] Translation: X:218.76, Y:-19.59, Z:-5.69 [[ 9.99820125e-01 1.79099771e-02 -6.24103278e-03 2.18761907e+02] [-1.79059915e-02 9.99839434e-01 6.93913559e-04 -1.95940114e+01] [ 6.25245866e-03 -5.82036861e-04 9.99980284e-01 -5.69497295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.062414037 meters 0.09041711532298369 Centerline is valid? [True, True] Translation: X:218.79, Y:-19.60, Z:-5.70 [[ 9.99819156e-01 1.79024934e-02 -6.41530023e-03 2.18790186e+02] [-1.78982914e-02 9.99839559e-01 7.11808920e-04 -1.95959599e+01] [ 6.42701411e-03 -5.96857280e-04 9.99979168e-01 -5.69568633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.092414037 meters 0.09329664711505693 Centerline is valid? [True, True] Translation: X:218.82, Y:-19.60, Z:-5.70 [[ 9.99842857e-01 1.70112683e-02 -4.98786685e-03 2.18817576e+02] [-1.70087200e-02 9.99855188e-01 5.52871833e-04 -1.96010373e+01] [ 4.99654960e-03 -4.67947722e-04 9.99987408e-01 -5.69739843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.122414037 meters 0.09264155750056222 Centerline is valid? [True, True] Translation: X:218.85, Y:-19.60, Z:-5.70 [[ 9.99861852e-01 1.57473076e-02 -5.31967196e-03 2.18847281e+02] [-1.57443844e-02 9.99875875e-01 5.90942485e-04 -1.96007845e+01] [ 5.32831740e-03 -5.07105887e-04 9.99985676e-01 -5.69681959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15241403699997 meters 0.09199971865472645 Centerline is valid? [True, True] Translation: X:218.88, Y:-19.60, Z:-5.70 [[ 9.99871232e-01 1.49656324e-02 -5.79218920e-03 2.18876965e+02] [-1.49621545e-02 9.99887854e-01 6.43307948e-04 -1.96016431e+01] [ 5.80116714e-03 -5.56561481e-04 9.99983018e-01 -5.69658740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18241403699997 meters 0.09150788681516023 Centerline is valid? [True, True] Translation: X:218.91, Y:-19.60, Z:-5.70 [[ 9.99913040e-01 1.18006561e-02 -5.88706373e-03 2.18907828e+02] [-1.17970038e-02 9.99930199e-01 6.54740508e-04 -1.96011339e+01] [ 5.89437918e-03 -5.85233859e-04 9.99982457e-01 -5.69643857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21241403699997 meters 0.0934445629178519 Centerline is valid? [True, True] Translation: X:218.94, Y:-19.61, Z:-5.70 [[ 9.99927608e-01 1.01158344e-02 -6.51531747e-03 2.18936224e+02] [-1.01113328e-02 9.99948617e-01 7.23492797e-04 -1.96068255e+01] [ 6.52230143e-03 -6.57561878e-04 9.99978513e-01 -5.69806488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24241403699997 meters 0.09560932032002797 Centerline is valid? [True, True] Translation: X:218.97, Y:-19.61, Z:-5.70 [[ 9.99953074e-01 6.39638570e-03 -7.27574221e-03 2.18966006e+02] [-6.39067101e-03 9.99979253e-01 8.08422747e-04 -1.96120507e+01] [ 7.28076224e-03 -7.61887936e-04 9.99973205e-01 -5.70013674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27241403699998 meters 0.09659242194139728 Centerline is valid? [True, True] Translation: X:219.00, Y:-19.62, Z:-5.70 [[ 9.99967931e-01 4.46978199e-03 -6.64508544e-03 2.18995935e+02] [-4.46497427e-03 9.99989760e-01 7.38158458e-04 -1.96161384e+01] [ 6.64831680e-03 -7.08464651e-04 9.99977649e-01 -5.70121218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30241403699998 meters 0.09702424882483592 Centerline is valid? [True, True] Translation: X:219.02, Y:-19.62, Z:-5.70 [[ 9.99974137e-01 2.97177836e-03 -6.54928702e-03 2.19024815e+02] [-2.96708442e-03 9.99995334e-01 7.26310506e-04 -1.96187131e+01] [ 6.55141490e-03 -7.06859435e-04 9.99978289e-01 -5.70223923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.33241403699998 meters 0.09776537575671998 Centerline is valid? [True, True] Translation: X:219.06, Y:-19.62, Z:-5.70 [[ 9.99976462e-01 -3.50474964e-04 -6.85218497e-03 2.19055232e+02] [ 3.55699913e-04 9.99999647e-01 7.61319240e-04 -1.96206230e+01] [ 6.85191573e-03 -7.63738641e-04 9.99976234e-01 -5.70248930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36241403699998 meters 0.09865955990291882 Centerline is valid? [True, True] Translation: X:219.08, Y:-19.62, Z:-5.70 [[ 9.99976173e-01 -1.59028078e-03 -6.71746885e-03 2.19084849e+02] [ 1.59532217e-03 9.99998450e-01 7.45197814e-04 -1.96237667e+01] [ 6.71627337e-03 -7.55896585e-04 9.99977160e-01 -5.70340384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39241403699998 meters 0.09969136139892652 Centerline is valid? [True, True] Translation: X:219.11, Y:-19.63, Z:-5.70 [[ 9.99981535e-01 -2.10680366e-03 -5.70015563e-03 2.19113573e+02] [ 2.11043400e-03 9.99997574e-01 6.30944137e-04 -1.96275973e+01] [ 5.69881252e-03 -6.42962289e-04 9.99983555e-01 -5.70420841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42241403699998 meters 0.10096602222129276 Centerline is valid? [True, False] Translation: X:219.11, Y:-19.63, Z:-5.70 [[ 9.99981119e-01 -2.18594106e-03 -5.74303160e-03 2.19113881e+02] [ 2.18823771e-03 9.99997528e-01 3.93648408e-04 -1.96265293e+01] [ 5.74215692e-03 -4.06208094e-04 9.99983431e-01 -5.70450654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45241403699998 meters 0.10326999025062841 Centerline is valid? [False, False] Translation: X:219.11, Y:-19.62, Z:-5.70 [[ 9.99985170e-01 1.37721237e-03 -5.26899113e-03 2.19112660e+02] [-1.35725407e-03 9.99991898e-01 3.78958077e-03 -1.96248384e+01] [ 5.27416750e-03 -3.78237321e-03 9.99978938e-01 -5.70406346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48241403699998 meters 0.095841684172257 Centerline is valid? [False, True] Translation: X:219.11, Y:-19.62, Z:-5.70 [[ 9.99985683e-01 7.86863517e-04 -5.29296836e-03 2.19112305e+02] [-7.72472378e-04 9.99996001e-01 2.72041154e-03 -1.96224445e+01] [ 5.29508779e-03 -2.71628392e-03 9.99982292e-01 -5.70343420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51241403699999 meters 0.09721686433383073 Centerline is valid? [True, True] Translation: X:219.14, Y:-19.63, Z:-5.70 [[ 9.99985082e-01 1.51198465e-03 -5.24868880e-03 2.19139871e+02] [-1.50888254e-03 9.99998685e-01 5.94934954e-04 -1.96254754e+01] [ 5.24958143e-03 -5.87006424e-04 9.99986049e-01 -5.70385003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.542414037 meters 0.10393774973194293 Centerline is valid? [True, False] Translation: X:219.14, Y:-19.62, Z:-5.70 [[ 9.99985153e-01 1.06052261e-03 -5.34503453e-03 2.19139804e+02] [-1.06205271e-03 9.99999396e-01 -2.83436263e-04 -1.96233543e+01] [ 5.34473071e-03 2.89108763e-04 9.99985675e-01 -5.70344728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.572414037 meters 0.10437342838543609 Centerline is valid? [False, False] Translation: X:219.14, Y:-19.62, Z:-5.70 [[ 9.99982061e-01 1.25135034e-03 -5.85754977e-03 2.19141460e+02] [-1.25516007e-03 9.99999003e-01 -6.46765680e-04 -1.96208950e+01] [ 5.85673460e-03 6.54106241e-04 9.99982635e-01 -5.70442589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.602414037 meters 0.09521991281893238 Centerline is valid? [False, True] Translation: X:219.14, Y:-19.62, Z:-5.70 [[ 9.99982256e-01 9.94080343e-04 -5.87370601e-03 2.19141582e+02] [-1.00074105e-03 9.99998859e-01 -1.13115750e-03 -1.96193847e+01] [ 5.87257485e-03 1.13701549e-03 9.99982110e-01 -5.70456922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.632414037 meters 0.0967151121786706 Centerline is valid? [True, True] Translation: X:219.17, Y:-19.62, Z:-5.71 [[ 9.99980329e-01 2.17195958e-03 -5.88426853e-03 2.19170168e+02] [-2.16819869e-03 9.99997441e-01 6.45447389e-04 -1.96239804e+01] [ 5.88565536e-03 -6.32676429e-04 9.99982479e-01 -5.70742877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.662414037 meters 0.09615618042714466 Centerline is valid? [True, True] Translation: X:219.20, Y:-19.63, Z:-5.71 [[ 9.99975254e-01 2.73628096e-03 -6.48100564e-03 2.19199379e+02] [-2.73173813e-03 9.99996017e-01 7.09694853e-04 -1.96252366e+01] [ 6.48292175e-03 -6.91972881e-04 9.99978746e-01 -5.70826586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.692414037 meters 0.09645092427033228 Centerline is valid? [True, True] Translation: X:219.23, Y:-19.63, Z:-5.71 [[ 9.99976185e-01 3.09227386e-03 -6.16990115e-03 2.19228299e+02] [-3.08816648e-03 9.99995004e-01 6.75127048e-04 -1.96283070e+01] [ 6.17195800e-03 -6.56057288e-04 9.99980738e-01 -5.70944936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.722414037 meters 0.09735253255699383 Centerline is valid? [True, True] Translation: X:219.26, Y:-19.63, Z:-5.71 [[ 9.99983351e-01 2.50700718e-03 -5.19738447e-03 2.19257226e+02] [-2.50408802e-03 9.99996703e-01 5.68090636e-04 -1.96316055e+01] [ 5.19879154e-03 -5.55066470e-04 9.99986332e-01 -5.70909739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.752414037 meters 0.09614379135154073 Centerline is valid? [True, True] Translation: X:219.29, Y:-19.63, Z:-5.71 [[ 9.99987951e-01 2.10314415e-03 -4.43553222e-03 2.19286327e+02] [-2.10101671e-03 9.99997676e-01 4.84240518e-04 -1.96323866e+01] [ 4.43654033e-03 -4.74915557e-04 9.99990046e-01 -5.70876540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.782414037 meters 0.0943499545893433 Centerline is valid? [True, True] Translation: X:219.32, Y:-19.63, Z:-5.71 [[ 9.99987970e-01 -6.47261161e-04 -4.86217719e-03 2.19316866e+02] [ 6.49858938e-04 9.99999647e-01 5.32721758e-04 -1.96326232e+01] [ 4.86183066e-03 -5.35875078e-04 9.99988038e-01 -5.70723320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.812414037 meters 0.0984441279900791 Centerline is valid? [True, True] Translation: X:219.34, Y:-19.64, Z:-5.71 [[ 9.99988546e-01 -1.89449681e-03 -4.39528096e-03 2.19344460e+02] [ 1.89662473e-03 9.99998086e-01 4.80019419e-04 -1.96433958e+01] [ 4.39436315e-03 -4.88350120e-04 9.99990225e-01 -5.71022110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.842414037 meters 0.09803824525945472 Centerline is valid? [True, True] Translation: X:219.37, Y:-19.65, Z:-5.71 [[ 9.99982213e-01 -3.50849806e-03 -4.82319562e-03 2.19374112e+02] [ 3.51108349e-03 9.99993697e-01 5.27677943e-04 -1.96461199e+01] [ 4.82131386e-03 -5.44603200e-04 9.99988229e-01 -5.70992721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.872414037 meters 0.09945030450321567 Centerline is valid? [True, True] Translation: X:219.40, Y:-19.65, Z:-5.71 [[ 9.99968236e-01 -5.24839707e-03 -5.99848000e-03 2.19403244e+02] [ 5.25242740e-03 9.99985991e-01 6.56335555e-04 -1.96518237e+01] [ 5.99495125e-03 -6.87821287e-04 9.99981794e-01 -5.71145344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90241403699997 meters 0.10121774796751493 Centerline is valid? [True, False] Translation: X:219.40, Y:-19.65, Z:-5.71 [[ 9.99969747e-01 -5.15750228e-03 -5.82280663e-03 2.19403240e+02] [ 5.16344032e-03 9.99986164e-01 1.00521818e-03 -1.96524400e+01] [ 5.81754165e-03 -1.03525348e-03 9.99982542e-01 -5.71197786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93241403699997 meters 0.10110124898258836 Centerline is valid? [False, False] Translation: X:219.40, Y:-19.65, Z:-5.71 [[ 9.99969232e-01 -5.22807867e-03 -5.84828837e-03 2.19403249e+02] [ 5.23362925e-03 9.99985868e-01 9.34192796e-04 -1.96522737e+01] [ 5.84332169e-03 -9.64771826e-04 9.99982462e-01 -5.71194729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96241403699997 meters 0.10284956236867318 Centerline is valid? [False, False] Translation: X:219.40, Y:-19.65, Z:-5.71 [[ 9.99969543e-01 -5.00169405e-03 -5.99133928e-03 2.19403851e+02] [ 5.00889911e-03 9.99986749e-01 1.18817860e-03 -1.96523939e+01] [ 5.98531699e-03 -1.21815242e-03 9.99981346e-01 -5.71240948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99241403699997 meters 0.10249160973394109 Centerline is valid? [False, False] Translation: X:219.40, Y:-19.65, Z:-5.71 [[ 9.99969647e-01 -4.89791872e-03 -6.05930615e-03 2.19404192e+02] [ 4.90586458e-03 9.99987125e-01 1.29718047e-03 -1.96522923e+01] [ 6.05287465e-03 -1.32686723e-03 9.99980801e-01 -5.71268578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.022414037 meters 0.10399878545066116 Centerline is valid? [False, False] Translation: X:219.40, Y:-19.65, Z:-5.71 [[ 9.99969766e-01 -4.85922557e-03 -6.07081108e-03 2.19404206e+02] [ 4.86745767e-03 9.99987253e-01 1.34197592e-03 -1.96524383e+01] [ 6.06421273e-03 -1.37148476e-03 9.99980672e-01 -5.71266436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.052414037 meters 0.10130762067713062 Centerline is valid? [False, False] Translation: X:219.40, Y:-19.65, Z:-5.71 [[ 9.99970083e-01 -4.93672415e-03 -5.95491496e-03 2.19403828e+02] [ 4.94472601e-03 9.99986891e-01 1.32976532e-03 -1.96526952e+01] [ 5.94827221e-03 -1.35917097e-03 9.99981385e-01 -5.71245183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.082414037 meters 0.09781990782244229 Centerline is valid? [False, True] Translation: X:219.40, Y:-19.65, Z:-5.71 [[ 9.99970917e-01 -4.72848024e-03 -5.98382322e-03 2.19404040e+02] [ 4.73844990e-03 9.99987407e-01 1.65302205e-03 -1.96532947e+01] [ 5.97593159e-03 -1.68132802e-03 9.99980731e-01 -5.71267877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.112414037 meters 0.09997482885129515 Centerline is valid? [True, True] Translation: X:219.43, Y:-19.66, Z:-5.71 [[ 9.99980153e-01 -4.00697002e-03 -4.86189390e-03 2.19432516e+02] [ 4.00968315e-03 9.99991811e-01 5.48422172e-04 -1.96605995e+01] [ 4.85965657e-03 -5.67905941e-04 9.99988031e-01 -5.71306432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.142414037 meters 0.10163764073566865 Centerline is valid? [True, False] Translation: X:219.43, Y:-19.66, Z:-5.71 [[ 9.99980728e-01 -3.70829744e-03 -4.97917766e-03 2.19433099e+02] [ 3.71299373e-03 9.99992670e-01 9.34273051e-04 -1.96610958e+01] [ 4.97567660e-03 -9.52742701e-04 9.99987167e-01 -5.71356263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.172414037 meters 0.10858105319764434 Centerline is valid? [False, False] Translation: X:219.43, Y:-19.66, Z:-5.71 [[ 9.99980546e-01 -3.71282079e-03 -5.01227215e-03 2.19433163e+02] [ 3.71761562e-03 9.99992641e-01 9.47640224e-04 -1.96612080e+01] [ 5.00871685e-03 -9.66255490e-04 9.99986989e-01 -5.71357759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.202414037 meters 0.1007314614602384 Centerline is valid? [False, False] Translation: X:219.43, Y:-19.66, Z:-5.71 [[ 9.99981612e-01 -3.34056978e-03 -5.06121896e-03 2.19433685e+02] [ 3.34837668e-03 9.99993216e-01 1.53480596e-03 -1.96624325e+01] [ 5.05605750e-03 -1.55172461e-03 9.99986014e-01 -5.71419570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.232414037 meters 0.09838498408736164 Centerline is valid? [False, True] Translation: X:219.43, Y:-19.66, Z:-5.71 [[ 9.99981546e-01 -3.25255557e-03 -5.13108385e-03 2.19433832e+02] [ 3.26101418e-03 9.99993336e-01 1.64099934e-03 -1.96628564e+01] [ 5.12571221e-03 -1.65770159e-03 9.99985489e-01 -5.71420669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.262414037 meters 0.09895858169105794 Centerline is valid? [True, True] Translation: X:219.46, Y:-19.67, Z:-5.71 [[ 9.99978197e-01 -3.11446348e-03 -5.82281306e-03 2.19463525e+02] [ 3.11830855e-03 9.99994926e-01 6.51383697e-04 -1.96676918e+01] [ 5.82075481e-03 -6.69526823e-04 9.99982835e-01 -5.71497218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29241403699996 meters 0.09924866271936292 Centerline is valid? [True, True] Translation: X:219.49, Y:-19.67, Z:-5.72 [[ 9.99975858e-01 -2.76755559e-03 -6.37370368e-03 2.19492359e+02] [ 2.77211637e-03 9.99995908e-01 7.06837520e-04 -1.96720291e+01] [ 6.37172139e-03 -7.24489104e-04 9.99979438e-01 -5.71623192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.322414037 meters 0.09718523236063328 Centerline is valid? [True, True] Translation: X:219.52, Y:-19.67, Z:-5.72 [[ 9.99977516e-01 -2.64495564e-03 -6.16210810e-03 2.19521491e+02] [ 2.64920252e-03 9.99996259e-01 6.81131564e-04 -1.96724925e+01] [ 6.16028349e-03 -6.97440922e-04 9.99980782e-01 -5.71545208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35241403699996 meters 0.09729898608247325 Centerline is valid? [True, True] Translation: X:219.55, Y:-19.68, Z:-5.72 [[ 9.99976741e-01 -2.82654906e-03 -6.20708615e-03 2.19549806e+02] [ 2.83085257e-03 9.99995759e-01 6.84645243e-04 -1.96760735e+01] [ 6.20512464e-03 -7.02200664e-04 9.99980501e-01 -5.71711470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.382414037 meters 0.09729898608247325 Centerline is valid? [True, True] Translation: X:219.58, Y:-19.68, Z:-5.72 [[ 9.99976030e-01 -3.06757033e-03 -6.20724799e-03 2.19578065e+02] [ 3.07186946e-03 9.99995048e-01 6.83182897e-04 -1.96791433e+01] [ 6.20512154e-03 -7.02234377e-04 9.99980501e-01 -5.71784208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41241403699996 meters 0.09867927558356543 Centerline is valid? [True, True] Translation: X:219.61, Y:-19.69, Z:-5.72 [[ 9.99981074e-01 -2.21391421e-03 -5.74030509e-03 2.19606571e+02] [ 2.21760362e-03 9.99997339e-01 6.36433941e-04 -1.96860597e+01] [ 5.73888080e-03 -6.49151617e-04 9.99983322e-01 -5.71825369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.442414037 meters 0.09744115558481868 Centerline is valid? [True, True] Translation: X:219.64, Y:-19.69, Z:-5.72 [[ 9.99983196e-01 -2.18943482e-03 -5.36787922e-03 2.19635329e+02] [ 2.19262502e-03 9.99997423e-01 5.88500165e-04 -1.96872774e+01] [ 5.36657690e-03 -6.00260022e-04 9.99985420e-01 -5.71824213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47241403699996 meters 0.09943320238049458 Centerline is valid? [True, True] Translation: X:219.66, Y:-19.69, Z:-5.72 [[ 9.99979127e-01 -2.38816590e-03 -6.00359295e-03 2.19663064e+02] [ 2.39219164e-03 9.99996919e-01 6.63463166e-04 -1.96941133e+01] [ 6.00198999e-03 -6.77811062e-04 9.99981758e-01 -5.71964120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.502414037 meters 0.09289657504349653 Centerline is valid? [True, True] Translation: X:219.69, Y:-19.69, Z:-5.72 [[ 9.99974024e-01 -2.84690496e-03 -6.62159362e-03 2.19692596e+02] [ 2.85176842e-03 9.99995671e-01 7.25159865e-04 -1.96870938e+01] [ 6.61950050e-03 -7.44024281e-04 9.99977814e-01 -5.71722441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53241403699997 meters 0.0991213730265119 Centerline is valid? [True, True] Translation: X:219.72, Y:-19.70, Z:-5.72 [[ 9.99978593e-01 -3.44576957e-03 -5.56234862e-03 2.19718946e+02] [ 3.44922510e-03 9.99993864e-01 6.11761304e-04 -1.97019165e+01] [ 5.56020650e-03 -6.30934000e-04 9.99984343e-01 -5.72098088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.562414037 meters 0.09593922372455817 Centerline is valid? [True, True] Translation: X:219.75, Y:-19.70, Z:-5.72 [[ 9.99975851e-01 -4.89930514e-03 -4.92882578e-03 2.19748206e+02] [ 4.90203697e-03 9.99987838e-01 5.42327577e-04 -1.97008754e+01] [ 4.92610881e-03 -5.66475766e-04 9.99987706e-01 -5.71985542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59241403699997 meters 0.09773879811329318 Centerline is valid? [True, True] Translation: X:219.78, Y:-19.71, Z:-5.72 [[ 9.99970611e-01 -5.33004863e-03 -5.51067723e-03 2.19776516e+02] [ 5.33347307e-03 9.99985593e-01 6.06910769e-04 -1.97075166e+01] [ 5.50736298e-03 -6.36283982e-04 9.99984632e-01 -5.72120255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.622414037 meters 0.09858806822721618 Centerline is valid? [True, True] Translation: X:219.81, Y:-19.71, Z:-5.72 [[ 9.99963968e-01 -5.93430535e-03 -6.07007990e-03 2.19805160e+02] [ 5.93848046e-03 9.99982143e-01 6.70024884e-04 -1.97128780e+01] [ 6.06599537e-03 -7.06047793e-04 9.99981352e-01 -5.72296183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65241403699997 meters 0.09868109392373148 Centerline is valid? [True, True] Translation: X:219.83, Y:-19.72, Z:-5.72 [[ 9.99966672e-01 -6.40766778e-03 -5.05921987e-03 2.19834774e+02] [ 6.41056691e-03 9.99979297e-01 5.57030753e-04 -1.97169442e+01] [ 5.05554586e-03 -5.89444656e-04 9.99987047e-01 -5.72437530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.682414037 meters 0.10780641009904154 Centerline is valid? [True, False] Translation: X:219.84, Y:-19.72, Z:-5.73 [[ 9.99970808e-01 -5.84444891e-03 -4.92189034e-03 2.19835199e+02] [ 5.85254209e-03 9.99981543e-01 1.63152870e-03 -1.97191338e+01] [ 4.91226411e-03 -1.66028664e-03 9.99986556e-01 -5.72545031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.712414037 meters 0.10165566063684345 Centerline is valid? [False, False] Translation: X:219.83, Y:-19.72, Z:-5.73 [[ 9.99971673e-01 -5.82777419e-03 -4.76339680e-03 2.19834832e+02] [ 5.83660604e-03 9.99981270e-01 1.84231550e-03 -1.97199983e+01] [ 4.75257098e-03 -1.87006538e-03 9.99986958e-01 -5.72538399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.742414037 meters 0.10218068187187308 Centerline is valid? [False, False] Translation: X:219.83, Y:-19.72, Z:-5.73 [[ 9.99974623e-01 -5.59860110e-03 -4.40548268e-03 2.19834285e+02] [ 5.61037668e-03 9.99980710e-01 2.66513577e-03 -1.97223723e+01] [ 4.39047667e-03 -2.68978456e-03 9.99986744e-01 -5.72556455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.772414037 meters 0.10549050927814059 Centerline is valid? [False, False] Translation: X:219.83, Y:-19.72, Z:-5.73 [[ 9.99976709e-01 -5.29261280e-03 -4.30924893e-03 2.19834216e+02] [ 5.30697688e-03 9.99980378e-01 3.32873150e-03 -1.97241368e+01] [ 4.29154668e-03 -3.35152305e-03 9.99985175e-01 -5.72573559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.802414037 meters 0.1068733195516902 Centerline is valid? [False, False] Translation: X:219.83, Y:-19.73, Z:-5.73 [[ 9.99978431e-01 -5.08023163e-03 -4.16275668e-03 2.19834033e+02] [ 5.09632728e-03 9.99979544e-01 3.86514478e-03 -1.97256408e+01] [ 4.14303569e-03 -3.88627619e-03 9.99983866e-01 -5.72587891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.832414037 meters 0.1072300673291118 Centerline is valid? [False, False] Translation: X:219.83, Y:-19.73, Z:-5.73 [[ 9.99980075e-01 -4.93059435e-03 -3.94182728e-03 2.19833613e+02] [ 4.94784284e-03 9.99978176e-01 4.37804847e-03 -1.97273120e+01] [ 3.92015487e-03 -4.39746478e-03 9.99982647e-01 -5.72589792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.862414037 meters 0.11082335393322297 Centerline is valid? [False, False] Translation: X:219.83, Y:-19.73, Z:-5.73 [[ 9.99981534e-01 -5.09966548e-03 -3.30522673e-03 2.19831980e+02] [ 5.11582271e-03 9.99974916e-01 4.89850907e-03 -1.97303717e+01] [ 3.28016307e-03 -4.91532757e-03 9.99982540e-01 -5.72523337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.892414037 meters 0.11235726207015595 Centerline is valid? [False, False] Translation: X:219.83, Y:-19.73, Z:-5.73 [[ 9.99983688e-01 -4.66477599e-03 -3.29604085e-03 2.19832236e+02] [ 4.68346268e-03 9.99972875e-01 5.68464712e-03 -1.97322356e+01] [ 3.26943384e-03 -5.69999127e-03 9.99978410e-01 -5.72564183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.922414037 meters 0.10999193536906653 Centerline is valid? [False, False] Translation: X:219.83, Y:-19.73, Z:-5.73 [[ 9.99984252e-01 -4.61735522e-03 -3.19001263e-03 2.19831873e+02] [ 4.63616750e-03 9.99971758e-01 5.91523571e-03 -1.97332538e+01] [ 3.16260979e-03 -5.92993199e-03 9.99977417e-01 -5.72541782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.952414037 meters 0.11073064985108606 Centerline is valid? [False, False] Translation: X:219.83, Y:-19.73, Z:-5.73 [[ 9.99985026e-01 -4.50631295e-03 -3.10496335e-03 2.19831617e+02] [ 4.52561608e-03 9.99970302e-01 6.23813802e-03 -1.97344164e+01] [ 3.07676014e-03 -6.25209648e-03 9.99975722e-01 -5.72528405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.982414037 meters 0.11675459082913617 Centerline is valid? [False, False] Translation: X:219.83, Y:-19.74, Z:-5.73 [[ 9.99986163e-01 -4.29535536e-03 -3.03718972e-03 2.19831422e+02] [ 4.31571367e-03 9.99968050e-01 6.72853163e-03 -1.97360638e+01] [ 3.00819125e-03 -6.74154617e-03 9.99972751e-01 -5.72518661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.012414037 meters 0.11781760552764642 Centerline is valid? [False, False] Translation: X:219.83, Y:-19.74, Z:-5.73 [[ 9.99986469e-01 -4.16088982e-03 -3.12240833e-03 2.19831595e+02] [ 4.18243388e-03 9.99967273e-01 6.92531039e-03 -1.97366751e+01] [ 3.09349069e-03 -6.93827595e-03 9.99971145e-01 -5.72519753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04241403699996 meters 0.11908649301733178 Centerline is valid? [False, False] Translation: X:219.83, Y:-19.74, Z:-5.72 [[ 9.99986676e-01 -4.13674685e-03 -3.08779639e-03 2.19831327e+02] [ 4.15836786e-03 9.99966651e-01 7.02881813e-03 -1.97373702e+01] [ 3.05861697e-03 -7.04156468e-03 9.99970530e-01 -5.72488368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.072414037 meters 0.11890871317237281 Centerline is valid? [False, False] Translation: X:219.83, Y:-19.74, Z:-5.72 [[ 9.99987285e-01 -3.99666671e-03 -3.07523045e-03 2.19831170e+02] [ 4.01918428e-03 9.99964902e-01 7.35123366e-03 -1.97385119e+01] [ 3.04574208e-03 -7.36350011e-03 9.99968251e-01 -5.72469956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10241403699996 meters 0.12002353652665852 Centerline is valid? [False, False] Translation: X:219.83, Y:-19.74, Z:-5.72 [[ 9.99987673e-01 -3.78131166e-03 -3.21809683e-03 2.19831472e+02] [ 3.80584820e-03 9.99963474e-01 7.65289034e-03 -1.97393248e+01] [ 3.18904133e-03 -7.66504359e-03 9.99965538e-01 -5.72473941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.132414037 meters 0.12088871632801258 Centerline is valid? [False, False] Translation: X:219.83, Y:-19.74, Z:-5.72 [[ 9.99988343e-01 -3.55424510e-03 -3.26806171e-03 2.19831543e+02] [ 3.58047504e-03 9.99961143e-01 8.05563466e-03 -1.97406654e+01] [ 3.23930303e-03 -8.06724197e-03 9.99962213e-01 -5.72470561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16241403699996 meters 0.10484791555649145 Centerline is valid? [False, False] Translation: X:219.83, Y:-19.74, Z:-5.72 [[ 9.99988347e-01 -3.48224953e-03 -3.34372748e-03 2.19831697e+02] [ 3.50936627e-03 9.99960725e-01 8.13840720e-03 -1.97409885e+01] [ 3.31525619e-03 -8.15004672e-03 9.99961292e-01 -5.72471958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.192414037 meters 0.10458557934606601 Centerline is valid? [False, False] Translation: X:219.83, Y:-19.74, Z:-5.72 [[ 9.99988093e-01 -3.44431414e-03 -3.45694290e-03 2.19831930e+02] [ 3.47236341e-03 9.99960833e-01 8.14095758e-03 -1.97410371e+01] [ 3.42876749e-03 -8.15286441e-03 9.99960886e-01 -5.72474426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22241403699996 meters 0.10236174728793922 Centerline is valid? [False, False] Translation: X:219.83, Y:-19.74, Z:-5.73 [[ 9.99988106e-01 -3.28825553e-03 -3.60199329e-03 2.19832465e+02] [ 3.31794896e-03 9.99960308e-01 8.26888933e-03 -1.97410831e+01] [ 3.57466009e-03 -8.28074222e-03 9.99959325e-01 -5.72509191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.252414037 meters 0.10187244236280264 Centerline is valid? [False, False] Translation: X:219.83, Y:-19.74, Z:-5.73 [[ 9.99987905e-01 -3.25513931e-03 -3.68709835e-03 2.19832628e+02] [ 3.28555880e-03 9.99960368e-01 8.27446170e-03 -1.97411352e+01] [ 3.66001770e-03 -8.28647580e-03 9.99958968e-01 -5.72508907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28241403699997 meters 0.10253369741410365 Centerline is valid? [False, False] Translation: X:219.83, Y:-19.74, Z:-5.72 [[ 9.99987486e-01 -3.33021232e-03 -3.73334690e-03 2.19832526e+02] [ 3.36040810e-03 9.99961457e-01 8.11124242e-03 -1.97410362e+01] [ 3.70619084e-03 -8.12368648e-03 9.99960134e-01 -5.72478823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.312414037 meters 0.10114042600464641 Centerline is valid? [False, False] Translation: X:219.83, Y:-19.74, Z:-5.72 [[ 9.99987024e-01 -3.44417245e-03 -3.75370959e-03 2.19832305e+02] [ 3.47383460e-03 9.99962567e-01 7.92442766e-03 -1.97409479e+01] [ 3.72627598e-03 -7.93736459e-03 9.99961556e-01 -5.72439700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34241403699997 meters 0.10180974421892663 Centerline is valid? [False, False] Translation: X:219.83, Y:-19.74, Z:-5.72 [[ 9.99986850e-01 -3.57179476e-03 -3.67982743e-03 2.19831933e+02] [ 3.60032926e-03 9.99963277e-01 7.77708557e-03 -1.97409984e+01] [ 3.65191414e-03 -7.79023190e-03 9.99962987e-01 -5.72405515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.372414037 meters 0.09719356987902207 Centerline is valid? [False, True] Translation: X:219.83, Y:-19.74, Z:-5.72 [[ 9.99986375e-01 -3.71968884e-03 -3.66249854e-03 2.19831629e+02] [ 3.74736874e-03 9.99964250e-01 7.58002204e-03 -1.97409030e+01] [ 3.63417228e-03 -7.59364349e-03 9.99964564e-01 -5.72365669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40241403699997 meters 0.09949711305916577 Centerline is valid? [True, True] Translation: X:219.86, Y:-19.75, Z:-5.72 [[ 9.99989732e-01 -3.58229909e-03 -2.77560498e-03 2.19860366e+02] [ 3.58323036e-03 9.99993526e-01 3.30622355e-04 -1.97462342e+01] [ 2.77440263e-03 -3.40564592e-04 9.99996093e-01 -5.72201354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.432414037 meters 0.10280555771286819 Centerline is valid? [True, False] Translation: X:219.86, Y:-19.75, Z:-5.72 [[ 9.99990962e-01 -3.25628234e-03 -2.73350610e-03 2.19860602e+02] [ 3.25878185e-03 9.99994276e-01 9.10441441e-04 -1.97473427e+01] [ 2.73052580e-03 -9.19341113e-04 9.99995850e-01 -5.72248524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.462414037 meters 0.10220685343140981 Centerline is valid? [False, False] Translation: X:219.86, Y:-19.75, Z:-5.72 [[ 9.99992144e-01 -2.90620259e-03 -2.69553824e-03 2.19860835e+02] [ 2.91041013e-03 9.99994551e-01 1.55832081e-03 -1.97486586e+01] [ 2.69099475e-03 -1.56615369e-03 9.99995153e-01 -5.72295291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.492414037 meters 0.10158919557253042 Centerline is valid? [False, False] Translation: X:219.86, Y:-19.75, Z:-5.72 [[ 9.99993176e-01 -2.92362311e-03 -2.25855031e-03 2.19859788e+02] [ 2.92843538e-03 9.99993443e-01 2.13033090e-03 -1.97510934e+01] [ 2.25230722e-03 -2.13693038e-03 9.99995180e-01 -5.72264385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.522414037 meters 0.10146825296683434 Centerline is valid? [False, False] Translation: X:219.86, Y:-19.75, Z:-5.72 [[ 9.99994690e-01 -2.40073106e-03 -2.20352833e-03 2.19860210e+02] [ 2.40747017e-03 9.99992418e-01 3.06078592e-03 -1.97529760e+01] [ 2.19616350e-03 -3.06607459e-03 9.99992888e-01 -5.72344777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.552414037 meters 0.10244074463729513 Centerline is valid? [False, False] Translation: X:219.86, Y:-19.76, Z:-5.72 [[ 9.99996002e-01 -2.18018753e-03 -1.80095920e-03 2.19859600e+02] [ 2.18727366e-03 9.99989838e-01 3.94209062e-03 -1.97557669e+01] [ 1.79234640e-03 -3.94601405e-03 9.99990608e-01 -5.72373287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.582414037 meters 0.10685979576351715 Centerline is valid? [False, False] Translation: X:219.86, Y:-19.76, Z:-5.72 [[ 9.99996628e-01 -1.97755524e-03 -1.68324039e-03 2.19859507e+02] [ 1.98497226e-03 9.99988279e-01 4.41618585e-03 -1.97571005e+01] [ 1.67448741e-03 -4.41951214e-03 9.99988832e-01 -5.72394941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.612414037 meters 0.1012465734339531 Centerline is valid? [False, False] Translation: X:219.86, Y:-19.76, Z:-5.72 [[ 9.99997121e-01 -1.84905762e-03 -1.52937057e-03 2.19859277e+02] [ 1.85639099e-03 9.99986720e-01 4.80758841e-03 -1.97582590e+01] [ 1.52046075e-03 -4.81041368e-03 9.99987274e-01 -5.72407111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.642414037 meters 0.10249626914228725 Centerline is valid? [False, False] Translation: X:219.86, Y:-19.76, Z:-5.72 [[ 9.99997406e-01 -1.83345403e-03 -1.35141299e-03 2.19858781e+02] [ 1.84026961e-03 9.99985508e-01 5.05942838e-03 -1.97593903e+01] [ 1.34211718e-03 -5.06190222e-03 9.99986288e-01 -5.72386918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.672414037 meters 0.10405389609429502 Centerline is valid? [False, False] Translation: X:219.86, Y:-19.76, Z:-5.72 [[ 9.99997681e-01 -1.92530543e-03 -9.64674623e-04 2.19857418e+02] [ 1.93055303e-03 9.99983183e-01 5.46869083e-03 -1.97620170e+01] [ 9.54129500e-04 -5.47054050e-03 9.99984581e-01 -5.72293286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.702414037 meters 0.10555704905512467 Centerline is valid? [False, False] Translation: X:219.86, Y:-19.76, Z:-5.72 [[ 9.99998040e-01 -1.77748367e-03 -8.72577096e-04 2.19857182e+02] [ 1.78255343e-03 9.99981334e-01 5.84412038e-03 -1.97632310e+01] [ 8.62172981e-04 -5.84566434e-03 9.99982542e-01 -5.72287206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.732414037 meters 0.10753923714050882 Centerline is valid? [False, False] Translation: X:219.86, Y:-19.76, Z:-5.72 [[ 9.99998293e-01 -1.62338178e-03 -8.82926975e-04 2.19857160e+02] [ 1.62878077e-03 9.99979769e-01 6.14892537e-03 -1.97641942e+01] [ 8.72927059e-04 -6.15035296e-03 9.99980705e-01 -5.72281546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.762414037 meters 0.10710258133810925 Centerline is valid? [False, False] Translation: X:219.86, Y:-19.77, Z:-5.72 [[ 9.99998542e-01 -1.43146423e-03 -9.30758506e-04 2.19856900e+02] [ 1.43750057e-03 9.99977728e-01 6.51739844e-03 -1.97656988e+01] [ 9.21408354e-04 -6.51872691e-03 9.99978328e-01 -5.72231204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79241403699996 meters 0.10740136857540467 Centerline is valid? [False, False] Translation: X:219.86, Y:-19.77, Z:-5.72 [[ 9.99998709e-01 -1.24240047e-03 -1.01885000e-03 2.19857156e+02] [ 1.24929785e-03 9.99976118e-01 6.79731117e-03 -1.97663458e+01] [ 1.01038068e-03 -6.79857525e-03 9.99976379e-01 -5.72244077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.822414037 meters 0.10639693425125742 Centerline is valid? [False, False] Translation: X:219.86, Y:-19.77, Z:-5.72 [[ 9.99998562e-01 -1.30019835e-03 -1.08922761e-03 2.19856938e+02] [ 1.30748741e-03 9.99976578e-01 6.71818555e-03 -1.97666037e+01] [ 1.08046712e-03 -6.71960003e-03 9.99976840e-01 -5.72191650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85241403699996 meters 0.10955950494399345 Centerline is valid? [False, False] Translation: X:219.86, Y:-19.77, Z:-5.72 [[ 9.99998615e-01 -1.22028155e-03 -1.13217938e-03 2.19856854e+02] [ 1.22806054e-03 9.99975470e-01 6.89575207e-03 -1.97673225e+01] [ 1.12373685e-03 -6.89713290e-03 9.99975583e-01 -5.72168516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.882414037 meters 0.10783903110709085 Centerline is valid? [False, False] Translation: X:219.86, Y:-19.77, Z:-5.72 [[ 9.99987942e-01 -4.57754614e-03 -1.77817220e-03 2.19858565e+02] [ 4.58401165e-03 9.99982835e-01 3.64914543e-03 -1.97687074e+01] [ 1.76143755e-03 -3.65725259e-03 9.99991761e-01 -5.72242035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91241403699996 meters 0.10935474365135 Centerline is valid? [False, False] Translation: X:219.86, Y:-19.77, Z:-5.72 [[ 9.99990165e-01 -4.02042326e-03 -1.87264133e-03 2.19858915e+02] [ 4.02897869e-03 9.99981361e-01 4.58749985e-03 -1.97712566e+01] [ 1.85416274e-03 -4.59499957e-03 9.99987724e-01 -5.72270502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.942414037 meters 0.10970311418656745 Centerline is valid? [False, False] Translation: X:219.86, Y:-19.77, Z:-5.72 [[ 9.99990851e-01 -3.83055107e-03 -1.90408613e-03 2.19858946e+02] [ 3.83992575e-03 9.99980404e-01 4.94442662e-03 -1.97723896e+01] [ 1.88510894e-03 -4.95169293e-03 9.99985963e-01 -5.72271181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97241403699996 meters 0.11031393259540243 Centerline is valid? [False, False] Translation: X:219.86, Y:-19.77, Z:-5.72 [[ 9.99991325e-01 -3.70339451e-03 -1.90632214e-03 2.19858841e+02] [ 3.71329984e-03 9.99979487e-01 5.21900030e-03 -1.97733745e+01] [ 1.88695502e-03 -5.22603377e-03 9.99984564e-01 -5.72257456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.002414037 meters 0.10686599889583563 Centerline is valid? [False, False] Translation: X:219.86, Y:-19.77, Z:-5.72 [[ 9.99991695e-01 -3.57823605e-03 -1.95096112e-03 2.19858762e+02] [ 3.58878458e-03 9.99978815e-01 5.43041474e-03 -1.97743635e+01] [ 1.93148849e-03 -5.43737122e-03 9.99983352e-01 -5.72232379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03241403699997 meters 0.11108125611324365 Centerline is valid? [False, False] Translation: X:219.86, Y:-19.78, Z:-5.72 [[ 9.99992203e-01 -3.29591725e-03 -2.17510689e-03 2.19858993e+02] [ 3.30855875e-03 9.99977508e-01 5.83412031e-03 -1.97756108e+01] [ 2.15582919e-03 -5.84127129e-03 9.99980616e-01 -5.72204473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.062414037 meters 0.1107582871781129 Centerline is valid? [False, False] Translation: X:219.86, Y:-19.78, Z:-5.72 [[ 9.99992070e-01 -3.24651346e-03 -2.30669596e-03 2.19859155e+02] [ 3.25998296e-03 9.99977518e-01 5.85973888e-03 -1.97757527e+01] [ 2.28762038e-03 -5.86721220e-03 9.99980171e-01 -5.72192065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09241403699997 meters 0.09691138772108461 Centerline is valid? [False, True] Translation: X:219.86, Y:-19.78, Z:-5.72 [[ 9.99991247e-01 -3.08707443e-03 -2.82402583e-03 2.19859664e+02] [ 3.10345514e-03 9.99978279e-01 5.81460745e-03 -1.97759201e+01] [ 2.80601436e-03 -5.82332079e-03 9.99979107e-01 -5.72124402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.122414037 meters 0.09467629209567537 Centerline is valid? [True, True] Translation: X:219.89, Y:-19.77, Z:-5.72 [[ 9.99991516e-01 -1.06954356e-03 -3.97789553e-03 2.19889845e+02] [ 1.07130414e-03 9.99999329e-01 4.40487993e-04 -1.97731185e+01] [ 3.97742174e-03 -4.44745792e-04 9.99991991e-01 -5.71967810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15241403699997 meters 0.0959790913614331 Centerline is valid? [True, True] Translation: X:219.92, Y:-19.78, Z:-5.72 [[ 9.99992613e-01 6.42841331e-04 -3.78945458e-03 2.19918719e+02] [-6.41256399e-04 9.99999706e-01 4.19448159e-04 -1.97792663e+01] [ 3.78972311e-03 -4.17015049e-04 9.99992732e-01 -5.72103521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.182414037 meters 0.09266712304997632 Centerline is valid? [True, True] Translation: X:219.95, Y:-19.78, Z:-5.72 [[ 9.99988276e-01 2.91042911e-03 -3.86993552e-03 2.19949591e+02] [-2.90879005e-03 9.99995677e-01 4.29096882e-04 -1.97771325e+01] [ 3.87116765e-03 -4.17835022e-04 9.99992420e-01 -5.72090033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.212414037 meters 0.09273957763701297 Centerline is valid? [True, True] Translation: X:219.98, Y:-19.78, Z:-5.72 [[ 9.99974370e-01 5.15752929e-03 -4.96585952e-03 2.19977728e+02] [-5.15486505e-03 9.99986563e-01 5.49160386e-04 -1.97818471e+01] [ 4.96862510e-03 -5.23547976e-04 9.99987519e-01 -5.72173363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.242414037 meters 0.08924823056389793 Centerline is valid? [True, True] Translation: X:220.01, Y:-19.78, Z:-5.72 [[ 9.99968869e-01 6.02725329e-03 -5.09244584e-03 2.20007235e+02] [-6.02446721e-03 9.99981695e-01 5.62263139e-04 -1.97792879e+01] [ 5.09574152e-03 -5.31566362e-04 9.99986875e-01 -5.72077686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.272414037 meters 0.09008038363687086 Centerline is valid? [True, True] Translation: X:220.03, Y:-19.78, Z:-5.72 [[ 9.99965855e-01 6.76953630e-03 -4.73937822e-03 2.20034827e+02] [-6.76713650e-03 9.99976966e-01 5.22206281e-04 -1.97847730e+01] [ 4.74280415e-03 -4.90116431e-04 9.99988633e-01 -5.72262351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.302414037 meters 0.09008038363687086 Centerline is valid? [True, True] Translation: X:220.06, Y:-19.79, Z:-5.72 [[ 9.99966328e-01 6.69931453e-03 -4.73935699e-03 2.20063128e+02] [-6.69691306e-03 9.99977439e-01 5.22397302e-04 -1.97878397e+01] [ 4.74274977e-03 -4.90640651e-04 9.99988633e-01 -5.72346292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.332414037 meters 0.09103208764007718 Centerline is valid? [True, True] Translation: X:220.09, Y:-19.79, Z:-5.73 [[ 9.99957953e-01 7.75976360e-03 -4.88656169e-03 2.20090721e+02] [-7.75722439e-03 9.99969767e-01 5.38371812e-04 -1.97935084e+01] [ 4.89059159e-03 -5.00443019e-04 9.99987916e-01 -5.72513596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.362414037 meters 0.08910093646753112 Centerline is valid? [True, True] Translation: X:220.12, Y:-19.79, Z:-5.73 [[ 9.99945372e-01 8.63869838e-03 -5.88430728e-03 2.20119585e+02] [-8.63503159e-03 9.99962507e-01 6.48268183e-04 -1.97939191e+01] [ 5.88968685e-03 -5.97421590e-04 9.99982477e-01 -5.72505146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.392414037 meters 0.09227111181962215 Centerline is valid? [True, True] Translation: X:220.15, Y:-19.80, Z:-5.73 [[ 9.99939302e-01 9.46937611e-03 -5.63229773e-03 2.20146939e+02] [-9.46603237e-03 9.99955004e-01 6.20035484e-04 -1.98034460e+01] [ 5.63791565e-03 -5.66682336e-04 9.99983946e-01 -5.72814382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.422414037 meters 0.08986387529761433 Centerline is valid? [True, True] Translation: X:220.18, Y:-19.80, Z:-5.73 [[ 9.99930166e-01 1.01278035e-02 -6.09025372e-03 2.20176336e+02] [-1.01239075e-02 9.99948527e-01 6.70204547e-04 -1.98021459e+01] [ 6.09672793e-03 -6.08500579e-04 9.99981230e-01 -5.72704634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.452414037 meters 0.0891857824082577 Centerline is valid? [True, True] Translation: X:220.21, Y:-19.80, Z:-5.73 [[ 9.99907259e-01 1.17903239e-02 -6.81631290e-03 2.20205887e+02] [-1.17854748e-02 9.99930267e-01 7.51136355e-04 -1.98041069e+01] [ 6.82469372e-03 -6.70733210e-04 9.99976487e-01 -5.72702505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.482414037 meters 0.08814020965035206 Centerline is valid? [True, True] Translation: X:220.23, Y:-19.81, Z:-5.73 [[ 9.99888583e-01 1.30326979e-02 -7.27810154e-03 2.20234633e+02] [-1.30272128e-02 9.99914822e-01 8.00553996e-04 -1.98050201e+01] [ 7.28791498e-03 -7.05651424e-04 9.99973194e-01 -5.72678941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.512414037 meters 0.08953888959450883 Centerline is valid? [True, True] Translation: X:220.26, Y:-19.81, Z:-5.73 [[ 9.99862062e-01 1.48744104e-02 -7.38971964e-03 2.20263257e+02] [-1.48687996e-02 9.99889122e-01 8.13633643e-04 -1.98106817e+01] [ 7.40100260e-03 -7.03645153e-04 9.99972365e-01 -5.72897887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54241403699996 meters 0.08916808617773464 Centerline is valid? [True, True] Translation: X:220.29, Y:-19.81, Z:-5.73 [[ 9.99857316e-01 1.50438099e-02 -7.68324564e-03 2.20292217e+02] [-1.50377609e-02 9.99886570e-01 8.44469659e-04 -1.98131678e+01] [ 7.69507817e-03 -7.28810355e-04 9.99970127e-01 -5.72940185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.572414037 meters 0.08857277491465605 Centerline is valid? [True, True] Translation: X:220.32, Y:-19.81, Z:-5.73 [[ 9.99858685e-01 1.49599923e-02 -7.66865025e-03 2.20319967e+02] [-1.49539778e-02 9.99887829e-01 8.41036906e-04 -1.98147196e+01] [ 7.68037195e-03 -7.26241229e-04 9.99970242e-01 -5.72932934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60241403699996 meters 0.09016050585201157 Centerline is valid? [True, True] Translation: X:220.35, Y:-19.82, Z:-5.73 [[ 9.99854798e-01 1.49012558e-02 -8.26648531e-03 2.20347050e+02] [-1.48942646e-02 9.99888663e-01 9.06651944e-04 -1.98203817e+01] [ 8.27907520e-03 -7.83397077e-04 9.99965421e-01 -5.73088518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.632414037 meters 0.09100534058165632 Centerline is valid? [True, True] Translation: X:220.38, Y:-19.82, Z:-5.73 [[ 9.99870386e-01 1.37774660e-02 -8.33020847e-03 2.20376235e+02] [-1.37703175e-02 9.99904766e-01 9.14902949e-04 -1.98245180e+01] [ 8.34202019e-03 -8.00074750e-04 9.99964885e-01 -5.73199580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66241403699996 meters 0.09165660271229988 Centerline is valid? [True, True] Translation: X:220.40, Y:-19.83, Z:-5.73 [[ 9.99876286e-01 1.35446765e-02 -7.99710269e-03 2.20404770e+02] [-1.35380933e-02 9.99907971e-01 8.76754911e-04 -1.98288136e+01] [ 8.00824209e-03 -7.68380922e-04 9.99967638e-01 -5.73319927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.692414037 meters 0.0924358220026067 Centerline is valid? [True, True] Translation: X:220.43, Y:-19.83, Z:-5.74 [[ 9.99884651e-01 1.30211503e-02 -7.81881299e-03 2.20431710e+02] [-1.30148556e-02 9.99914937e-01 8.55408061e-04 -1.98334631e+01] [ 7.82928630e-03 -7.53548669e-04 9.99969067e-01 -5.73500726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72241403699996 meters 0.08851672761804841 Centerline is valid? [True, True] Translation: X:220.46, Y:-19.83, Z:-5.73 [[ 9.99895288e-01 1.14547368e-02 -8.84318046e-03 2.20462658e+02] [-1.14466005e-02 9.99934015e-01 9.70140150e-04 -1.98291889e+01] [ 8.85370965e-03 -8.68814211e-04 9.99960428e-01 -5.73325830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.752414037 meters 0.09057472096892427 Centerline is valid? [True, True] Translation: X:220.49, Y:-19.84, Z:-5.74 [[ 9.99898795e-01 1.02599859e-02 -9.85553852e-03 2.20490520e+02] [-1.02498370e-02 9.99946886e-01 1.07973082e-03 -1.98360746e+01] [ 9.86609308e-03 -9.78603881e-04 9.99950850e-01 -5.73504571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78241403699997 meters 0.09125454667435355 Centerline is valid? [True, True] Translation: X:220.52, Y:-19.84, Z:-5.74 [[ 9.99919135e-01 8.29875385e-03 -9.63613365e-03 2.20520751e+02] [-8.28894720e-03 9.99965087e-01 1.05718760e-03 -1.98402781e+01] [ 9.64457056e-03 -9.77228709e-04 9.99953013e-01 -5.73533561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.812414037 meters 0.09154652606005603 Centerline is valid? [True, True] Translation: X:220.55, Y:-19.84, Z:-5.74 [[ 9.99924178e-01 6.46976763e-03 -1.04776055e-02 2.20551082e+02] [-6.45807403e-03 9.99978486e-01 1.14950613e-03 -1.98436986e+01] [ 1.04848171e-02 -1.08175382e-03 9.99944448e-01 -5.73546706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84241403699997 meters 0.09420970979808348 Centerline is valid? [True, True] Translation: X:220.58, Y:-19.85, Z:-5.74 [[ 9.99936751e-01 5.29307568e-03 -9.92356739e-03 2.20578980e+02] [-5.28254882e-03 9.99985457e-01 1.08670482e-03 -1.98512696e+01] [ 9.92917508e-03 -1.03421436e-03 9.99950170e-01 -5.73745686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.872414037 meters 0.09055429636783696 Centerline is valid? [True, True] Translation: X:220.61, Y:-19.85, Z:-5.73 [[ 9.99949455e-01 3.59407808e-03 -9.38984473e-03 2.20609529e+02] [-3.58457847e-03 9.99993047e-01 1.02832374e-03 -1.98471065e+01] [ 9.39347532e-03 -9.94613128e-04 9.99955386e-01 -5.73460496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90241403699997 meters 0.09633845507332862 Centerline is valid? [True, True] Translation: X:220.64, Y:-19.86, Z:-5.74 [[ 9.99959073e-01 1.29598637e-03 -8.95391144e-03 2.20637333e+02] [-1.28725496e-03 9.99998690e-01 9.80845206e-04 -1.98586676e+01] [ 8.95517087e-03 -9.69279097e-04 9.99959432e-01 -5.73746091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.932414037 meters 0.09590477924041983 Centerline is valid? [True, True] Translation: X:220.67, Y:-19.86, Z:-5.74 [[ 9.99965041e-01 -2.85543148e-05 -8.36155266e-03 2.20666526e+02] [ 3.61972900e-05 9.99999582e-01 9.13911805e-04 -1.98600590e+01] [ 8.36152306e-03 -9.14182521e-04 9.99964624e-01 -5.73744683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.962414037 meters 0.09030360843276894 Centerline is valid? [True, True] Translation: X:220.70, Y:-19.85, Z:-5.73 [[ 9.99966613e-01 -2.23788082e-03 -7.85906186e-03 2.20698182e+02] [ 2.24471485e-03 9.99997110e-01 8.60859971e-04 -1.98522305e+01] [ 7.85711265e-03 -8.78472582e-04 9.99968747e-01 -5.73410887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.992414037 meters 0.09019208027689186 Centerline is valid? [True, True] Translation: X:220.73, Y:-19.85, Z:-5.73 [[ 9.99962739e-01 -3.18186440e-03 -8.02469729e-03 2.20727659e+02] [ 3.18900872e-03 9.99994530e-01 8.77653078e-04 -1.98544220e+01] [ 8.02186083e-03 -9.03211206e-04 9.99967416e-01 -5.73475087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.022414037 meters 0.0916238268967552 Centerline is valid? [True, True] Translation: X:220.76, Y:-19.86, Z:-5.74 [[ 9.99961921e-01 -3.56542907e-03 -7.96523994e-03 2.20755520e+02] [ 3.57246166e-03 9.99993241e-01 8.68856209e-04 -1.98588564e+01] [ 7.96208826e-03 -8.97278637e-04 9.99967900e-01 -5.73629380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.052414037 meters 0.10055918488827993 Centerline is valid? [True, False] Translation: X:220.76, Y:-19.86, Z:-5.74 [[ 9.99961113e-01 -3.73410945e-03 -7.98930810e-03 2.20755577e+02] [ 3.73852640e-03 9.99992867e-01 5.37994468e-04 -1.98579476e+01] [ 7.98724218e-03 -5.67841786e-04 9.99967940e-01 -5.73627409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.082414037 meters 0.09225066100906144 Centerline is valid? [False, True] Translation: X:220.76, Y:-19.86, Z:-5.74 [[ 9.99959988e-01 -3.70867090e-03 -8.14053886e-03 2.20756254e+02] [ 3.71196978e-03 9.99993034e-01 3.90170370e-04 -1.98569345e+01] [ 8.13903515e-03 -4.20372193e-04 9.99966789e-01 -5.73681521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.112414037 meters 0.0919210966585339 Centerline is valid? [True, True] Translation: X:220.78, Y:-19.86, Z:-5.74 [[ 9.99951629e-01 -3.68240435e-03 -9.12032267e-03 2.20784619e+02] [ 3.69152855e-03 9.99992702e-01 9.83792489e-04 -1.98567922e+01] [ 9.11663339e-03 -1.01741283e-03 9.99957925e-01 -5.73722429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.142414037 meters 0.0945381333243428 Centerline is valid? [True, True] Translation: X:220.81, Y:-19.86, Z:-5.74 [[ 9.99954160e-01 -3.27562610e-03 -8.99715300e-03 2.20811923e+02] [ 3.28453066e-03 9.99994130e-01 9.75111759e-04 -1.98636021e+01] [ 8.99390609e-03 -1.00461848e-03 9.99959049e-01 -5.74021657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.172414037 meters 0.09140371758100772 Centerline is valid? [True, True] Translation: X:220.84, Y:-19.86, Z:-5.74 [[ 9.99963673e-01 -2.39328407e-03 -8.18077935e-03 2.20842260e+02] [ 2.40062461e-03 9.99996725e-01 8.87589046e-04 -1.98591534e+01] [ 8.17862830e-03 -9.07195783e-04 9.99966143e-01 -5.73955228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.202414037 meters 0.0899328060170781 Centerline is valid? [True, True] Translation: X:220.87, Y:-19.86, Z:-5.74 [[ 9.99957681e-01 -2.52238522e-03 -8.84721211e-03 2.20870869e+02] [ 2.53089089e-03 9.99996346e-01 9.50331629e-04 -1.98580928e+01] [ 8.84478267e-03 -9.72682741e-04 9.99960411e-01 -5.73998242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.232414037 meters 0.0931592542444393 Centerline is valid? [True, True] Translation: X:220.90, Y:-19.87, Z:-5.74 [[ 9.99964759e-01 -1.66210480e-03 -8.22906413e-03 2.20898660e+02] [ 1.66948308e-03 9.99998211e-01 8.89824469e-04 -1.98661825e+01] [ 8.22757042e-03 -9.03531394e-04 9.99965745e-01 -5.74241379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.262414037 meters 0.0897138297138035 Centerline is valid? [True, True] Translation: X:220.93, Y:-19.86, Z:-5.74 [[ 9.99970146e-01 -1.50135170e-03 -7.57980505e-03 2.20928537e+02] [ 1.50754805e-03 9.99998534e-01 8.11833565e-04 -1.98607224e+01] [ 7.57857509e-03 -8.23236249e-04 9.99970943e-01 -5.74129335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29241403699996 meters 0.09447377991689841 Centerline is valid? [True, True] Translation: X:220.96, Y:-19.87, Z:-5.74 [[ 9.99964214e-01 -1.20410362e-03 -8.37376173e-03 2.20955125e+02] [ 1.21169375e-03 9.99998860e-01 9.01403442e-04 -1.98712839e+01] [ 8.37266680e-03 -9.11517619e-04 9.99964533e-01 -5.74450490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.322414037 meters 0.09210494342720546 Centerline is valid? [True, True] Translation: X:220.98, Y:-19.87, Z:-5.74 [[ 9.99959723e-01 -1.54189396e-03 -8.84170635e-03 2.20984619e+02] [ 1.55036962e-03 9.99998345e-01 9.51825067e-04 -1.98690918e+01] [ 8.84022410e-03 -9.65494643e-04 9.99960458e-01 -5.74393633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35241403699996 meters 0.09449511454114017 Centerline is valid? [True, True] Translation: X:221.01, Y:-19.88, Z:-5.75 [[ 9.99968312e-01 -1.00566800e-03 -7.89712388e-03 2.21012090e+02] [ 1.01240704e-03 9.99999127e-01 8.49401557e-04 -1.98759809e+01] [ 7.89626277e-03 -8.57369745e-04 9.99968456e-01 -5.74607064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.382414037 meters 0.09214839021826554 Centerline is valid? [True, True] Translation: X:221.04, Y:-19.87, Z:-5.75 [[ 9.99967185e-01 -1.70353087e-03 -7.91998220e-03 2.21041701e+02] [ 1.71032606e-03 9.99998175e-01 8.51286117e-04 -1.98733004e+01] [ 7.91851756e-03 -8.64803934e-04 9.99968274e-01 -5.74617736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41241403699996 meters 0.08947650103463509 Centerline is valid? [True, True] Translation: X:221.07, Y:-19.87, Z:-5.74 [[ 9.99967278e-01 -2.11767158e-03 -7.80759940e-03 2.21071418e+02] [ 2.12428278e-03 9.99997392e-01 8.38568900e-04 -1.98708219e+01] [ 7.80580323e-03 -8.55127009e-04 9.99969169e-01 -5.74498461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.442414037 meters 0.09452620264488928 Centerline is valid? [True, True] Translation: X:221.10, Y:-19.88, Z:-5.75 [[ 9.99967543e-01 -2.27682302e-03 -7.72840654e-03 2.21097807e+02] [ 2.28329629e-03 9.99997050e-01 8.28874598e-04 -1.98821047e+01] [ 7.72649653e-03 -8.46493937e-04 9.99969792e-01 -5.74831385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47241403699996 meters 0.09060973242623549 Centerline is valid? [True, True] Translation: X:221.13, Y:-19.88, Z:-5.75 [[ 9.99968910e-01 -2.75519197e-03 -7.38833491e-03 2.21126903e+02] [ 2.76107337e-03 9.99995879e-01 7.85956040e-04 -1.98768703e+01] [ 7.38613901e-03 -8.06331339e-04 9.99972397e-01 -5.74625993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.502414037 meters 0.09501432717381195 Centerline is valid? [True, True] Translation: X:221.15, Y:-19.89, Z:-5.75 [[ 9.99971108e-01 -2.96294775e-03 -7.00027960e-03 2.21153409e+02] [ 2.96825725e-03 9.99995315e-01 7.48201779e-04 -1.98871987e+01] [ 6.99802992e-03 -7.68958793e-04 9.99975218e-01 -5.74936477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53241403699997 meters 0.0917806338833856 Centerline is valid? [True, True] Translation: X:221.18, Y:-19.88, Z:-5.75 [[ 9.99974297e-01 -3.74951222e-03 -6.11120782e-03 2.21182964e+02] [ 3.75353470e-03 9.99992746e-01 6.46875712e-04 -1.98831798e+01] [ 6.10873802e-03 -6.69797716e-04 9.99981117e-01 -5.74848569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.562414037 meters 0.09365260684107461 Centerline is valid? [True, True] Translation: X:221.21, Y:-19.89, Z:-5.75 [[ 9.99972045e-01 -4.60945351e-03 -5.88743175e-03 2.21210810e+02] [ 4.61323036e-03 9.99989162e-01 6.28091507e-04 -1.98887056e+01] [ 5.88447278e-03 -6.55234028e-04 9.99982472e-01 -5.75042814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59241403699997 meters 0.09444945003336404 Centerline is valid? [True, True] Translation: X:221.24, Y:-19.89, Z:-5.75 [[ 9.99973286e-01 -5.21488707e-03 -5.12182584e-03 2.21240056e+02] [ 5.21775401e-03 9.99986238e-01 5.46547210e-04 -1.98927908e+01] [ 5.11890517e-03 -5.73257037e-04 9.99986734e-01 -5.75149684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.622414037 meters 0.0960839943958985 Centerline is valid? [True, True] Translation: X:221.27, Y:-19.90, Z:-5.75 [[ 9.99975148e-01 -5.86981101e-03 -3.90505204e-03 2.21268823e+02] [ 5.87148324e-03 9.99982676e-01 4.16895648e-04 -1.98979456e+01] [ 3.90253729e-03 -4.39813735e-04 9.99992288e-01 -5.75235833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65241403699997 meters 0.09791407334072812 Centerline is valid? [True, True] Translation: X:221.30, Y:-19.90, Z:-5.75 [[ 9.99975247e-01 -6.31961488e-03 -3.09320303e-03 2.21298154e+02] [ 6.32066575e-03 9.99979970e-01 3.30076955e-04 -1.99037556e+01] [ 3.09105512e-03 -3.49619887e-04 9.99995162e-01 -5.75379088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.682414037 meters 0.092313467860537 Centerline is valid? [True, True] Translation: X:221.33, Y:-19.90, Z:-5.75 [[ 9.99977049e-01 -6.39674306e-03 -2.23223650e-03 2.21330050e+02] [ 6.39729370e-03 9.99979508e-01 2.39622775e-04 -1.98968815e+01] [ 2.23065795e-03 -2.53897548e-04 9.99997480e-01 -5.75220904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.712414037 meters 0.09307976090273096 Centerline is valid? [True, True] Translation: X:221.36, Y:-19.90, Z:-5.75 [[ 9.99978357e-01 -6.23680317e-03 -2.09482719e-03 2.21360659e+02] [ 6.23728802e-03 9.99980523e-01 2.25001084e-04 -1.99005657e+01] [ 2.09338310e-03 -2.38062255e-04 9.99997781e-01 -5.75359039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.742414037 meters 0.09387702864540065 Centerline is valid? [True, True] Translation: X:221.39, Y:-19.90, Z:-5.75 [[ 9.99981304e-01 -5.83908569e-03 -1.81580412e-03 2.21391836e+02] [ 5.83944968e-03 9.99982931e-01 1.95218096e-04 -1.99046438e+01] [ 1.81463324e-03 -2.05817743e-04 9.99998332e-01 -5.75499372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.772414037 meters 0.09465533232432344 Centerline is valid? [True, True] Translation: X:221.42, Y:-19.91, Z:-5.76 [[ 9.99983577e-01 -5.57304372e-03 -1.33659432e-03 2.21423266e+02] [ 5.57324110e-03 9.99984459e-01 1.43996518e-04 -1.99086530e+01] [ 1.33577105e-03 -1.51443316e-04 9.99999096e-01 -5.75687161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.802414037 meters 0.09443292877697324 Centerline is valid? [True, True] Translation: X:221.45, Y:-19.91, Z:-5.76 [[ 9.99981499e-01 -6.02555676e-03 -8.32922252e-04 2.21454764e+02] [ 6.02563390e-03 9.99981842e-01 9.01363994e-05 -1.99091616e+01] [ 8.32364006e-04 -9.51536164e-05 9.99999649e-01 -5.75816840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.832414037 meters 0.0971862431706657 Centerline is valid? [True, True] Translation: X:221.48, Y:-19.92, Z:-5.76 [[ 9.99982900e-01 -5.81961052e-03 5.76468308e-04 2.21484494e+02] [ 5.81964678e-03 9.99983064e-01 -6.12296296e-05 -1.99163450e+01] [-5.76102212e-04 6.45834245e-05 9.99999832e-01 -5.76049103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.862414037 meters 0.09797282010173883 Centerline is valid? [True, True] Translation: X:221.52, Y:-19.92, Z:-5.76 [[ 9.99985578e-01 -5.23927459e-03 1.18089897e-03 2.21515578e+02] [ 5.23942334e-03 9.99986267e-01 -1.22908746e-04 -1.99202792e+01] [-1.18023880e-03 1.29094203e-04 9.99999295e-01 -5.76181206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.892414037 meters 0.0969249632336639 Centerline is valid? [True, True] Translation: X:221.55, Y:-19.92, Z:-5.76 [[ 9.99985222e-01 -4.58098165e-03 2.92740217e-03 2.21547790e+02] [ 4.58191585e-03 9.99989454e-01 -3.12496466e-04 -1.99199398e+01] [-2.92593976e-03 3.25904959e-04 9.99995666e-01 -5.76155683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.922414037 meters 0.09600334705488836 Centerline is valid? [True, True] Translation: X:221.58, Y:-19.92, Z:-5.76 [[ 9.99984134e-01 -4.88533178e-03 2.80468216e-03 2.21580051e+02] [ 4.88618946e-03 9.99988018e-01 -2.99033013e-04 -1.99206040e+01] [-2.80318768e-03 3.12732477e-04 9.99996022e-01 -5.76223898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.952414037 meters 0.09714877480195341 Centerline is valid? [True, True] Translation: X:221.61, Y:-19.92, Z:-5.76 [[ 9.99982323e-01 -4.49237073e-03 3.89507260e-03 2.21610717e+02] [ 4.49402763e-03 9.99989815e-01 -4.16735493e-04 -1.99246417e+01] [-3.89316080e-03 4.34232690e-04 9.99992327e-01 -5.76336156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.982414037 meters 0.09509343213332767 Centerline is valid? [True, True] Translation: X:221.64, Y:-19.92, Z:-5.76 [[ 9.99982870e-01 -4.26125955e-03 4.01259798e-03 2.21643616e+02] [ 4.26301538e-03 9.99990821e-01 -4.29128386e-04 -1.99235757e+01] [-4.01073252e-03 4.46226802e-04 9.99991857e-01 -5.76320377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.012414037 meters 0.09519977246715032 Centerline is valid? [True, True] Translation: X:221.68, Y:-19.93, Z:-5.77 [[ 9.99982813e-01 -4.28661296e-03 3.99985351e-03 2.21675457e+02] [ 4.28835895e-03 9.99990713e-01 -4.28038997e-04 -1.99252554e+01] [-3.99798153e-03 4.45184448e-04 9.99991909e-01 -5.76527034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04241403699996 meters 0.10222159916624382 Centerline is valid? [True, False] Translation: X:221.68, Y:-19.92, Z:-5.77 [[ 9.99983206e-01 -4.28282644e-03 3.90437794e-03 2.21675867e+02] [ 4.28488615e-03 9.99990685e-01 -5.19328408e-04 -1.99246103e+01] [-3.90211738e-03 5.36049502e-04 9.99992243e-01 -5.76560000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.072414037 meters 0.09641815740917045 Centerline is valid? [False, True] Translation: X:221.68, Y:-19.92, Z:-5.77 [[ 9.99981970e-01 -4.54751144e-03 3.92167823e-03 2.21675679e+02] [ 4.55130048e-03 9.99989184e-01 -9.57796626e-04 -1.99236623e+01] [-3.91728023e-03 9.75628093e-04 9.99991851e-01 -5.76538371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10241403699996 meters 0.09601572628291534 Centerline is valid? [True, True] Translation: X:221.71, Y:-19.93, Z:-5.77 [[ 9.99980897e-01 -4.34017606e-03 4.40107290e-03 2.21708137e+02] [ 4.34229507e-03 9.99990461e-01 -4.72035588e-04 -1.99258018e+01] [-4.39898220e-03 4.91137328e-04 9.99990204e-01 -5.76680281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.132414037 meters 0.09400782336240845 Centerline is valid? [True, True] Translation: X:221.74, Y:-19.92, Z:-5.77 [[ 9.99976771e-01 -4.54365680e-03 5.08065310e-03 2.21740432e+02] [ 4.54648650e-03 9.99989516e-01 -5.45544405e-04 -1.99240048e+01] [-5.07812106e-03 5.68630853e-04 9.99986945e-01 -5.76638415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16241403699996 meters 0.09944397272328157 Centerline is valid? [True, True] Translation: X:221.77, Y:-19.94, Z:-5.77 [[ 9.99973215e-01 -4.93722674e-03 5.40305858e-03 2.21770134e+02] [ 4.94043156e-03 9.99987628e-01 -5.79963230e-04 -1.99363405e+01] [-5.40012833e-03 6.06641137e-04 9.99985235e-01 -5.76883806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.192414037 meters 0.09944397272328157 Centerline is valid? [True, True] Translation: X:221.80, Y:-19.94, Z:-5.77 [[ 9.99973545e-01 -4.87015485e-03 5.40291696e-03 2.21801831e+02] [ 4.87336571e-03 9.99987956e-01 -5.81276669e-04 -1.99398309e+01] [-5.40002098e-03 6.07591682e-04 9.99985235e-01 -5.76972108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22241403699996 meters 0.09604840143620609 Centerline is valid? [True, True] Translation: X:221.83, Y:-19.94, Z:-5.77 [[ 9.99967441e-01 -5.69112295e-03 5.72090230e-03 2.21834737e+02] [ 5.69473872e-03 9.99983595e-01 -6.15937769e-04 -1.99367516e+01] [-5.71730307e-03 6.48496758e-04 9.99983446e-01 -5.76931625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.252414037 meters 0.10135279398009756 Centerline is valid? [True, False] Translation: X:221.83, Y:-19.94, Z:-5.77 [[ 9.99966676e-01 -5.62305953e-03 5.91841345e-03 2.21834723e+02] [ 5.62526359e-03 9.99984115e-01 -3.55828079e-04 -1.99370517e+01] [-5.91631860e-03 3.89108857e-04 9.99982423e-01 -5.76987682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28241403699997 meters 0.09717728731634218 Centerline is valid? [False, True] Translation: X:221.83, Y:-19.94, Z:-5.77 [[ 9.99966494e-01 -5.53598111e-03 6.03022867e-03 2.21834757e+02] [ 5.53692078e-03 9.99984661e-01 -1.39143421e-04 -1.99373735e+01] [-6.02936588e-03 1.72527658e-04 9.99981808e-01 -5.77023824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.312414037 meters 0.10158520495631078 Centerline is valid? [True, False] Translation: X:221.84, Y:-19.94, Z:-5.77 [[ 9.99967714e-01 -5.29529634e-03 6.04403633e-03 2.21835087e+02] [ 5.29368570e-03 9.99985948e-01 2.82450281e-04 -1.99379728e+01] [-6.04544706e-03 -2.50445933e-04 9.99981695e-01 -5.77077820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34241403699997 meters 0.0976988991967677 Centerline is valid? [False, True] Translation: X:221.84, Y:-19.94, Z:-5.77 [[ 9.99968119e-01 -5.18541464e-03 6.07225919e-03 2.21835268e+02] [ 5.18248644e-03 9.99986447e-01 4.97861669e-04 -1.99382034e+01] [-6.07475851e-03 -4.66376396e-04 9.99981440e-01 -5.77112618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.372414037 meters 0.10209671386018553 Centerline is valid? [True, False] Translation: X:221.84, Y:-19.94, Z:-5.77 [[ 9.99966616e-01 -5.36283399e-03 6.16504568e-03 2.21835157e+02] [ 5.36113557e-03 9.99985586e-01 2.91983789e-04 -1.99374819e+01] [-6.16652268e-03 -2.58922395e-04 9.99980953e-01 -5.77120915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40241403699997 meters 0.1002638613178859 Centerline is valid? [False, False] Translation: X:221.84, Y:-19.94, Z:-5.77 [[ 9.99967210e-01 -5.31621623e-03 6.10876390e-03 2.21835534e+02] [ 5.31439139e-03 9.99985829e-01 3.14918524e-04 -1.99370937e+01] [-6.11035151e-03 -2.82443835e-04 9.99981292e-01 -5.77161350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.432414037 meters 0.10296069261673699 Centerline is valid? [False, False] Translation: X:221.84, Y:-19.94, Z:-5.77 [[ 9.99968752e-01 -5.14740610e-03 6.00001308e-03 2.21836143e+02] [ 5.14454210e-03 9.99986645e-01 4.92668615e-04 -1.99369614e+01] [-6.00246892e-03 -4.61785900e-04 9.99981878e-01 -5.77219248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.462414037 meters 0.10399346726189532 Centerline is valid? [False, False] Translation: X:221.84, Y:-19.94, Z:-5.77 [[ 9.99970236e-01 -5.03821502e-03 5.84323199e-03 2.21836726e+02] [ 5.03516628e-03 9.99987180e-01 5.36349207e-04 -1.99366197e+01] [-5.84585932e-03 -5.06911598e-04 9.99982784e-01 -5.77260367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.492414037 meters 0.10404785322735978 Centerline is valid? [False, False] Translation: X:221.84, Y:-19.94, Z:-5.77 [[ 9.99971353e-01 -4.98941141e-03 5.69208625e-03 2.21837427e+02] [ 4.98714488e-03 9.99987479e-01 4.12313356e-04 -1.99355739e+01] [-5.69407218e-03 -3.83914286e-04 9.99983715e-01 -5.77320654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.522414037 meters 0.10256095355195191 Centerline is valid? [False, False] Translation: X:221.84, Y:-19.94, Z:-5.77 [[ 9.99972856e-01 -4.87768471e-03 5.52225314e-03 2.21838032e+02] [ 4.87531488e-03 9.99988018e-01 4.42523180e-04 -1.99351343e+01] [-5.52434546e-03 -4.15588445e-04 9.99984654e-01 -5.77359088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.552414037 meters 0.10032544273123355 Centerline is valid? [False, False] Translation: X:221.84, Y:-19.93, Z:-5.77 [[ 9.99974197e-01 -4.85452907e-03 5.29525212e-03 2.21838647e+02] [ 4.85338995e-03 9.99988196e-01 2.27950044e-04 -1.99339833e+01] [-5.29629621e-03 -2.02244239e-04 9.99985954e-01 -5.77384130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.582414037 meters 0.09902574966507321 Centerline is valid? [False, True] Translation: X:221.84, Y:-19.93, Z:-5.77 [[ 9.99974083e-01 -4.85996370e-03 5.31172475e-03 2.21838681e+02] [ 4.85892722e-03 9.99988174e-01 2.08018560e-04 -1.99337248e+01] [-5.31267290e-03 -1.82203885e-04 9.99985871e-01 -5.77392722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.612414037 meters 0.10013551998001481 Centerline is valid? [True, False] Translation: X:221.84, Y:-19.93, Z:-5.77 [[ 9.99974595e-01 -4.80535426e-03 5.26473351e-03 2.21838844e+02] [ 4.80421933e-03 9.99988434e-01 2.28196217e-04 -1.99335651e+01] [-5.26576918e-03 -2.02897485e-04 9.99986115e-01 -5.77399392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.642414037 meters 0.10218517788491313 Centerline is valid? [False, False] Translation: X:221.84, Y:-19.93, Z:-5.77 [[ 9.99976599e-01 -4.64051638e-03 5.02669351e-03 2.21839419e+02] [ 4.63882054e-03 9.99989180e-01 3.48972733e-04 -1.99335318e+01] [-5.02825853e-03 -3.25646638e-04 9.99987305e-01 -5.77414421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.672414037 meters 0.10036156536612775 Centerline is valid? [False, False] Translation: X:221.84, Y:-19.93, Z:-5.77 [[ 9.99977522e-01 -4.55866071e-03 4.91668663e-03 2.21839705e+02] [ 4.55692813e-03 9.99989551e-01 3.63532282e-04 -1.99334693e+01] [-4.91829247e-03 -3.41119123e-04 9.99987847e-01 -5.77424373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.702414037 meters 0.09913138711685172 Centerline is valid? [False, True] Translation: X:221.84, Y:-19.93, Z:-5.77 [[ 9.99979980e-01 -4.24935642e-03 4.68850133e-03 2.21840609e+02] [ 4.24634076e-03 9.99990771e-01 6.52970831e-04 -1.99336092e+01] [-4.69123277e-03 -6.33048785e-04 9.99988796e-01 -5.77489927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.732414037 meters 0.10177641707873242 Centerline is valid? [True, False] Translation: X:221.84, Y:-19.93, Z:-5.78 [[ 9.99981982e-01 -3.99496866e-03 4.48067422e-03 2.21841346e+02] [ 3.99097708e-03 9.99991632e-01 8.99431028e-04 -1.99337374e+01] [-4.48422993e-03 -8.81532554e-04 9.99989557e-01 -5.77538936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.762414037 meters 0.10084314721689183 Centerline is valid? [False, False] Translation: X:221.84, Y:-19.93, Z:-5.78 [[ 9.99983989e-01 -3.70882012e-03 4.27382184e-03 2.21842142e+02] [ 3.70370991e-03 9.99992418e-01 1.20299507e-03 -1.99339388e+01] [-4.27825112e-03 -1.18714681e-03 9.99990144e-01 -5.77595901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79241403699996 meters 0.09822536529099206 Centerline is valid? [False, True] Translation: X:221.84, Y:-19.93, Z:-5.78 [[ 9.99985789e-01 -3.44562317e-03 4.06809951e-03 2.21842948e+02] [ 3.43973760e-03 9.99993029e-01 1.45287472e-03 -1.99339221e+01] [-4.07307721e-03 -1.43886088e-03 9.99990670e-01 -5.77653445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.822414037 meters 0.09657291315472837 Centerline is valid? [True, True] Translation: X:221.88, Y:-19.93, Z:-5.78 [[ 9.99989920e-01 -2.64136822e-03 3.63088562e-03 2.21875121e+02] [ 2.64293027e-03 9.99996417e-01 -4.25481027e-04 -1.99340887e+01] [-3.62974876e-03 4.35072915e-04 9.99993318e-01 -5.77682249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85241403699996 meters 0.09615196794730202 Centerline is valid? [True, True] Translation: X:221.91, Y:-19.94, Z:-5.78 [[ 9.99992263e-01 -2.34667787e-03 3.15720099e-03 2.21906866e+02] [ 2.34785606e-03 9.99997176e-01 -3.69518893e-04 -1.99373080e+01] [-3.15632493e-03 3.76928687e-04 9.99994948e-01 -5.77738420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.882414037 meters 0.10004168859785541 Centerline is valid? [True, False] Translation: X:221.91, Y:-19.94, Z:-5.78 [[ 9.99993852e-01 -1.85839271e-03 2.97372771e-03 2.21907892e+02] [ 1.85759869e-03 9.99998238e-01 2.69752219e-04 -1.99379636e+01] [-2.97422378e-03 -2.64226568e-04 9.99995542e-01 -5.77838147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91241403699996 meters 0.10494401676913681 Centerline is valid? [False, False] Translation: X:221.91, Y:-19.94, Z:-5.78 [[ 9.99994321e-01 -1.85704553e-03 2.81240496e-03 2.21908143e+02] [ 1.85661222e-03 9.99998264e-01 1.56671719e-04 -1.99377328e+01] [-2.81269103e-03 -1.51449284e-04 9.99996033e-01 -5.77828580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.942414037 meters 0.09867710808834773 Centerline is valid? [False, True] Translation: X:221.91, Y:-19.94, Z:-5.78 [[ 9.99995032e-01 -1.66701895e-03 2.67534708e-03 2.21908638e+02] [ 1.66605260e-03 9.99998546e-01 3.63394616e-04 -1.99378477e+01] [-2.67594897e-03 -3.58935541e-04 9.99996355e-01 -5.77860952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97241403699996 meters 0.10113052290280386 Centerline is valid? [True, False] Translation: X:221.91, Y:-19.94, Z:-5.78 [[ 9.99995735e-01 -1.42005075e-03 2.55218582e-03 2.21909131e+02] [ 1.41833360e-03 9.99998767e-01 6.74501130e-04 -1.99382579e+01] [-2.55314049e-03 -6.70878402e-04 9.99996516e-01 -5.77896989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.002414037 meters 0.10028738100145933 Centerline is valid? [False, False] Translation: X:221.91, Y:-19.94, Z:-5.78 [[ 9.99995776e-01 -1.46862177e-03 2.50823308e-03 2.21908922e+02] [ 1.46717899e-03 9.99998757e-01 5.76959825e-04 -1.99384322e+01] [-2.50907730e-03 -5.73277361e-04 9.99996688e-01 -5.77853362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03241403699997 meters 0.09790953897266313 Centerline is valid? [False, True] Translation: X:221.91, Y:-19.94, Z:-5.78 [[ 9.99996471e-01 -1.21102859e-03 2.36460883e-03 2.21909491e+02] [ 1.20893572e-03 9.99998876e-01 8.86312092e-04 -1.99387623e+01] [-2.36567952e-03 -8.83450305e-04 9.99996812e-01 -5.77896626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.062414037 meters 0.09961248773996814 Centerline is valid? [True, True] Translation: X:221.94, Y:-19.95, Z:-5.78 [[ 9.99995982e-01 -5.41981064e-04 2.78257085e-03 2.21939455e+02] [ 5.42876098e-04 9.99999801e-01 -3.20912001e-04 -1.99450030e+01] [-2.78239637e-03 3.22421303e-04 9.99996077e-01 -5.77982000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09241403699997 meters 0.0991910690169373 Centerline is valid? [True, True] Translation: X:221.97, Y:-19.95, Z:-5.78 [[ 9.99996678e-01 5.55200019e-04 2.51702865e-03 2.21970468e+02] [-5.54468383e-04 9.99999804e-01 -2.91362722e-04 -1.99477445e+01] [-2.51718992e-03 2.89966141e-04 9.99996790e-01 -5.78194354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.122414037 meters 0.09862495459810736 Centerline is valid? [True, True] Translation: X:222.00, Y:-19.95, Z:-5.78 [[ 9.99997345e-01 1.00615543e-03 2.07296001e-03 2.22001642e+02] [-1.00566027e-03 9.99999466e-01 -2.39891123e-04 -1.99505942e+01] [-2.07320027e-03 2.37805792e-04 9.99997823e-01 -5.78275549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15241403699997 meters 0.09816913305852008 Centerline is valid? [True, True] Translation: X:222.03, Y:-19.95, Z:-5.78 [[ 9.99997991e-01 1.18877882e-03 1.61369597e-03 2.22032569e+02] [-1.18847920e-03 9.99999276e-01 -1.86617483e-04 -1.99539330e+01] [-1.61391665e-03 1.84699264e-04 9.99998681e-01 -5.78407322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.182414037 meters 0.10095713911757609 Centerline is valid? [True, False] Translation: X:222.03, Y:-19.95, Z:-5.78 [[ 9.99997796e-01 1.33992126e-03 1.61614685e-03 2.22032551e+02] [-1.34004638e-03 9.99999099e-01 7.63390404e-05 -1.99549508e+01] [-1.61604311e-03 -7.85045839e-05 9.99998691e-01 -5.78406493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.212414037 meters 0.09760462196706494 Centerline is valid? [False, True] Translation: X:222.03, Y:-19.96, Z:-5.78 [[ 9.99997450e-01 1.67073713e-03 1.51914165e-03 2.22033113e+02] [-1.67157773e-03 9.99998450e-01 5.52236534e-04 -1.99556725e+01] [-1.51821666e-03 -5.54774489e-04 9.99998694e-01 -5.78461790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.242414037 meters 0.09817539013761224 Centerline is valid? [True, True] Translation: X:222.06, Y:-19.96, Z:-5.79 [[ 9.99997657e-01 1.89462720e-03 1.04741617e-03 2.22063022e+02] [-1.89450157e-03 9.99998198e-01 -1.20913927e-04 -1.99597668e+01] [-1.04764337e-03 1.18929312e-04 9.99999444e-01 -5.78560353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.272414037 meters 0.09840782870400644 Centerline is valid? [True, True] Translation: X:222.09, Y:-19.96, Z:-5.79 [[ 9.99994314e-01 2.58751934e-03 2.16269706e-03 2.22093143e+02] [-2.58698537e-03 9.99996623e-01 -2.49662171e-04 -1.99636751e+01] [-2.16333576e-03 2.44065885e-04 9.99997630e-01 -5.78644683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.302414037 meters 0.09781705449853252 Centerline is valid? [True, True] Translation: X:222.12, Y:-19.97, Z:-5.79 [[ 9.99988929e-01 4.28658169e-03 1.94085249e-03 2.22123411e+02] [-4.28615481e-03 9.99990789e-01 -2.24052390e-04 -1.99661252e+01] [-1.94179503e-03 2.15731115e-04 9.99998091e-01 -5.78710292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.332414037 meters 0.09863333128627594 Centerline is valid? [True, True] Translation: X:222.15, Y:-19.97, Z:-5.79 [[ 9.99982797e-01 5.00643004e-03 3.05622770e-03 2.22152371e+02] [-5.00537383e-03 9.99987411e-01 -3.53142952e-04 -1.99711437e+01] [-3.05795721e-03 3.37839315e-04 9.99995267e-01 -5.78762774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.362414037 meters 0.09735610041922362 Centerline is valid? [True, True] Translation: X:222.18, Y:-19.97, Z:-5.79 [[ 9.99978711e-01 5.73884629e-03 3.10546037e-03 2.22182469e+02] [-5.73775945e-03 9.99983475e-01 -3.58774791e-04 -1.99722178e+01] [-3.10746800e-03 3.40948769e-04 9.99995114e-01 -5.78832921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.392414037 meters 0.09776798597053638 Centerline is valid? [True, True] Translation: X:222.21, Y:-19.98, Z:-5.79 [[ 9.99971942e-01 6.87411057e-03 2.97673623e-03 2.22211357e+02] [-6.87312105e-03 9.99976321e-01 -3.42518443e-04 -1.99765832e+01] [-2.97902025e-03 3.22049364e-04 9.99995511e-01 -5.78951904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.422414037 meters 0.09555881647326471 Centerline is valid? [True, True] Translation: X:222.24, Y:-19.98, Z:-5.79 [[ 9.99965354e-01 7.69868443e-03 3.16563688e-03 2.22241329e+02] [-7.69756337e-03 9.99970306e-01 -3.66166687e-04 -1.99759706e+01] [-3.16836188e-03 3.41786310e-04 9.99994922e-01 -5.78990330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.452414037 meters 0.09558202444354877 Centerline is valid? [True, True] Translation: X:222.27, Y:-19.98, Z:-5.79 [[ 9.99962908e-01 8.27007430e-03 2.40594478e-03 2.22271119e+02] [-8.26942814e-03 9.99965769e-01 -2.78395686e-04 -1.99789148e+01] [-2.40816478e-03 2.58489572e-04 9.99997067e-01 -5.79083948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.482414037 meters 0.09772738572603158 Centerline is valid? [True, True] Translation: X:222.30, Y:-19.99, Z:-5.79 [[ 9.99955750e-01 9.01795396e-03 2.67856047e-03 2.22299041e+02] [-9.01715700e-03 9.99959297e-01 -3.09459668e-04 -1.99853745e+01] [-2.68124213e-03 2.85292974e-04 9.99996365e-01 -5.79297471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.512414037 meters 0.09970140672071398 Centerline is valid? [True, True] Translation: X:222.33, Y:-19.99, Z:-5.80 [[ 9.99947722e-01 1.01848458e-02 9.07259135e-04 2.22326852e+02] [-1.01847540e-02 9.99948128e-01 -1.05754631e-04 -1.99912405e+01] [-9.08289169e-04 9.65088908e-05 9.99999583e-01 -5.79552629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54241403699996 meters 0.09347484071608998 Centerline is valid? [True, True] Translation: X:222.36, Y:-19.98, Z:-5.79 [[ 9.99940565e-01 1.08866162e-02 5.89818867e-04 2.22356518e+02] [-1.08865771e-02 9.99940737e-01 -6.95469446e-05 -1.99835199e+01] [-5.90541043e-04 6.31217025e-05 9.99999824e-01 -5.79494485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.572414037 meters 0.09770117898066265 Centerline is valid? [True, True] Translation: X:222.38, Y:-19.99, Z:-5.80 [[ 9.99934372e-01 1.14098283e-02 1.03346752e-03 2.22383154e+02] [-1.14097093e-02 9.99934900e-01 -1.20958249e-04 -1.99944476e+01] [-1.03478035e-03 1.09158747e-04 9.99999459e-01 -5.79697508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60241403699996 meters 0.09566988660874662 Centerline is valid? [True, True] Translation: X:222.41, Y:-19.99, Z:-5.80 [[ 9.99923934e-01 1.23138087e-02 7.04058528e-04 2.22412593e+02] [-1.23137538e-02 9.99924179e-01 -8.21900877e-05 -1.99942278e+01] [-7.05017219e-04 7.35142325e-05 9.99999749e-01 -5.79763539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.632414037 meters 0.0953788008173553 Centerline is valid? [True, True] Translation: X:222.44, Y:-20.00, Z:-5.80 [[ 9.99896541e-01 1.43541026e-02 9.31277314e-04 2.22442970e+02] [-1.43540086e-02 9.99896970e-01 -1.07519604e-04 -1.99962961e+01] [-9.32724712e-04 9.41409174e-05 9.99999561e-01 -5.79761583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66241403699996 meters 0.09264084978672019 Centerline is valid? [True, True] Translation: X:222.47, Y:-19.99, Z:-5.80 [[ 9.99882656e-01 1.52691130e-02 1.23627185e-03 2.22472464e+02] [-1.52689468e-02 9.99883413e-01 -1.43758340e-04 -1.99941490e+01] [-1.23832278e-03 1.24864902e-04 9.99999225e-01 -5.79725835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.692414037 meters 0.09307674152741871 Centerline is valid? [True, True] Translation: X:222.50, Y:-20.00, Z:-5.80 [[ 9.99858306e-01 1.67875838e-02 1.24332574e-03 2.22501256e+02] [-1.67874179e-02 9.99859071e-01 -1.43746695e-04 -1.99979944e+01] [-1.24556367e-03 1.22854099e-04 9.99999217e-01 -5.79802228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72241403699996 meters 0.08975553304665793 Centerline is valid? [True, True] Translation: X:222.53, Y:-19.99, Z:-5.80 [[ 9.99815451e-01 1.91831457e-02 1.03485764e-03 2.22531697e+02] [-1.91830321e-02 9.99815982e-01 -1.19519091e-04 -1.99940901e+01] [-1.03695996e-03 9.96453268e-05 9.99999457e-01 -5.79831916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.752414037 meters 0.0903568616674882 Centerline is valid? [True, True] Translation: X:222.56, Y:-20.00, Z:-5.80 [[ 9.99790995e-01 2.04399649e-02 4.17834898e-04 2.22559230e+02] [-2.04399458e-02 9.99791081e-01 -4.99346602e-05 -1.99984760e+01] [-4.18768267e-04 4.13837010e-05 9.99999911e-01 -5.80010299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78241403699997 meters 0.08956399052429377 Centerline is valid? [True, True] Translation: X:222.59, Y:-20.00, Z:-5.80 [[ 9.99757765e-01 2.19938408e-02 8.25944425e-04 2.22588632e+02] [-2.19937693e-02 9.99758103e-01 -9.56405488e-05 -2.00003929e+01] [-8.27848135e-04 7.74517502e-05 9.99999654e-01 -5.80061529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.812414037 meters 0.08843235395028094 Centerline is valid? [True, True] Translation: X:222.62, Y:-20.00, Z:-5.80 [[ 9.99680150e-01 2.52867031e-02 4.23929861e-04 2.22619466e+02] [-2.52866847e-02 9.99680239e-01 -4.87575413e-05 -2.00011075e+01] [-4.25027222e-04 3.80221655e-05 9.99999909e-01 -5.80112113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84241403699997 meters 0.08891818762793591 Centerline is valid? [True, True] Translation: X:222.65, Y:-20.00, Z:-5.80 [[ 9.99629265e-01 2.72249002e-02 -3.70388308e-04 2.22647994e+02] [-2.72248866e-02 9.99629333e-01 4.17548085e-05 -2.00049778e+01] [ 3.71387788e-04 -3.16555489e-05 9.99999931e-01 -5.80267833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.872414037 meters 0.08734687320367021 Centerline is valid? [True, True] Translation: X:222.68, Y:-20.00, Z:-5.80 [[ 9.99543785e-01 3.01870859e-02 -9.80739420e-04 2.22678858e+02] [-3.01869899e-02 9.99544263e-01 1.12518966e-04 -2.00045981e+01] [ 9.83689081e-04 -8.28620623e-05 9.99999513e-01 -5.80302308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90241403699997 meters 0.08409040925160081 Centerline is valid? [True, True] Translation: X:222.71, Y:-20.00, Z:-5.80 [[ 9.99333559e-01 3.64327043e-02 -2.25721703e-03 2.22710074e+02] [-3.64322118e-02 9.99336093e-01 2.58962028e-04 -1.99997669e+01] [ 2.26515313e-03 -1.76554036e-04 9.99997419e-01 -5.80334456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.932414037 meters 0.08422722796671803 Centerline is valid? [True, True] Translation: X:222.74, Y:-20.00, Z:-5.81 [[ 9.99183668e-01 4.02813710e-02 -3.06740274e-03 2.22739020e+02] [-4.02804803e-02 9.99188350e-01 3.51630792e-04 -2.00033802e+01] [ 3.07907726e-03 -2.27787289e-04 9.99995234e-01 -5.80554410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.962414037 meters 0.08275851072915441 Centerline is valid? [True, True] Translation: X:222.77, Y:-20.00, Z:-5.81 [[ 9.99018657e-01 4.41634553e-02 -3.36342335e-03 2.22769958e+02] [-4.41624048e-02 9.99024291e-01 3.85979451e-04 -2.00032590e+01] [ 3.37718781e-03 -2.37063809e-04 9.99994269e-01 -5.80640848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.992414037 meters 0.08186525533515053 Centerline is valid? [True, True] Translation: X:222.80, Y:-20.00, Z:-5.81 [[ 9.98836092e-01 4.81247699e-02 -3.23549157e-03 2.22800914e+02] [-4.81238186e-02 9.98841309e-01 3.71285605e-04 -2.00041931e+01] [ 3.24961067e-03 -2.15149253e-04 9.99994697e-01 -5.80670973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.022414037 meters 0.08004603818858494 Centerline is valid? [True, True] Translation: X:222.83, Y:-20.00, Z:-5.81 [[ 9.98396530e-01 5.65624197e-02 -2.24999846e-03 2.22831148e+02] [-5.65619811e-02 9.98399056e-01 2.58160591e-04 -2.00022946e+01] [ 2.26099853e-03 -1.30482268e-04 9.99997435e-01 -5.80777072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.052414037 meters 0.07905506035352693 Centerline is valid? [True, True] Translation: X:222.86, Y:-20.00, Z:-5.81 [[ 9.98152718e-01 6.06986300e-02 -2.61309265e-03 2.22861992e+02] [-6.06980528e-02 9.98156128e-01 2.99715196e-04 -2.00027245e+01] [ 2.62646674e-03 -1.40551902e-04 9.99996541e-01 -5.80831077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.082414037 meters 0.07732729252294251 Centerline is valid? [True, True] Translation: X:222.89, Y:-20.00, Z:-5.81 [[ 9.97708944e-01 6.76496606e-02 -6.21129785e-04 2.22892419e+02] [-6.76496296e-02 9.97709137e-01 7.07519683e-05 -2.00002064e+01] [ 6.24493209e-04 -2.85706717e-05 9.99999805e-01 -5.80775241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.112414037 meters 0.07732729252294251 Centerline is valid? [True, True] Translation: X:222.92, Y:-20.00, Z:-5.81 [[ 9.97726643e-01 6.73881262e-02 -6.21767892e-04 2.22919668e+02] [-6.73880987e-02 9.97726836e-01 6.51837207e-05 -2.00032206e+01] [ 6.24747120e-04 -2.31357788e-05 9.99999805e-01 -5.80837547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.142414037 meters 0.0767014592286402 Centerline is valid? [True, True] Translation: X:222.95, Y:-20.00, Z:-5.81 [[ 9.97539296e-01 7.01076096e-02 -5.25492933e-04 2.22949410e+02] [-7.01075880e-02 9.97539434e-01 5.93912133e-05 -2.00042396e+01] [ 5.28363699e-04 -2.24040271e-05 9.99999860e-01 -5.80821845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.172414037 meters 0.07639713796780795 Centerline is valid? [True, True] Translation: X:222.98, Y:-20.01, Z:-5.81 [[ 9.97381281e-01 7.23215504e-02 4.15679975e-04 2.22978528e+02] [-7.23215365e-02 9.97381368e-01 -4.83003732e-05 -2.00069831e+01] [-4.18084620e-04 1.81112736e-05 9.99999912e-01 -5.80939630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.202414037 meters 0.0768627232917743 Centerline is valid? [True, True] Translation: X:223.01, Y:-20.01, Z:-5.81 [[ 9.97264702e-01 7.39122442e-02 -3.07828610e-04 2.23005832e+02] [-7.39122374e-02 9.97264749e-01 3.33581398e-05 -2.00117620e+01] [ 3.09452196e-04 -1.05145940e-05 9.99999952e-01 -5.81101161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.232414037 meters 0.07694929707890391 Centerline is valid? [True, True] Translation: X:223.03, Y:-20.02, Z:-5.81 [[ 9.97207192e-01 7.46831071e-02 -4.99713520e-04 2.23033615e+02] [-7.46830892e-02 9.97207317e-01 5.44333746e-05 -2.00150478e+01] [ 5.02383232e-04 -1.69612032e-05 9.99999874e-01 -5.81232366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.262414037 meters 0.07589560707459389 Centerline is valid? [True, True] Translation: X:223.06, Y:-20.02, Z:-5.81 [[ 9.97212360e-01 7.45947018e-02 -1.77191511e-03 2.23062220e+02] [-7.45944698e-02 9.97213932e-01 1.96732886e-04 -2.00158046e+01] [ 1.78165366e-03 -6.40093976e-05 9.99998411e-01 -5.81172230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29241403699996 meters 0.0756603897037079 Centerline is valid? [True, True] Translation: X:223.09, Y:-20.02, Z:-5.81 [[ 9.97281620e-01 7.36523318e-02 -2.16903278e-03 2.23091109e+02] [-7.36519807e-02 9.97283975e-01 2.41429879e-04 -2.00193456e+01] [ 2.18092350e-03 -8.10200209e-05 9.99997619e-01 -5.81222414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.322414037 meters 0.0779571937920403 Centerline is valid? [True, True] Translation: X:223.12, Y:-20.03, Z:-5.82 [[ 9.97372769e-01 7.23982514e-02 -2.46014553e-03 2.23117711e+02] [-7.23977861e-02 9.97375798e-01 2.77756013e-04 -2.00309098e+01] [ 2.47379866e-03 -9.89171939e-05 9.99996935e-01 -5.81788975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35241403699996 meters 0.07643572068870012 Centerline is valid? [True, True] Translation: X:223.15, Y:-20.03, Z:-5.82 [[ 9.97603779e-01 6.91413510e-02 -2.48484928e-03 2.23147007e+02] [-6.91408647e-02 9.97606867e-01 2.81161288e-04 -2.00320838e+01] [ 2.49834257e-03 -1.08682936e-04 9.99996873e-01 -5.81509594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.382414037 meters 0.07661143103581179 Centerline is valid? [True, True] Translation: X:223.18, Y:-20.04, Z:-5.82 [[ 9.97765473e-01 6.67431837e-02 -3.06744997e-03 2.23175659e+02] [-6.67424311e-02 9.97770178e-01 3.47186735e-04 -2.00381108e+01] [ 3.08378245e-03 -1.41681869e-04 9.99995235e-01 -5.81631508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41241403699996 meters 0.07728900020593431 Centerline is valid? [True, True] Translation: X:223.20, Y:-20.05, Z:-5.82 [[ 9.97938369e-01 6.41308433e-02 -2.49919001e-03 2.23204236e+02] [-6.41303363e-02 9.97941491e-01 2.82534820e-04 -2.00452005e+01] [ 2.51216460e-03 -1.21678441e-04 9.99996837e-01 -5.81795101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.442414037 meters 0.07878363241095977 Centerline is valid? [True, True] Translation: X:223.23, Y:-20.06, Z:-5.82 [[ 9.98194158e-01 6.00176446e-02 -2.51107999e-03 2.23232156e+02] [-6.00171180e-02 9.98197307e-01 2.84595096e-04 -2.00562387e+01] [ 2.52363401e-03 -1.33373378e-04 9.99996807e-01 -5.82012932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47241403699996 meters 0.07909833950228076 Centerline is valid? [True, True] Translation: X:223.26, Y:-20.06, Z:-5.82 [[ 9.98315381e-01 5.79954071e-02 -1.71269340e-03 2.23261645e+02] [-5.79951601e-02 9.98316845e-01 1.93561381e-04 -2.00622072e+01] [ 1.72103634e-03 -9.39073757e-05 9.99998515e-01 -5.82097048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.502414037 meters 0.0807568699531554 Centerline is valid? [True, True] Translation: X:223.29, Y:-20.07, Z:-5.82 [[ 9.98463005e-01 5.53637575e-02 -2.54609010e-03 2.23289640e+02] [-5.53632024e-02 9.98466240e-01 2.88038023e-04 -2.00713028e+01] [ 2.55813187e-03 -1.46635609e-04 9.99996717e-01 -5.82218575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53241403699997 meters 0.08069247885019029 Centerline is valid? [True, True] Translation: X:223.32, Y:-20.08, Z:-5.82 [[ 9.98698947e-01 5.09298612e-02 -2.56178036e-03 2.23319828e+02] [-5.09292831e-02 9.98702220e-01 2.90442609e-04 -2.00774752e+01] [ 2.57324793e-03 -1.59595091e-04 9.99996676e-01 -5.82151057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.562414037 meters 0.08028972519147953 Centerline is valid? [True, True] Translation: X:223.35, Y:-20.08, Z:-5.82 [[ 9.98808110e-01 4.87782236e-02 -1.74487313e-03 2.23348591e+02] [-4.87779542e-02 9.98809628e-01 1.96649499e-04 -2.00814650e+01] [ 1.75238829e-03 -1.11303773e-04 9.99998458e-01 -5.82098531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59241403699997 meters 0.08207027567343271 Centerline is valid? [True, True] Translation: X:223.38, Y:-20.09, Z:-5.82 [[ 9.99018220e-01 4.42785191e-02 -1.41762775e-03 2.23376709e+02] [-4.42783338e-02 9.99019221e-01 1.61847977e-04 -2.00913440e+01] [ 1.42340376e-03 -9.89188829e-05 9.99998982e-01 -5.82292521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.622414037 meters 0.08247836317965446 Centerline is valid? [True, True] Translation: X:223.41, Y:-20.10, Z:-5.82 [[ 9.99145889e-01 4.12664698e-02 -2.13793808e-03 2.23406312e+02] [-4.12660463e-02 9.99148165e-01 2.41878018e-04 -2.00969069e+01] [ 2.14609836e-03 -1.53447175e-04 9.99997685e-01 -5.82298531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65241403699997 meters 0.08392479658679815 Centerline is valid? [True, True] Translation: X:223.43, Y:-20.11, Z:-5.82 [[ 9.99240490e-01 3.88925328e-02 -2.41139487e-03 2.23434731e+02] [-3.88919877e-02 9.99243383e-01 2.72574911e-04 -2.01052290e+01] [ 2.42017150e-03 -1.78583948e-04 9.99997055e-01 -5.82436689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.682414037 meters 0.08350337659321141 Centerline is valid? [True, True] Translation: X:223.46, Y:-20.11, Z:-5.82 [[ 9.99338686e-01 3.62723108e-02 -2.55143270e-03 2.23464352e+02] [-3.62716910e-02 9.99341924e-01 2.88787709e-04 -2.01082246e+01] [ 2.56022867e-03 -1.96051950e-04 9.99996703e-01 -5.82439827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.712414037 meters 0.08666126567509802 Centerline is valid? [True, True] Translation: X:223.49, Y:-20.12, Z:-5.83 [[ 9.99453603e-01 3.29641832e-02 -2.42048087e-03 2.23492560e+02] [-3.29636161e-02 9.99456515e-01 2.73793946e-04 -2.01203196e+01] [ 2.42819077e-03 -1.93856543e-04 9.99997033e-01 -5.82746451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.742414037 meters 0.08624751652842695 Centerline is valid? [True, True] Translation: X:223.52, Y:-20.12, Z:-5.83 [[ 9.99482465e-01 3.20152322e-02 -3.13474005e-03 2.23521858e+02] [-3.20142773e-02 9.99487349e-01 3.54346529e-04 -2.01227042e+01] [ 3.14447751e-03 -2.53806705e-04 9.99995024e-01 -5.82742924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.772414037 meters 0.08859463035354136 Centerline is valid? [True, True] Translation: X:223.55, Y:-20.13, Z:-5.83 [[ 9.99522117e-01 3.07757619e-02 -2.89649013e-03 2.23549313e+02] [-3.07749444e-02 9.99526286e-01 3.26401287e-04 -2.01313476e+01] [ 2.90516327e-03 -2.37105983e-04 9.99995752e-01 -5.82986015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.802414037 meters 0.085486783015936 Centerline is valid? [True, True] Translation: X:223.58, Y:-20.13, Z:-5.83 [[ 9.99550533e-01 2.97170010e-02 -3.95369291e-03 2.23578974e+02] [-2.97154668e-02 9.99558298e-01 4.46238263e-04 -2.01279842e+01] [ 3.96520742e-03 -3.28551863e-04 9.99992085e-01 -5.82920106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.832414037 meters 0.08431374173102507 Centerline is valid? [True, True] Translation: X:223.61, Y:-20.13, Z:-5.83 [[ 9.99585908e-01 2.84200553e-02 -4.50694801e-03 2.23608466e+02] [-2.84180490e-02 9.99595996e-01 5.08582004e-04 -2.01286903e+01] [ 4.51958112e-03 -3.80292735e-04 9.99989714e-01 -5.82819225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.862414037 meters 0.08763061133381554 Centerline is valid? [True, True] Translation: X:223.63, Y:-20.14, Z:-5.83 [[ 9.99600342e-01 2.80251374e-02 -3.70772823e-03 2.23634011e+02] [-2.80237852e-02 9.99607170e-01 4.16142194e-04 -2.01388319e+01] [ 3.71793416e-03 -3.12071300e-04 9.99993040e-01 -5.83158724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.892414037 meters 0.08901209072018297 Centerline is valid? [True, True] Translation: X:223.66, Y:-20.15, Z:-5.83 [[ 9.99607158e-01 2.78720726e-02 -2.94561117e-03 2.23661092e+02] [-2.78712184e-02 9.99611467e-01 3.30663886e-04 -2.01451244e+01] [ 2.95368299e-03 -2.48436216e-04 9.99995607e-01 -5.83324486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.922414037 meters 0.08971658021038004 Centerline is valid? [True, True] Translation: X:223.69, Y:-20.15, Z:-5.83 [[ 9.99635766e-01 2.68882732e-02 -2.31427804e-03 2.23689505e+02] [-2.68877437e-02 9.99638426e-01 2.59628870e-04 -2.01493726e+01] [ 2.32042223e-03 -1.97308590e-04 9.99997288e-01 -5.83373699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.952414037 meters 0.08578803934751728 Centerline is valid? [True, True] Translation: X:223.72, Y:-20.14, Z:-5.83 [[ 9.99638968e-01 2.65467103e-02 -4.14792887e-03 2.23718690e+02] [-2.65450048e-02 9.99647511e-01 4.65692844e-04 -2.01438846e+01] [ 4.15882938e-03 -3.55417923e-04 9.99991289e-01 -5.83198887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.982414037 meters 0.08749302798129055 Centerline is valid? [True, True] Translation: X:223.75, Y:-20.15, Z:-5.83 [[ 9.99647114e-01 2.62518461e-02 -4.06064049e-03 2.23745862e+02] [-2.62502107e-02 9.99655300e-01 4.55516305e-04 -2.01498635e+01] [ 4.07119894e-03 -3.48762890e-04 9.99991652e-01 -5.83367575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.012414037 meters 0.08644302855554628 Centerline is valid? [True, True] Translation: X:223.78, Y:-20.15, Z:-5.83 [[ 9.99664500e-01 2.54686307e-02 -4.71556648e-03 2.23775308e+02] [-2.54664126e-02 9.99675538e-01 5.29837715e-04 -2.01494904e+01] [ 4.72753070e-03 -4.09571393e-04 9.99988741e-01 -5.83379877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04241403699996 meters 0.0879937747848169 Centerline is valid? [True, True] Translation: X:223.80, Y:-20.15, Z:-5.84 [[ 9.99681201e-01 2.47299007e-02 -5.09208388e-03 2.23802172e+02] [-2.47273129e-02 9.99694070e-01 5.70546724e-04 -2.01546021e+01] [ 5.10463563e-03 -4.44451282e-04 9.99986872e-01 -5.83571649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.072414037 meters 0.08748775267535033 Centerline is valid? [True, True] Translation: X:223.83, Y:-20.16, Z:-5.84 [[ 9.99694364e-01 2.43219626e-02 -4.42942874e-03 2.23830872e+02] [-2.43199998e-02 9.99704102e-01 4.96470945e-04 -2.01561475e+01] [ 4.44019323e-03 -3.88595500e-04 9.99990067e-01 -5.83554129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10241403699996 meters 0.08564044402679863 Centerline is valid? [True, True] Translation: X:223.86, Y:-20.15, Z:-5.83 [[ 9.99712829e-01 2.35203500e-02 -4.58825920e-03 2.23859651e+02] [-2.35182391e-02 9.99723276e-01 5.13474171e-04 -2.01543842e+01] [ 4.59906661e-03 -4.05418939e-04 9.99989342e-01 -5.83496825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.132414037 meters 0.08822683525462761 Centerline is valid? [True, True] Translation: X:223.89, Y:-20.16, Z:-5.84 [[ 9.99733673e-01 2.28312886e-02 -3.36378361e-03 2.23887148e+02] [-2.28301530e-02 9.99739288e-01 3.75624711e-04 -2.01610194e+01] [ 3.37148263e-03 -2.98728978e-04 9.99994272e-01 -5.83627948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16241403699996 meters 0.08844957698762275 Centerline is valid? [True, True] Translation: X:223.92, Y:-20.16, Z:-5.84 [[ 9.99735821e-01 2.25436701e-02 -4.48017701e-03 2.23916195e+02] [-2.25416491e-02 9.99745779e-01 5.01079595e-04 -2.01629778e+01] [ 4.49033423e-03 -3.99956642e-04 9.99989838e-01 -5.83758624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.192414037 meters 0.08786617877367321 Centerline is valid? [True, True] Translation: X:223.95, Y:-20.16, Z:-5.84 [[ 9.99732579e-01 2.28208520e-02 -3.73900627e-03 2.23945676e+02] [-2.28194466e-02 9.99739515e-01 4.18119099e-04 -2.01635051e+01] [ 3.74757415e-03 -3.32685231e-04 9.99992922e-01 -5.83772777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22241403699996 meters 0.08707322693713483 Centerline is valid? [True, True] Translation: X:223.97, Y:-20.16, Z:-5.84 [[ 9.99726804e-01 2.30509598e-02 -3.86917434e-03 2.23974811e+02] [-2.30494590e-02 9.99734233e-01 4.32040029e-04 -2.01632027e+01] [ 3.87810498e-03 -3.42739622e-04 9.99992421e-01 -5.83765327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.252414037 meters 0.08830954894479118 Centerline is valid? [True, True] Translation: X:224.00, Y:-20.17, Z:-5.84 [[ 9.99719957e-01 2.33306723e-02 -3.96077837e-03 2.24002131e+02] [-2.33291077e-02 9.99727742e-01 4.40785116e-04 -2.01655725e+01] [ 3.96998383e-03 -3.48260252e-04 9.99992059e-01 -5.83927260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28241403699997 meters 0.08856353494946691 Centerline is valid? [True, True] Translation: X:224.03, Y:-20.17, Z:-5.84 [[ 9.99719770e-01 2.33313317e-02 -4.00375041e-03 2.24031210e+02] [-2.33297296e-02 9.99727725e-01 4.46414295e-04 -2.01678674e+01] [ 4.01307573e-03 -3.52882782e-04 9.99991885e-01 -5.83983814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.312414037 meters 0.08985138309815495 Centerline is valid? [True, True] Translation: X:224.06, Y:-20.17, Z:-5.84 [[ 9.99734896e-01 2.27205717e-02 -3.72998505e-03 2.24058504e+02] [-2.27191799e-02 9.99741800e-01 4.15095901e-04 -2.01711758e+01] [ 3.73845318e-03 -3.30243656e-04 9.99992957e-01 -5.84206991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34241403699997 meters 0.09002146361167197 Centerline is valid? [True, True] Translation: X:224.09, Y:-20.17, Z:-5.84 [[ 9.99745493e-01 2.23097030e-02 -3.35060612e-03 2.24087123e+02] [-2.23085777e-02 9.99751063e-01 3.72846799e-04 -2.01730348e+01] [ 3.35809013e-03 -2.98004650e-04 9.99994317e-01 -5.84239701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.372414037 meters 0.08963089917602958 Centerline is valid? [True, True] Translation: X:224.12, Y:-20.17, Z:-5.84 [[ 9.99753907e-01 2.18807163e-02 -3.65498877e-03 2.24115473e+02] [-2.18793765e-02 9.99760535e-01 4.06154955e-04 -2.01736302e+01] [ 3.66300049e-03 -3.26086128e-04 9.99993238e-01 -5.84302603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40241403699997 meters 0.09186329993241324 Centerline is valid? [True, True] Translation: X:224.14, Y:-20.18, Z:-5.84 [[ 9.99778431e-01 2.07719603e-02 -3.40807672e-03 2.24143337e+02] [-2.07707889e-02 9.99784192e-01 3.78751516e-04 -2.01784898e+01] [ 3.41520864e-03 -3.07879154e-04 9.99994121e-01 -5.84416296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.432414037 meters 0.08765852696919733 Centerline is valid? [True, True] Translation: X:224.17, Y:-20.17, Z:-5.84 [[ 9.99779591e-01 2.06589967e-02 -3.73837934e-03 2.24173184e+02] [-2.06575871e-02 9.99786523e-01 4.15289509e-04 -2.01720461e+01] [ 3.74616074e-03 -3.37972079e-04 9.99992926e-01 -5.84292220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.462414037 meters 0.09089938930813166 Centerline is valid? [True, True] Translation: X:224.20, Y:-20.18, Z:-5.85 [[ 9.99802217e-01 1.95772700e-02 -3.50097307e-03 2.24200716e+02] [-1.95760279e-02 9.99808296e-01 3.88717192e-04 -2.01799550e+01] [ 3.50791194e-03 -3.20105164e-04 9.99993796e-01 -5.84626509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.492414037 meters 0.09135954454963773 Centerline is valid? [True, True] Translation: X:224.23, Y:-20.18, Z:-5.85 [[ 9.99811593e-01 1.89488147e-02 -4.20954609e-03 2.24229464e+02] [-1.89470136e-02 9.99820380e-01 4.67331196e-04 -2.01832199e+01] [ 4.21764535e-03 -3.87484821e-04 9.99991031e-01 -5.84670376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.522414037 meters 0.09129117157817385 Centerline is valid? [True, True] Translation: X:224.26, Y:-20.18, Z:-5.85 [[ 9.99826527e-01 1.81455025e-02 -4.20205886e-03 2.24257746e+02] [-1.81437039e-02 9.99835281e-01 4.65756492e-04 -2.01847099e+01] [ 4.20981809e-03 -3.89434784e-04 9.99991063e-01 -5.84705837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.552414037 meters 0.09085955227980098 Centerline is valid? [True, True] Translation: X:224.29, Y:-20.19, Z:-5.85 [[ 9.99836575e-01 1.77017379e-02 -3.67034848e-03 2.24286730e+02] [-1.77003632e-02 9.99843254e-01 4.06701041e-04 -2.01859686e+01] [ 3.67697248e-03 -3.41668075e-04 9.99993182e-01 -5.84738290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.582414037 meters 0.08972841040723682 Centerline is valid? [True, True] Translation: X:224.32, Y:-20.19, Z:-5.85 [[ 9.99847724e-01 1.71324983e-02 -3.31745587e-03 2.24316128e+02] [-1.71313735e-02 9.99853180e-01 3.67197056e-04 -2.01853564e+01] [ 3.32325980e-03 -3.10308566e-04 9.99994430e-01 -5.84813891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.612414037 meters 0.0941531921663722 Centerline is valid? [True, True] Translation: X:224.34, Y:-20.20, Z:-5.85 [[ 9.99857029e-01 1.66630879e-02 -2.87439791e-03 2.24342323e+02] [-1.66622452e-02 9.99861125e-01 3.16890655e-04 -2.01963943e+01] [ 2.87927911e-03 -2.68951426e-04 9.99995819e-01 -5.85099149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.642414037 meters 0.08987762277738119 Centerline is valid? [True, True] Translation: X:224.37, Y:-20.19, Z:-5.85 [[ 9.99863266e-01 1.62842840e-02 -2.87606821e-03 2.24371653e+02] [-1.62834371e-02 9.99867366e-01 3.17636167e-04 -2.01902502e+01] [ 2.88085922e-03 -2.70760459e-04 9.99995814e-01 -5.84886724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.672414037 meters 0.09095818912912841 Centerline is valid? [True, True] Translation: X:224.40, Y:-20.19, Z:-5.85 [[ 9.99855401e-01 1.68785224e-02 -2.07205830e-03 2.24399404e+02] [-1.68780861e-02 9.99857529e-01 2.27860183e-04 -2.01936872e+01] [ 2.07560904e-03 -1.92854856e-04 9.99997827e-01 -5.85010575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.702414037 meters 0.09090959745537794 Centerline is valid? [True, True] Translation: X:224.43, Y:-20.20, Z:-5.85 [[ 9.99848327e-01 1.73213612e-02 -1.81495808e-03 2.24427940e+02] [-1.73210271e-02 9.99849960e-01 1.99622489e-04 -2.01956446e+01] [ 1.81814350e-03 -1.68155273e-04 9.99998333e-01 -5.85056009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.732414037 meters 0.08996783461201135 Centerline is valid? [True, True] Translation: X:224.46, Y:-20.20, Z:-5.85 [[ 9.99842117e-01 1.77502301e-02 -8.18380390e-04 2.24457481e+02] [-1.77501628e-02 9.99842449e-01 8.95028134e-05 -2.01960278e+01] [ 8.19840149e-04 -7.49622974e-05 9.99999661e-01 -5.85063540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.762414037 meters 0.0881910399673821 Centerline is valid? [True, True] Translation: X:224.49, Y:-20.19, Z:-5.85 [[ 9.99817760e-01 1.90117062e-02 -1.73239164e-03 2.24487126e+02] [-1.90114042e-02 9.99819249e-01 1.90652854e-04 -2.01937394e+01] [ 1.73570314e-03 -1.57682912e-04 9.99998481e-01 -5.85073306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.79241403699996 meters 0.08974366228745759 Centerline is valid? [True, True] Translation: X:224.51, Y:-20.20, Z:-5.85 [[ 9.99807341e-01 1.94435527e-02 -2.68861522e-03 2.24514059e+02] [-1.94428277e-02 9.99810927e-01 2.95536945e-04 -2.01988961e+01] [ 2.69385317e-03 -2.43205724e-04 9.99996342e-01 -5.85281987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.822414037 meters 0.08833628003872533 Centerline is valid? [True, True] Translation: X:224.54, Y:-20.20, Z:-5.85 [[ 9.99802955e-01 1.95272573e-02 -3.56886461e-03 2.24543557e+02] [-1.95259776e-02 9.99809273e-01 3.93067259e-04 -2.01981051e+01] [ 3.57585945e-03 -3.23304237e-04 9.99993554e-01 -5.85344288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.85241403699996 meters 0.08900015507020337 Centerline is valid? [True, True] Translation: X:224.57, Y:-20.20, Z:-5.85 [[ 9.99781726e-01 2.05113186e-02 -3.97323461e-03 2.24571831e+02] [-2.05097406e-02 9.99789557e-01 4.37518231e-04 -2.02002696e+01] [ 3.98137255e-03 -3.55932721e-04 9.99992011e-01 -5.85416851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.882414037 meters 0.09355458360362662 Centerline is valid? [True, True] Translation: X:224.60, Y:-20.21, Z:-5.86 [[ 9.99792501e-01 2.01054976e-02 -3.27476537e-03 2.24598878e+02] [-2.01044264e-02 9.99797821e-01 3.59694252e-04 -2.02104336e+01] [ 3.28133512e-03 -2.93782337e-04 9.99994573e-01 -5.85706574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.91241403699996 meters 0.08824830944473261 Centerline is valid? [True, True] Translation: X:224.63, Y:-20.20, Z:-5.85 [[ 9.99790359e-01 2.03706325e-02 -2.06768815e-03 2.24628783e+02] [-2.03702070e-02 9.99792480e-01 2.26622626e-04 -2.02019011e+01] [ 2.07187551e-03 -1.84455881e-04 9.99997837e-01 -5.85437980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.942414037 meters 0.08895645893353443 Centerline is valid? [True, True] Translation: X:224.66, Y:-20.20, Z:-5.85 [[ 9.99783970e-01 2.07201549e-02 -1.63942888e-03 2.24656378e+02] [-2.07198904e-02 9.99785304e-01 1.78155088e-04 -2.02046831e+01] [ 1.64276830e-03 -1.44147815e-04 9.99998640e-01 -5.85460096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97241403699996 meters 0.08851330241338022 Centerline is valid? [True, True] Translation: X:224.69, Y:-20.21, Z:-5.85 [[ 9.99782594e-01 2.08275349e-02 -9.88971056e-04 2.24685331e+02] [-2.08274388e-02 9.99783080e-01 1.07419578e-04 -2.02063995e+01] [ 9.90993813e-04 -8.67984897e-05 9.99999505e-01 -5.85480485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.002414037 meters 0.08851330241338022 Centerline is valid? [True, True] Translation: X:224.71, Y:-20.21, Z:-5.86 [[ 9.99784689e-01 2.07267465e-02 -9.89065551e-04 2.24712744e+02] [-2.07266511e-02 9.99785174e-01 1.06560751e-04 -2.02093145e+01] [ 9.91061732e-04 -8.60377907e-05 9.99999505e-01 -5.85543174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03241403699997 meters 0.08922192993937957 Centerline is valid? [True, True] Translation: X:224.74, Y:-20.21, Z:-5.86 [[ 9.99803351e-01 1.98217231e-02 -5.98267738e-04 2.24741235e+02] [-1.98216882e-02 9.99803529e-01 6.42783589e-05 -2.02129785e+01] [ 5.99424304e-04 -5.24070421e-05 9.99999819e-01 -5.85647314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.062414037 meters 0.08798854018444449 Centerline is valid? [True, True] Translation: X:224.77, Y:-20.21, Z:-5.86 [[ 9.99819436e-01 1.89701046e-02 -1.10951549e-03 2.24770894e+02] [-1.89699816e-02 9.99820046e-01 1.21229451e-04 -2.02123136e+01] [ 1.11161557e-03 -1.00160072e-04 9.99999377e-01 -5.85656625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09241403699997 meters 0.0871972678429579 Centerline is valid? [True, True] Translation: X:224.80, Y:-20.21, Z:-5.86 [[ 9.99829691e-01 1.84093329e-02 -1.29859808e-03 2.24800206e+02] [-1.84091650e-02 9.99830527e-01 1.41134676e-04 -2.02129140e+01] [ 1.30097620e-03 -1.17204534e-04 9.99999147e-01 -5.85725761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.122414037 meters 0.08881771275566817 Centerline is valid? [True, True] Translation: X:224.83, Y:-20.22, Z:-5.86 [[ 9.99838437e-01 1.79298780e-02 -1.27263556e-03 2.24827348e+02] [-1.79297170e-02 9.99839240e-01 1.37791122e-04 -2.02183123e+01] [ 1.27490155e-03 -1.14950864e-04 9.99999181e-01 -5.85943707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15241403699997 meters 0.09399515490964423 Centerline is valid? [True, True] Translation: X:224.85, Y:-20.23, Z:-5.86 [[ 9.99846442e-01 1.71813767e-02 -3.44862216e-03 2.24854407e+02] [-1.71801780e-02 9.99852339e-01 3.76919281e-04 -2.02295332e+01] [ 3.45458892e-03 -3.17613459e-04 9.99993982e-01 -5.86452816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.182414037 meters 0.08969572508366394 Centerline is valid? [True, True] Translation: X:224.88, Y:-20.22, Z:-5.86 [[ 9.99849661e-01 1.69725837e-02 -3.54779674e-03 2.24884186e+02] [-1.69713144e-02 9.99855902e-01 3.87559837e-04 -2.02238550e+01] [ 3.55386340e-03 -3.27290798e-04 9.99993631e-01 -5.86342386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.212414037 meters 0.0885284620825054 Centerline is valid? [True, True] Translation: X:224.91, Y:-20.22, Z:-5.86 [[ 9.99854001e-01 1.69200358e-02 -2.38532820e-03 2.24913569e+02] [-1.69194625e-02 9.99856822e-01 2.60314119e-04 -2.02242757e+01] [ 2.38939120e-03 -2.19917643e-04 9.99997121e-01 -5.86339166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.242414037 meters 0.09128199357502226 Centerline is valid? [True, True] Translation: X:224.94, Y:-20.23, Z:-5.86 [[ 9.99865981e-01 1.63117385e-02 -1.39531777e-03 2.24941185e+02] [-1.63115437e-02 9.99866947e-01 1.50904736e-04 -2.02311649e+01] [ 1.39759363e-03 -1.28124725e-04 9.99999015e-01 -5.86460323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.272414037 meters 0.08964931509750508 Centerline is valid? [True, True] Translation: X:224.97, Y:-20.23, Z:-5.86 [[ 9.99865888e-01 1.63752924e-02 -2.37666835e-04 2.24970337e+02] [-1.63752870e-02 9.99865916e-01 2.44771763e-05 -2.02300173e+01] [ 2.38035788e-04 -2.05820310e-05 9.99999971e-01 -5.86382389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.302414037 meters 0.09007374578701774 Centerline is valid? [True, True] Translation: X:225.00, Y:-20.23, Z:-5.86 [[ 9.99858180e-01 1.68405652e-02 -1.21590214e-04 2.24999435e+02] [-1.68405638e-02 9.99858188e-01 1.21572814e-05 -2.02332465e+01] [ 1.21777706e-04 -1.01079095e-05 9.99999993e-01 -5.86350279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.332414037 meters 0.08723342923559432 Centerline is valid? [True, True] Translation: X:225.03, Y:-20.23, Z:-5.86 [[ 9.99846387e-01 1.75241035e-02 3.28895200e-04 2.25029484e+02] [-1.75240922e-02 9.99846441e-01 -3.71501594e-05 -2.02284427e+01] [-3.29495718e-04 3.13808628e-05 9.99999945e-01 -5.86215431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.362414037 meters 0.08987392164811339 Centerline is valid? [True, True] Translation: X:225.06, Y:-20.24, Z:-5.86 [[ 9.99841376e-01 1.78061872e-02 4.02904083e-04 2.25056726e+02] [-1.78061701e-02 9.99841457e-01 -4.59846738e-05 -2.02352331e+01] [-4.03659017e-04 3.88032009e-05 9.99999918e-01 -5.86399984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.392414037 meters 0.090133993314483 Centerline is valid? [True, True] Translation: X:225.09, Y:-20.24, Z:-5.86 [[ 9.99836997e-01 1.80548722e-02 -2.02909631e-05 2.25085502e+02] [-1.80548722e-02 9.99836998e-01 6.96020089e-07 -2.02379533e+01] [ 2.03002222e-05 -3.29555889e-07 1.00000000e+00 -5.86465335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.422414037 meters 0.08901939091395661 Centerline is valid? [True, True] Translation: X:225.12, Y:-20.24, Z:-5.87 [[ 9.99813301e-01 1.92911852e-02 -1.10155032e-03 2.25115216e+02] [-1.92910656e-02 9.99813903e-01 1.19093240e-04 -2.02363210e+01] [ 1.10364278e-03 -9.78209259e-05 9.99999386e-01 -5.86598019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.452414037 meters 0.08858812183786326 Centerline is valid? [True, True] Translation: X:225.14, Y:-20.24, Z:-5.87 [[ 9.99800685e-01 1.97906940e-02 -2.63018441e-03 2.25144251e+02] [-1.97900112e-02 9.99804118e-01 2.85394296e-04 -2.02373591e+01] [ 2.63531736e-03 -2.33286033e-04 9.99996500e-01 -5.86760764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.482414037 meters 0.08704890867973109 Centerline is valid? [True, True] Translation: X:225.17, Y:-20.24, Z:-5.87 [[ 9.99795292e-01 2.01331483e-02 -2.00768704e-03 2.25173007e+02] [-2.01327521e-02 9.99797292e-01 2.17330084e-04 -2.02362471e+01] [ 2.01165560e-03 -1.76865329e-04 9.99997961e-01 -5.86798889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.512414037 meters 0.0884482788942645 Centerline is valid? [True, True] Translation: X:225.20, Y:-20.24, Z:-5.87 [[ 9.99774508e-01 2.11174965e-02 -2.23238113e-03 2.25200777e+02] [-2.11170100e-02 9.99776982e-01 2.41263863e-04 -2.02399255e+01] [ 2.23697816e-03 -1.94068245e-04 9.99997479e-01 -5.86906021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54241403699996 meters 0.0862470320982757 Centerline is valid? [True, True] Translation: X:225.23, Y:-20.24, Z:-5.87 [[ 9.99774868e-01 2.11390791e-02 -1.83075455e-03 2.25230559e+02] [-2.11387514e-02 9.99776532e-01 1.98171555e-04 -2.02371997e+01] [ 1.83453460e-03 -1.59427075e-04 9.99998305e-01 -5.86850712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.572414037 meters 0.08700979979303393 Centerline is valid? [True, True] Translation: X:225.26, Y:-20.24, Z:-5.87 [[ 9.99763944e-01 2.16987237e-02 -1.10503169e-03 2.25257723e+02] [-2.16986061e-02 9.99764551e-01 1.18289097e-04 -2.02412281e+01] [ 1.10733824e-03 -9.42835267e-05 9.99999382e-01 -5.86938409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60241403699996 meters 0.08792913622183875 Centerline is valid? [True, True] Translation: X:225.29, Y:-20.24, Z:-5.87 [[ 9.99767338e-01 2.15698403e-02 1.05019220e-04 2.25285337e+02] [-2.15698389e-02 9.99767344e-01 -1.39804482e-05 -2.02447869e+01] [-1.05296343e-04 1.17119478e-05 9.99999994e-01 -5.86912459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.632414037 meters 0.08788461995497727 Centerline is valid? [True, True] Translation: X:225.31, Y:-20.25, Z:-5.87 [[ 9.99788902e-01 2.05458005e-02 1.45308832e-04 2.25314942e+02] [-2.05457983e-02 9.99788913e-01 -1.65547067e-05 -2.02470327e+01] [-1.45618289e-04 1.35657261e-05 9.99999989e-01 -5.86953666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66241403699996 meters 0.08977822947554699 Centerline is valid? [True, True] Translation: X:225.34, Y:-20.25, Z:-5.87 [[ 9.99803692e-01 1.97985709e-02 7.70988813e-04 2.25342547e+02] [-1.97985107e-02 9.99803987e-01 -8.56112067e-05 -2.02533541e+01] [-7.72532668e-04 7.03299703e-05 9.99999699e-01 -5.87060579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.692414037 meters 0.09202846948000998 Centerline is valid? [True, True] Translation: X:225.37, Y:-20.26, Z:-5.87 [[ 9.99846807e-01 1.74957139e-02 -5.11628710e-04 2.25371542e+02] [-1.74956880e-02 9.99846937e-01 5.50036504e-05 -2.02600241e+01] [ 5.12512726e-04 -4.60439279e-05 9.99999868e-01 -5.87269136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72241403699996 meters 0.08953640620647879 Centerline is valid? [True, True] Translation: X:225.40, Y:-20.26, Z:-5.87 [[ 9.99868060e-01 1.62306358e-02 -6.55428431e-04 2.25401805e+02] [-1.62305931e-02 9.99868273e-01 7.03455235e-05 -2.02579352e+01] [ 6.56483845e-04 -5.96982499e-05 9.99999783e-01 -5.87242590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.752414037 meters 0.09032937457393297 Centerline is valid? [True, True] Translation: X:225.43, Y:-20.26, Z:-5.87 [[ 9.99883445e-01 1.52170778e-02 -1.24002977e-03 2.25431309e+02] [-1.52169236e-02 9.99884207e-01 1.33738151e-04 -2.02628122e+01] [ 1.24192128e-03 -1.14853125e-04 9.99999222e-01 -5.87300875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78241403699997 meters 0.0938282785990089 Centerline is valid? [True, True] Translation: X:225.46, Y:-20.27, Z:-5.88 [[ 9.99921097e-01 1.25059777e-02 -1.18293036e-03 2.25459362e+02] [-1.25058345e-02 9.99921791e-01 1.28379480e-04 -2.02725132e+01] [ 1.18444336e-03 -1.13575819e-04 9.99999292e-01 -5.87537524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.812414037 meters 0.09567485577714611 Centerline is valid? [True, True] Translation: X:225.49, Y:-20.28, Z:-5.88 [[ 9.99938857e-01 1.08074381e-02 -2.34112126e-03 2.25488219e+02] [-1.08068748e-02 9.99941572e-01 2.53130302e-04 -2.02783649e+01] [ 2.34372017e-03 -2.27814621e-04 9.99997228e-01 -5.87702862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84241403699997 meters 0.09410963929430945 Centerline is valid? [True, True] Translation: X:225.52, Y:-20.28, Z:-5.88 [[ 9.99942751e-01 9.67780829e-03 -4.56459007e-03 2.25518769e+02] [-9.67565095e-03 9.99953068e-01 4.94471506e-04 -2.02778736e+01] [ 4.56916124e-03 -4.50277817e-04 9.99989460e-01 -5.87764637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.872414037 meters 0.09292131813300342 Centerline is valid? [True, True] Translation: X:225.55, Y:-20.28, Z:-5.88 [[ 9.99943515e-01 9.57349304e-03 -4.61688091e-03 2.25546877e+02] [-9.57129584e-03 9.99954070e-01 4.97767234e-04 -2.02780652e+01] [ 4.62143423e-03 -4.53549584e-04 9.99989218e-01 -5.87730664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90241403699997 meters 0.09329794649649462 Centerline is valid? [True, True] Translation: X:225.58, Y:-20.28, Z:-5.88 [[ 9.99951784e-01 9.06309024e-03 -3.78031504e-03 2.25575746e+02] [-9.06161314e-03 9.99958860e-01 4.07680470e-04 -2.02814167e+01] [ 3.78385437e-03 -3.73405060e-04 9.99992771e-01 -5.87801227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.932414037 meters 0.09758352757408609 Centerline is valid? [True, True] Translation: X:225.60, Y:-20.29, Z:-5.88 [[ 9.99953169e-01 9.26486651e-03 -2.79686465e-03 2.25602746e+02] [-9.26406157e-03 9.99957042e-01 3.00616326e-04 -2.02917375e+01] [ 2.79952968e-03 -2.74691921e-04 9.99996044e-01 -5.88042889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.962414037 meters 0.09364678298661049 Centerline is valid? [True, True] Translation: X:225.63, Y:-20.29, Z:-5.88 [[ 9.99956659e-01 8.91808968e-03 -2.67354119e-03 2.25632755e+02] [-8.91735266e-03 9.99960198e-01 2.87468827e-04 -2.02863411e+01] [ 2.67599845e-03 -2.63615458e-04 9.99996385e-01 -5.87864333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.992414037 meters 0.09163229960295788 Centerline is valid? [True, True] Translation: X:225.66, Y:-20.29, Z:-5.88 [[ 9.99955991e-01 9.21505562e-03 -1.76033662e-03 2.25662470e+02] [-9.21473702e-03 9.99957526e-01 1.89013299e-04 -2.02851246e+01] [ 1.76200361e-03 -1.72783942e-04 9.99998433e-01 -5.87792690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.022414037 meters 0.09333891806231605 Centerline is valid? [True, True] Translation: X:225.69, Y:-20.29, Z:-5.88 [[ 9.99955283e-01 9.32139115e-03 -1.59462405e-03 2.25690282e+02] [-9.32113150e-03 9.99956543e-01 1.70184586e-04 -2.02903837e+01] [ 1.59614111e-03 -1.55313275e-04 9.99998714e-01 -5.87841632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.052414037 meters 0.09255109510880062 Centerline is valid? [True, True] Translation: X:225.72, Y:-20.29, Z:-5.88 [[ 9.99952915e-01 9.43831049e-03 -2.25521195e-03 2.25719001e+02] [-9.43778902e-03 9.99955434e-01 2.41760175e-04 -2.02915373e+01] [ 2.25739325e-03 -2.20464578e-04 9.99997428e-01 -5.87894288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.082414037 meters 0.09206255799654688 Centerline is valid? [True, True] Translation: X:225.75, Y:-20.29, Z:-5.88 [[ 9.99947265e-01 9.85952467e-03 -2.87357078e-03 2.25747806e+02] [-9.85867912e-03 9.99951355e-01 3.08266558e-04 -2.02934256e+01] [ 2.87647035e-03 -2.79920689e-04 9.99995824e-01 -5.87991771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.112414037 meters 0.09295150496856225 Centerline is valid? [True, True] Translation: X:225.78, Y:-20.30, Z:-5.88 [[ 9.99949374e-01 9.29223989e-03 -3.86052962e-03 2.25775001e+02] [-9.29071022e-03 9.99956755e-01 4.13978407e-04 -2.02976509e+01] [ 3.86420945e-03 -3.78090387e-04 9.99992462e-01 -5.88092853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.142414037 meters 0.09073625558298155 Centerline is valid? [True, True] Translation: X:225.80, Y:-20.30, Z:-5.88 [[ 9.99946842e-01 9.40494672e-03 -4.22622181e-03 2.25803721e+02] [-9.40311354e-03 9.99955687e-01 4.53424235e-04 -2.02962726e+01] [ 4.23029896e-03 -4.13660488e-04 9.99990967e-01 -5.88064268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.172414037 meters 0.09249990731633162 Centerline is valid? [True, True] Translation: X:225.83, Y:-20.30, Z:-5.88 [[ 9.99945690e-01 9.48939963e-03 -4.30914511e-03 2.25831181e+02] [-9.48749776e-03 9.99954886e-01 4.61584464e-04 -2.03029172e+01] [ 4.31333086e-03 -4.20676390e-04 9.99990609e-01 -5.88276506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.202414037 meters 0.09127459877343148 Centerline is valid? [True, True] Translation: X:225.86, Y:-20.30, Z:-5.88 [[ 9.99949614e-01 8.96864851e-03 -4.50908266e-03 2.25860344e+02] [-8.96656001e-03 9.99959683e-01 4.83179818e-04 -2.03039731e+01] [ 4.51323434e-03 -4.42724512e-04 9.99989717e-01 -5.88296756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.232414037 meters 0.09333693251806238 Centerline is valid? [True, True] Translation: X:225.89, Y:-20.31, Z:-5.88 [[ 9.99956276e-01 8.41760561e-03 -4.07304997e-03 2.25887715e+02] [-8.41590197e-03 9.99964491e-01 4.35230177e-04 -2.03112323e+01] [ 4.07656894e-03 -4.00932757e-04 9.99991610e-01 -5.88383312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.262414037 meters 0.0942259722924414 Centerline is valid? [True, True] Translation: X:225.92, Y:-20.32, Z:-5.88 [[ 9.99974243e-01 5.94984882e-03 -4.01405237e-03 2.25917927e+02] [-5.94816638e-03 9.99982217e-01 4.30945708e-04 -2.03164722e+01] [ 4.01654505e-03 -4.07058357e-04 9.99991851e-01 -5.88408596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29241403699996 meters 0.09411812638728002 Centerline is valid? [True, True] Translation: X:225.95, Y:-20.32, Z:-5.88 [[ 9.99978386e-01 5.38430080e-03 -3.77314011e-03 2.25946824e+02] [-5.38281657e-03 9.99985431e-01 4.03412515e-04 -2.03204651e+01] [ 3.77525723e-03 -3.83093675e-04 9.99992800e-01 -5.88435699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.322414037 meters 0.09634334186327134 Centerline is valid? [True, True] Translation: X:225.98, Y:-20.33, Z:-5.89 [[ 9.99985055e-01 4.08523357e-03 -3.63327313e-03 2.25975049e+02] [-4.08384830e-03 9.99991586e-01 3.88609702e-04 -2.03279310e+01] [ 3.63483012e-03 -3.73766158e-04 9.99993324e-01 -5.88538040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35241403699996 meters 0.0966794098670511 Centerline is valid? [True, True] Translation: X:226.00, Y:-20.33, Z:-5.89 [[ 9.99987078e-01 3.36104718e-03 -3.81408437e-03 2.26003593e+02] [-3.35951745e-03 9.99994274e-01 4.07410892e-04 -2.03321327e+01] [ 3.81543186e-03 -3.94592145e-04 9.99992643e-01 -5.88593905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.382414037 meters 0.09615680892146113 Centerline is valid? [True, True] Translation: X:226.03, Y:-20.34, Z:-5.89 [[ 9.99989731e-01 1.32366535e-03 -4.33414865e-03 2.26033693e+02] [-1.32166565e-03 9.99999019e-01 4.64213511e-04 -2.03351194e+01] [ 4.33475886e-03 -4.58480448e-04 9.99990500e-01 -5.88597209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41241403699996 meters 0.098234105156091 Centerline is valid? [True, True] Translation: X:226.06, Y:-20.34, Z:-5.89 [[ 9.99989179e-01 9.50173949e-04 -4.55411011e-03 2.26061108e+02] [-9.47972366e-04 9.99999433e-01 4.85561858e-04 -2.03424705e+01] [ 4.55456889e-03 -4.81239433e-04 9.99989512e-01 -5.88747871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.442414037 meters 0.09938237268726965 Centerline is valid? [True, True] Translation: X:226.09, Y:-20.35, Z:-5.89 [[ 9.99988604e-01 -1.29201856e-04 -4.77231834e-03 2.26090330e+02] [ 1.31638075e-04 9.99999861e-01 5.10179099e-04 -2.03488280e+01] [ 4.77225176e-03 -5.10801504e-04 9.99988482e-01 -5.88826335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47241403699996 meters 0.09719353745623374 Centerline is valid? [True, True] Translation: X:226.12, Y:-20.35, Z:-5.89 [[ 9.99986050e-01 -4.26787110e-04 -5.26467322e-03 2.26119210e+02] [ 4.29750343e-04 9.99999750e-01 5.61733855e-04 -2.03490232e+01] [ 5.26443216e-03 -5.63988514e-04 9.99985984e-01 -5.88794226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.502414037 meters 0.09643434397854567 Centerline is valid? [True, True] Translation: X:226.15, Y:-20.35, Z:-5.89 [[ 9.99988541e-01 -5.16161513e-04 -4.75929661e-03 2.26148096e+02] [ 5.18559255e-04 9.99999739e-01 5.02581451e-04 -2.03519738e+01] [ 4.75903596e-03 -5.05043669e-04 9.99988548e-01 -5.88758459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53241403699997 meters 0.10312794216857983 Centerline is valid? [True, False] Translation: X:226.15, Y:-20.35, Z:-5.89 [[ 9.99988845e-01 -3.70677460e-04 -4.70876102e-03 2.26148166e+02] [ 3.74274913e-04 9.99999639e-01 7.63133090e-04 -2.03525372e+01] [ 4.70847644e-03 -7.64886949e-04 9.99988623e-01 -5.88780581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.562414037 meters 0.09876302967902008 Centerline is valid? [False, True] Translation: X:226.15, Y:-20.35, Z:-5.89 [[ 9.99988820e-01 -4.24266581e-04 -4.70953095e-03 2.26148046e+02] [ 4.27568372e-04 9.99999664e-01 7.00102142e-04 -2.03526481e+01] [ 4.70923234e-03 -7.02107962e-04 9.99988665e-01 -5.88760620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59241403699997 meters 0.098146868391569 Centerline is valid? [True, True] Translation: X:226.18, Y:-20.36, Z:-5.89 [[ 9.99991182e-01 -3.52585848e-04 -4.18466823e-03 2.26176886e+02] [ 3.54422048e-04 9.99999841e-01 4.38058770e-04 -2.03553131e+01] [ 4.18451311e-03 -4.39538046e-04 9.99991148e-01 -5.88730866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.622414037 meters 0.09631278979299045 Centerline is valid? [True, True] Translation: X:226.21, Y:-20.36, Z:-5.89 [[ 9.99989041e-01 -1.32644804e-04 -4.67981444e-03 2.26205280e+02] [ 1.34936128e-04 9.99999871e-01 4.89306222e-04 -2.03556869e+01] [ 4.67974893e-03 -4.89932336e-04 9.99988930e-01 -5.88775380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65241403699997 meters 0.0945721296203085 Centerline is valid? [True, True] Translation: X:226.23, Y:-20.36, Z:-5.89 [[ 9.99986393e-01 -1.05574337e-04 -5.21568970e-03 2.26234058e+02] [ 1.08440940e-04 9.99999843e-01 5.49331718e-04 -2.03568528e+01] [ 5.21563089e-03 -5.49889837e-04 9.99986247e-01 -5.88779145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.682414037 meters 0.09511963083993683 Centerline is valid? [True, True] Translation: X:226.26, Y:-20.36, Z:-5.89 [[ 9.99985030e-01 -5.61196456e-04 -5.44280730e-03 2.26262933e+02] [ 5.64323150e-04 9.99999677e-01 5.72944739e-04 -2.03613143e+01] [ 5.44248400e-03 -5.76007665e-04 9.99985024e-01 -5.88899891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.712414037 meters 0.0960029941331748 Centerline is valid? [True, True] Translation: X:226.29, Y:-20.37, Z:-5.89 [[ 9.99979797e-01 -6.50593925e-04 -6.32315635e-03 2.26291727e+02] [ 6.54814505e-04 9.99999564e-01 6.65432617e-04 -2.03664593e+01] [ 6.32272067e-03 -6.69559668e-04 9.99979787e-01 -5.89086262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.742414037 meters 0.09625515482011561 Centerline is valid? [True, True] Translation: X:226.32, Y:-20.37, Z:-5.89 [[ 9.99981404e-01 -7.46894492e-04 -6.05260798e-03 2.26319959e+02] [ 7.50731300e-04 9.99999519e-01 6.31662620e-04 -2.03703197e+01] [ 6.05213329e-03 -6.36194756e-04 9.99981483e-01 -5.89136542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.772414037 meters 0.0975694078958309 Centerline is valid? [True, True] Translation: X:226.35, Y:-20.38, Z:-5.89 [[ 9.99981871e-01 -1.11513553e-03 -5.91721130e-03 2.26347235e+02] [ 1.11882473e-03 9.99999182e-01 6.20195029e-04 -2.03756256e+01] [ 5.91651486e-03 -6.26804108e-04 9.99982301e-01 -5.89253415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.802414037 meters 0.0989410083219725 Centerline is valid? [True, True] Translation: X:226.37, Y:-20.38, Z:-5.89 [[ 9.99985929e-01 -1.47672406e-03 -5.09512203e-03 2.26374742e+02] [ 1.47946109e-03 9.99998763e-01 5.33458720e-04 -2.03827339e+01] [ 5.09432796e-03 -5.40989249e-04 9.99986877e-01 -5.89256827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.832414037 meters 0.09695417299827493 Centerline is valid? [True, True] Translation: X:226.40, Y:-20.38, Z:-5.89 [[ 9.99987058e-01 -1.91428460e-03 -4.71381378e-03 2.26404045e+02] [ 1.91663152e-03 9.99998042e-01 4.93414146e-04 -2.03828463e+01] [ 4.71286001e-03 -5.02442404e-04 9.99988768e-01 -5.89220140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.862414037 meters 0.10113618114247297 Centerline is valid? [True, False] Translation: X:226.40, Y:-20.39, Z:-5.89 [[ 9.99988349e-01 -1.51889269e-03 -4.58196251e-03 2.26404025e+02] [ 1.52482924e-03 9.99998002e-01 1.29242039e-03 -2.03850121e+01] [ 4.57999030e-03 -1.29939204e-03 9.99988668e-01 -5.89253596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.892414037 meters 0.09695081051295326 Centerline is valid? [False, True] Translation: X:226.40, Y:-20.39, Z:-5.89 [[ 9.99988498e-01 -1.67746936e-03 -4.49325243e-03 2.26403463e+02] [ 1.68282154e-03 9.99997879e-01 1.18764370e-03 -2.03854165e+01] [ 4.49125066e-03 -1.19519138e-03 9.99989200e-01 -5.89197909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.922414037 meters 0.09695081051295326 Centerline is valid? [True, True] Translation: X:226.43, Y:-20.39, Z:-5.89 [[ 9.99988127e-01 -1.69669371e-03 -4.56805471e-03 2.26432666e+02] [ 1.69893351e-03 9.99998438e-01 4.86482354e-04 -2.03881754e+01] [ 4.56722217e-03 -4.94237400e-04 9.99989448e-01 -5.89234061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.952414037 meters 0.10375136469139623 Centerline is valid? [True, False] Translation: X:226.43, Y:-20.39, Z:-5.89 [[ 9.99988325e-01 -1.23134347e-03 -4.67256556e-03 2.26433254e+02] [ 1.23676729e-03 9.99998565e-01 1.15806848e-03 -2.03895573e+01] [ 4.67113287e-03 -1.16383384e-03 9.99988413e-01 -5.89286772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.982414037 meters 0.09737562662133047 Centerline is valid? [False, True] Translation: X:226.43, Y:-20.39, Z:-5.89 [[ 9.99989253e-01 -9.45879048e-04 -4.53854494e-03 2.26433212e+02] [ 9.54024711e-04 9.99997938e-01 1.79294511e-03 -2.03915179e+01] [ 4.53683967e-03 -1.79725573e-03 9.99988093e-01 -5.89320365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.012414037 meters 0.09744410849623782 Centerline is valid? [True, True] Translation: X:226.46, Y:-20.39, Z:-5.89 [[ 9.99985334e-01 -1.38581437e-03 -5.23548690e-03 2.26462231e+02] [ 1.38880856e-03 9.99998874e-01 5.68310391e-04 -2.03949166e+01] [ 5.23469344e-03 -5.75573145e-04 9.99986133e-01 -5.89448764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04241403699996 meters 0.0980192699571588 Centerline is valid? [True, True] Translation: X:226.49, Y:-20.40, Z:-5.90 [[ 9.99980564e-01 -1.46292441e-03 -6.06060078e-03 2.26490241e+02] [ 1.46693696e-03 9.99998708e-01 6.57679215e-04 -2.04007485e+01] [ 6.05963081e-03 -6.66556951e-04 9.99981418e-01 -5.89621163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.072414037 meters 0.09606363263848562 Centerline is valid? [True, True] Translation: X:226.52, Y:-20.40, Z:-5.90 [[ 9.99981003e-01 -1.77943709e-03 -5.90137988e-03 2.26519520e+02] [ 1.78321215e-03 9.99998209e-01 6.34489858e-04 -2.04013576e+01] [ 5.90024027e-03 -6.45001217e-04 9.99982385e-01 -5.89560028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10241403699996 meters 0.09718826582166623 Centerline is valid? [True, True] Translation: X:226.55, Y:-20.41, Z:-5.90 [[ 9.99983369e-01 -1.38226448e-03 -5.59924872e-03 2.26547989e+02] [ 1.38567821e-03 9.99998856e-01 6.05842444e-04 -2.04075435e+01] [ 5.59840488e-03 -6.13591125e-04 9.99984141e-01 -5.89686716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.132414037 meters 0.09816103099041706 Centerline is valid? [True, True] Translation: X:226.58, Y:-20.41, Z:-5.90 [[ 9.99984476e-01 -1.09695328e-03 -5.46302273e-03 2.26575665e+02] [ 1.10016787e-03 9.99999223e-01 5.85456739e-04 -2.04128548e+01] [ 5.46237627e-03 -5.91457892e-04 9.99984906e-01 -5.89753610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16241403699996 meters 0.09797245350464999 Centerline is valid? [True, True] Translation: X:226.60, Y:-20.42, Z:-5.90 [[ 9.99989908e-01 -3.58322249e-04 -4.47822566e-03 2.26604892e+02] [ 3.60491040e-04 9.99999818e-01 4.83499110e-04 -2.04176203e+01] [ 4.47805160e-03 -4.85108591e-04 9.99989856e-01 -5.89720528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.192414037 meters 0.09929609454034208 Centerline is valid? [True, True] Translation: X:226.63, Y:-20.42, Z:-5.90 [[ 9.99990878e-01 -1.35392712e-04 -4.26922319e-03 2.26632999e+02] [ 1.37359046e-04 9.99999885e-01 4.60293853e-04 -2.04240322e+01] [ 4.26916038e-03 -4.60876071e-04 9.99990781e-01 -5.89858977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22241403699996 meters 0.09814444338303538 Centerline is valid? [True, True] Translation: X:226.66, Y:-20.43, Z:-5.90 [[ 9.99991435e-01 3.15008626e-04 -4.12687666e-03 2.26662155e+02] [-3.13194869e-04 9.99999854e-01 4.40137408e-04 -2.04264417e+01] [ 4.12701471e-03 -4.38841121e-04 9.99991388e-01 -5.89833917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.252414037 meters 0.0957628637848297 Centerline is valid? [True, True] Translation: X:226.69, Y:-20.43, Z:-5.90 [[ 9.99988871e-01 7.54525132e-04 -4.65704399e-03 2.26690794e+02] [-7.52224556e-04 9.99999594e-01 4.95731153e-04 -2.04272195e+01] [ 4.65741614e-03 -4.92222493e-04 9.99989033e-01 -5.89823868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28241403699997 meters 0.09674428474472484 Centerline is valid? [True, True] Translation: X:226.72, Y:-20.43, Z:-5.90 [[ 9.99984777e-01 7.78588679e-04 -5.46258432e-03 2.26718776e+02] [-7.75398971e-04 9.99999528e-01 5.86012930e-04 -2.04325159e+01] [ 5.46303801e-03 -5.81768327e-04 9.99984908e-01 -5.89899844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.312414037 meters 0.09705620942970175 Centerline is valid? [True, True] Translation: X:226.75, Y:-20.44, Z:-5.90 [[ 9.99984030e-01 1.11463991e-03 -5.54053117e-03 2.26746772e+02] [-1.11136552e-03 9.99999206e-01 5.94030975e-04 -2.04377973e+01] [ 5.54118890e-03 -5.87863933e-04 9.99984475e-01 -5.90026423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34241403699997 meters 0.09527375457381797 Centerline is valid? [True, True] Translation: X:226.78, Y:-20.44, Z:-5.90 [[ 9.99980162e-01 1.32875677e-03 -6.15719001e-03 2.26775821e+02] [-1.32471861e-03 9.99998905e-01 6.59875976e-04 -2.04380296e+01] [ 6.15806008e-03 -6.51706341e-04 9.99980827e-01 -5.89968361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.372414037 meters 0.0944886583568336 Centerline is valid? [True, True] Translation: X:226.80, Y:-20.44, Z:-5.90 [[ 9.99975838e-01 1.68651510e-03 -6.74386811e-03 2.26804141e+02] [-1.68168093e-03 9.99998325e-01 7.22431041e-04 -2.04401033e+01] [ 6.74507520e-03 -7.11072551e-04 9.99976999e-01 -5.89965941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40241403699997 meters 0.09401168398374155 Centerline is valid? [True, True] Translation: X:226.83, Y:-20.44, Z:-5.90 [[ 9.99966727e-01 2.36641793e-03 -7.80668533e-03 2.26832346e+02] [-2.35996269e-03 9.99996866e-01 8.35994476e-04 -2.04433231e+01] [ 7.80863917e-03 -8.17543174e-04 9.99969178e-01 -5.90117937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.432414037 meters 0.09383262996990052 Centerline is valid? [True, True] Translation: X:226.86, Y:-20.45, Z:-5.90 [[ 9.99964421e-01 2.42756225e-03 -8.07863438e-03 2.26860522e+02] [-2.42065549e-03 9.99996696e-01 8.64610365e-04 -2.04462578e+01] [ 8.08070659e-03 -8.45024012e-04 9.99966994e-01 -5.90161730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.462414037 meters 0.09478982871572925 Centerline is valid? [True, True] Translation: X:226.89, Y:-20.45, Z:-5.90 [[ 9.99965469e-01 2.89361469e-03 -7.79020411e-03 2.26887919e+02] [-2.88721496e-03 9.99995485e-01 8.32631505e-04 -2.04516054e+01] [ 7.79257826e-03 -8.10110760e-04 9.99969309e-01 -5.90329658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.492414037 meters 0.0925348779816848 Centerline is valid? [True, True] Translation: X:226.92, Y:-20.45, Z:-5.90 [[ 9.99967543e-01 2.88621674e-03 -7.52220036e-03 2.26916596e+02] [-2.88025124e-03 9.99995529e-01 8.03763849e-04 -2.04505378e+01] [ 7.52448657e-03 -7.82071934e-04 9.99971385e-01 -5.90199078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.522414037 meters 0.09464846501049283 Centerline is valid? [True, True] Translation: X:226.94, Y:-20.46, Z:-5.90 [[ 9.99966113e-01 3.30486954e-03 -7.53996200e-03 2.26943693e+02] [-3.29889538e-03 9.99994235e-01 8.04631848e-04 -2.04576566e+01] [ 7.54257773e-03 -7.79731036e-04 9.99971250e-01 -5.90384037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.552414037 meters 0.09415062685652788 Centerline is valid? [True, True] Translation: X:226.97, Y:-20.46, Z:-5.90 [[ 9.99963015e-01 3.38820791e-03 -7.90498620e-03 2.26972284e+02] [-3.38164411e-03 9.99993926e-01 8.43555815e-04 -2.04605713e+01] [ 7.90779633e-03 -8.16792766e-04 9.99968399e-01 -5.90383108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.582414037 meters 0.09432287481396352 Centerline is valid? [True, True] Translation: X:227.00, Y:-20.46, Z:-5.90 [[ 9.99965665e-01 2.95009602e-03 -7.74372324e-03 2.27000854e+02] [-2.94378865e-03 9.99995326e-01 8.25785661e-04 -2.04642487e+01] [ 7.74612319e-03 -8.02961423e-04 9.99969676e-01 -5.90483008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.612414037 meters 0.09608940878987556 Centerline is valid? [True, True] Translation: X:227.03, Y:-20.47, Z:-5.91 [[ 9.99969795e-01 2.14957505e-03 -7.46917640e-03 2.27028363e+02] [-2.14369291e-03 9.99997386e-01 7.95439167e-04 -2.04711593e+01] [ 7.47086673e-03 -7.79403520e-04 9.99971789e-01 -5.90577957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.642414037 meters 0.09619527624594351 Centerline is valid? [True, True] Translation: X:227.06, Y:-20.47, Z:-5.91 [[ 9.99975729e-01 1.76500094e-03 -6.73989542e-03 2.27056752e+02] [-1.76020440e-03 9.99998193e-01 7.17529388e-04 -2.04749403e+01] [ 6.74114968e-03 -7.05648379e-04 9.99977029e-01 -5.90588238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.672414037 meters 0.09228934626705838 Centerline is valid? [True, True] Translation: X:227.09, Y:-20.47, Z:-5.90 [[ 9.99975674e-01 1.18503302e-03 -6.87361782e-03 2.27086058e+02] [-1.18003422e-03 9.99999036e-01 7.31254806e-04 -2.04707222e+01] [ 6.87447775e-03 -7.23125914e-04 9.99976109e-01 -5.90448386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.702414037 meters 0.09512614194474403 Centerline is valid? [True, True] Translation: X:227.11, Y:-20.48, Z:-5.91 [[ 9.99972510e-01 -1.13419488e-04 -7.41399549e-03 2.27113553e+02] [ 1.19267666e-04 9.99999682e-01 7.88365095e-04 -2.04798631e+01] [ 7.41390372e-03 -7.89227672e-04 9.99972205e-01 -5.90636953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.732414037 meters 0.0939873958406372 Centerline is valid? [True, True] Translation: X:227.14, Y:-20.48, Z:-5.91 [[ 9.99973643e-01 -7.01807902e-04 -7.22641085e-03 2.27142077e+02] [ 7.07375136e-04 9.99999455e-01 7.67873806e-04 -2.04810068e+01] [ 7.22586801e-03 -7.72965350e-04 9.99973594e-01 -5.90640220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.762414037 meters 0.09384720480684797 Centerline is valid? [True, True] Translation: X:227.17, Y:-20.48, Z:-5.91 [[ 9.99970357e-01 -1.81773528e-03 -7.48207169e-03 2.27171006e+02] [ 1.82373472e-03 9.99998021e-01 7.95097643e-04 -2.04839219e+01] [ 7.48061161e-03 -8.08719388e-04 9.99971693e-01 -5.90742201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79241403699996 meters 0.09459122981359404 Centerline is valid? [True, True] Translation: X:227.20, Y:-20.49, Z:-5.91 [[ 9.99962419e-01 -2.73461093e-03 -8.22690114e-03 2.27199795e+02] [ 2.74189250e-03 9.99995859e-01 8.73943869e-04 -2.04890181e+01] [ 8.22447718e-03 -8.96468304e-04 9.99965777e-01 -5.90778919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.822414037 meters 0.09676096184613583 Centerline is valid? [True, True] Translation: X:227.23, Y:-20.50, Z:-5.91 [[ 9.99962453e-01 -3.26894839e-03 -8.02540038e-03 2.27227119e+02] [ 3.27588256e-03 9.99994272e-01 8.51033757e-04 -2.04961698e+01] [ 8.02257242e-03 -8.77292072e-04 9.99967434e-01 -5.90919727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85241403699996 meters 0.09588660851181786 Centerline is valid? [True, True] Translation: X:227.26, Y:-20.50, Z:-5.91 [[ 9.99960591e-01 -4.65009410e-03 -7.56255201e-03 2.27256998e+02] [ 4.65629661e-03 9.99988837e-01 8.02760670e-04 -2.04981158e+01] [ 7.55873468e-03 -8.37942520e-04 9.99971081e-01 -5.90815402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.882414037 meters 0.09685904446182607 Centerline is valid? [True, True] Translation: X:227.29, Y:-20.50, Z:-5.91 [[ 9.99956534e-01 -5.66938925e-03 -7.40194929e-03 2.27285139e+02] [ 5.67531041e-03 9.99983592e-01 7.79186576e-04 -2.05031226e+01] [ 7.39741033e-03 -8.21161067e-04 9.99972302e-01 -5.90903477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91241403699996 meters 0.09538683766836382 Centerline is valid? [True, True] Translation: X:227.32, Y:-20.50, Z:-5.91 [[ 9.99960004e-01 -5.98520479e-03 -6.64595367e-03 2.27315417e+02] [ 5.99001113e-03 9.99981812e-01 7.03527116e-04 -2.05035380e+01] [ 6.64162205e-03 -7.43308314e-04 9.99977668e-01 -5.90829824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.942414037 meters 0.09493929954640572 Centerline is valid? [True, True] Translation: X:227.35, Y:-20.51, Z:-5.91 [[ 9.99947094e-01 -6.87174096e-03 -7.65435323e-03 2.27345003e+02] [ 6.87814101e-03 9.99976017e-01 8.10121643e-04 -2.05055169e+01] [ 7.64860271e-03 -8.62726503e-04 9.99970377e-01 -5.90869436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97241403699996 meters 0.09746380218874054 Centerline is valid? [True, True] Translation: X:227.37, Y:-20.51, Z:-5.91 [[ 9.99945129e-01 -7.28014144e-03 -7.53255075e-03 2.27373311e+02] [ 7.28634486e-03 9.99973137e-01 7.96432594e-04 -2.05126782e+01] [ 7.52655026e-03 -8.51273655e-04 9.99971313e-01 -5.91047000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.002414037 meters 0.09915098672600145 Centerline is valid? [True, True] Translation: X:227.40, Y:-20.52, Z:-5.91 [[ 9.99939441e-01 -7.86128472e-03 -7.70160712e-03 2.27402662e+02] [ 7.86779212e-03 9.99968716e-01 8.15006388e-04 -2.05184923e+01] [ 7.69495919e-03 -8.75551675e-04 9.99970010e-01 -5.91185753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03241403699997 meters 0.09577117370144089 Centerline is valid? [True, True] Translation: X:227.43, Y:-20.51, Z:-5.91 [[ 9.99933207e-01 -8.33593780e-03 -8.00589764e-03 2.27433171e+02] [ 8.34298352e-03 9.99964838e-01 8.47072610e-04 -2.05148782e+01] [ 7.99855499e-03 -9.13809103e-04 9.99967594e-01 -5.91067986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.062414037 meters 0.09801776683341644 Centerline is valid? [True, True] Translation: X:227.46, Y:-20.52, Z:-5.91 [[ 9.99930761e-01 -8.63958318e-03 -7.98936466e-03 2.27462431e+02] [ 8.64661147e-03 9.99962260e-01 8.45583031e-04 -2.05216796e+01] [ 7.98175765e-03 -9.14605417e-04 9.99967727e-01 -5.91228713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09241403699997 meters 0.09847921137081007 Centerline is valid? [True, True] Translation: X:227.49, Y:-20.53, Z:-5.91 [[ 9.99926074e-01 -9.00768535e-03 -8.16754376e-03 2.27492288e+02] [ 9.01503927e-03 9.99958990e-01 8.64014739e-04 -2.05250725e+01] [ 8.15942604e-03 -9.37581594e-04 9.99966272e-01 -5.91308354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.122414037 meters 0.098495186563568 Centerline is valid? [True, True] Translation: X:227.52, Y:-20.53, Z:-5.91 [[ 9.99923772e-01 -9.11610202e-03 -8.32745524e-03 2.27521659e+02] [ 9.12374486e-03 9.99957990e-01 8.80258988e-04 -2.05271593e+01] [ 8.31908088e-03 -9.56169465e-04 9.99964939e-01 -5.91396316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15241403699997 meters 0.09841988903360825 Centerline is valid? [True, True] Translation: X:227.55, Y:-20.53, Z:-5.91 [[ 9.99908631e-01 -9.84385880e-03 -9.26438004e-03 2.27551114e+02] [ 9.85334689e-03 9.99950975e-01 9.79060313e-04 -2.05294631e+01] [ 9.25428813e-03 -1.07025601e-03 9.99956605e-01 -5.91459616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.182414037 meters 0.0995164993432112 Centerline is valid? [True, True] Translation: X:227.58, Y:-20.53, Z:-5.92 [[ 9.99906799e-01 -9.94556590e-03 -9.35301286e-03 2.27580690e+02] [ 9.95524308e-03 9.99949957e-01 9.88671707e-04 -2.05343179e+01] [ 9.34271190e-03 -1.08169108e-03 9.99955771e-01 -5.91580302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.212414037 meters 0.09776675746292787 Centerline is valid? [True, True] Translation: X:227.61, Y:-20.53, Z:-5.91 [[ 9.99904414e-01 -1.05026414e-02 -8.99210534e-03 2.27610930e+02] [ 1.05116018e-02 9.99944301e-01 9.49791281e-04 -2.05343525e+01] [ 8.98162917e-03 -1.04422192e-03 9.99959119e-01 -5.91496927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.242414037 meters 0.09628341034861487 Centerline is valid? [True, True] Translation: X:227.64, Y:-20.53, Z:-5.91 [[ 9.99895863e-01 -1.08158907e-02 -9.55399378e-03 2.27641992e+02] [ 1.08260282e-02 9.99940887e-01 1.00998722e-03 -2.05340034e+01] [ 9.54250511e-03 -1.11331385e-03 9.99953849e-01 -5.91484668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.272414037 meters 0.0989638506020925 Centerline is valid? [True, True] Translation: X:227.67, Y:-20.54, Z:-5.92 [[ 9.99904965e-01 -1.07734752e-02 -8.60189495e-03 2.27670865e+02] [ 1.07816864e-02 9.99941463e-01 9.08787788e-04 -2.05414123e+01] [ 8.59160062e-03 -1.00144436e-03 9.99962590e-01 -5.91597087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.302414037 meters 0.09455932148362572 Centerline is valid? [True, True] Translation: X:227.70, Y:-20.54, Z:-5.91 [[ 9.99907243e-01 -1.03232417e-02 -8.88461241e-03 2.27701769e+02] [ 1.03319877e-02 9.99946183e-01 9.39069533e-04 -2.05363052e+01] [ 8.87444002e-03 -1.03077813e-03 9.99960090e-01 -5.91458089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.332414037 meters 0.09973420369274422 Centerline is valid? [True, True] Translation: X:227.73, Y:-20.55, Z:-5.92 [[ 9.99902903e-01 -1.05076369e-02 -9.15281673e-03 2.27729912e+02] [ 1.05169251e-02 9.99944228e-01 9.67251435e-04 -2.05475528e+01] [ 9.14214273e-03 -1.06341701e-03 9.99957644e-01 -5.91753641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.362414037 meters 0.10249931410922979 Centerline is valid? [True, False] Translation: X:227.73, Y:-20.55, Z:-5.92 [[ 9.99904335e-01 -1.03874884e-02 -9.13353375e-03 2.27730255e+02] [ 1.03984864e-02 9.99945264e-01 1.15747399e-03 -2.05475143e+01] [ 9.12101057e-03 -1.25233818e-03 9.99957619e-01 -5.91810575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.392414037 meters 0.09941679066795485 Centerline is valid? [False, True] Translation: X:227.73, Y:-20.55, Z:-5.92 [[ 9.99904018e-01 -1.03924719e-02 -9.16251274e-03 2.27730384e+02] [ 1.04033746e-02 9.99945230e-01 1.14306777e-03 -2.05473229e+01] [ 9.15013161e-03 -1.23827911e-03 9.99957370e-01 -5.91822227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.422414037 meters 0.09624766432787044 Centerline is valid? [True, True] Translation: X:227.76, Y:-20.54, Z:-5.92 [[ 9.99900246e-01 -1.07373965e-02 -9.17644801e-03 2.27760859e+02] [ 1.07467717e-02 9.99941778e-01 9.72966996e-04 -2.05444933e+01] [ 9.16546661e-03 -1.07148713e-03 9.99957422e-01 -5.91764362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.452414037 meters 0.09937381468579816 Centerline is valid? [True, True] Translation: X:227.79, Y:-20.55, Z:-5.92 [[ 9.99891152e-01 -1.16595157e-02 -9.04100974e-03 2.27789501e+02] [ 1.16686507e-02 9.99931460e-01 9.58295583e-04 -2.05527024e+01] [ 9.02921681e-03 -1.06368766e-03 9.99958670e-01 -5.91912109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.482414037 meters 0.0988121837692917 Centerline is valid? [True, True] Translation: X:227.82, Y:-20.55, Z:-5.92 [[ 9.99888592e-01 -1.19298020e-02 -8.97125244e-03 2.27820310e+02] [ 1.19388101e-02 9.99928277e-01 9.51228961e-04 -2.05544490e+01] [ 8.95926103e-03 -1.05822907e-03 9.99959305e-01 -5.91904177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.512414037 meters 0.11003141350507789 Centerline is valid? [True, False] Translation: X:227.82, Y:-20.55, Z:-5.92 [[ 9.99930812e-01 -8.40577416e-03 -8.22887371e-03 2.27818325e+02] [ 8.44455150e-03 9.99953350e-01 4.68900176e-03 -2.05545283e+01] [ 8.18907515e-03 -4.75816649e-03 9.99955148e-01 -5.91840063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54241403699996 meters 0.09980314004140356 Centerline is valid? [False, True] Translation: X:227.82, Y:-20.55, Z:-5.92 [[ 9.99930515e-01 -8.26539154e-03 -8.40528865e-03 2.27819011e+02] [ 8.30565658e-03 9.99954145e-01 4.76687058e-03 -2.05541598e+01] [ 8.36550318e-03 -4.83635080e-03 9.99953313e-01 -5.91886711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.572414037 meters 0.10071815379637344 Centerline is valid? [True, False] Translation: X:227.82, Y:-20.55, Z:-5.92 [[ 9.99928642e-01 -8.45642863e-03 -8.43793592e-03 2.27818904e+02] [ 8.49401762e-03 9.99954117e-01 4.42891345e-03 -2.05534294e+01] [ 8.40009597e-03 -4.50026939e-03 9.99954592e-01 -5.91859587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60241403699996 meters 0.10042380101825671 Centerline is valid? [False, False] Translation: X:227.82, Y:-20.55, Z:-5.92 [[ 9.99925389e-01 -8.75351348e-03 -8.52010706e-03 2.27818842e+02] [ 8.78670435e-03 9.99953923e-01 3.86598686e-03 -2.05520197e+01] [ 8.48587351e-03 -3.94056208e-03 9.99956230e-01 -5.91827143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.632414037 meters 0.1026950648828826 Centerline is valid? [False, False] Translation: X:227.81, Y:-20.55, Z:-5.92 [[ 9.99977157e-01 -3.94961953e-03 5.48508111e-03 2.27812909e+02] [ 3.95701300e-03 9.99991276e-01 -1.33772496e-03 -2.05520029e+01] [-5.47974976e-03 1.35939894e-03 9.99984062e-01 -5.92285002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66241403699996 meters 0.10043785781958953 Centerline is valid? [False, False] Translation: X:227.81, Y:-20.55, Z:-5.92 [[ 9.99980261e-01 -4.45290991e-04 6.26724978e-03 2.27810967e+02] [ 4.29984383e-04 9.99996922e-01 2.44345213e-03 -2.05521111e+01] [-6.26831854e-03 -2.44070908e-03 9.99977375e-01 -5.92225394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.692414037 meters 0.10249463722014715 Centerline is valid? [False, False] Translation: X:227.81, Y:-20.55, Z:-5.92 [[ 9.99980839e-01 -3.06405241e-04 6.18286187e-03 2.27811504e+02] [ 2.90496405e-04 9.99996646e-01 2.57378782e-03 -2.05518562e+01] [-6.18362976e-03 -2.57194241e-03 9.99977574e-01 -5.92278495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72241403699996 meters 0.10119444323792677 Centerline is valid? [False, False] Translation: X:227.81, Y:-20.55, Z:-5.92 [[ 9.99980226e-01 -5.65827871e-04 6.26313153e-03 2.27811172e+02] [ 5.52004136e-04 9.99997409e-01 2.20866892e-03 -2.05511771e+01] [-6.26436503e-03 -2.20516797e-03 9.99977947e-01 -5.92253384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.752414037 meters 0.09991534000035589 Centerline is valid? [False, True] Translation: X:227.81, Y:-20.55, Z:-5.92 [[ 9.99979548e-01 -4.46962922e-04 6.37996080e-03 2.27811359e+02] [ 4.31241880e-04 9.99996868e-01 2.46529137e-03 -2.05513948e+01] [-6.38104271e-03 -2.46248964e-03 9.99976609e-01 -5.92315227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78241403699997 meters 0.10204528485559816 Centerline is valid? [True, False] Translation: X:227.81, Y:-20.55, Z:-5.92 [[ 9.99979202e-01 -4.71008276e-04 6.43228373e-03 2.27811256e+02] [ 4.55084994e-04 9.99996829e-01 2.47676476e-03 -2.05515568e+01] [-6.43342992e-03 -2.47378601e-03 9.99976245e-01 -5.92315182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.812414037 meters 0.10204528485559816 Centerline is valid? [False, False] Translation: X:227.81, Y:-20.55, Z:-5.92 [[ 9.99979202e-01 -4.71008276e-04 6.43228373e-03 2.27811256e+02] [ 4.55084994e-04 9.99996829e-01 2.47676476e-03 -2.05515568e+01] [-6.43342992e-03 -2.47378601e-03 9.99976245e-01 -5.92315182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84241403699997 meters 0.10087353024343543 Centerline is valid? [False, False] Translation: X:227.81, Y:-20.55, Z:-5.92 [[ 9.99977816e-01 -6.67854059e-04 6.62727025e-03 2.27810658e+02] [ 6.52155709e-04 9.99996977e-01 2.37062891e-03 -2.05517080e+01] [-6.62883346e-03 -2.36625431e-03 9.99975229e-01 -5.92283977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.872414037 meters 0.1136770484018691 Centerline is valid? [False, False] Translation: X:227.81, Y:-20.55, Z:-5.92 [[ 9.99968974e-01 -4.68823563e-03 6.33026398e-03 2.27811521e+02] [ 4.69953715e-03 9.99987388e-01 -1.77162267e-03 -2.05512648e+01] [-6.32187836e-03 1.80131702e-03 9.99978394e-01 -5.92315114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90241403699997 meters 0.10672092055710995 Centerline is valid? [False, False] Translation: X:227.81, Y:-20.55, Z:-5.92 [[ 9.99969846e-01 -4.46989814e-03 6.35040510e-03 2.27811663e+02] [ 4.47849009e-03 9.99989075e-01 -1.33940142e-03 -2.05521561e+01] [-6.34434873e-03 1.36780125e-03 9.99978939e-01 -5.92345326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.932414037 meters 0.1090814985865246 Centerline is valid? [False, False] Translation: X:227.81, Y:-20.55, Z:-5.92 [[ 9.99968060e-01 -4.38883570e-03 6.67958703e-03 2.27811247e+02] [ 4.39454361e-03 9.99989991e-01 -8.40092803e-04 -2.05535208e+01] [-6.67583314e-03 8.69419707e-04 9.99977338e-01 -5.92380513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.962414037 meters 0.11063380286645709 Centerline is valid? [False, False] Translation: X:227.81, Y:-20.55, Z:-5.92 [[ 9.99969573e-01 -4.07726139e-03 6.65056080e-03 2.27811512e+02] [ 4.07929704e-03 9.99991637e-01 -2.92551269e-04 -2.05547837e+01] [-6.64931238e-03 3.19671980e-04 9.99977842e-01 -5.92411192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.992414037 meters 0.1089189522102176 Centerline is valid? [False, False] Translation: X:227.81, Y:-20.56, Z:-5.92 [[ 9.99968713e-01 -4.04932611e-03 6.79528525e-03 2.27811231e+02] [ 4.04995450e-03 9.99991796e-01 -7.87160079e-05 -2.05555213e+01] [-6.79491075e-03 1.06234141e-04 9.99976909e-01 -5.92415640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.022414037 meters 0.10787130672764934 Centerline is valid? [False, False] Translation: X:227.81, Y:-20.56, Z:-5.92 [[ 9.99969021e-01 -3.73290520e-03 6.92985637e-03 2.27811375e+02] [ 3.72862877e-03 9.99992850e-01 6.29919016e-04 -2.05570364e+01] [-6.93215825e-03 -6.04060640e-04 9.99975790e-01 -5.92480864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.052414037 meters 0.10945818452017393 Centerline is valid? [False, False] Translation: X:227.81, Y:-20.56, Z:-5.93 [[ 9.99970629e-01 -3.42499406e-03 6.85639089e-03 2.27811848e+02] [ 3.41755897e-03 9.99993560e-01 1.09582597e-03 -2.05578603e+01] [-6.86009993e-03 -1.07236167e-03 9.99975894e-01 -5.92530303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.082414037 meters 0.11549188124649903 Centerline is valid? [False, False] Translation: X:227.81, Y:-20.56, Z:-5.93 [[ 9.99971537e-01 -3.28017575e-03 6.79451369e-03 2.27812059e+02] [ 3.27137464e-03 9.99993796e-01 1.30603555e-03 -2.05584354e+01] [-6.79875557e-03 -1.28377098e-03 9.99976064e-01 -5.92542938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.112414037 meters 0.1164374715272145 Centerline is valid? [False, False] Translation: X:227.81, Y:-20.56, Z:-5.93 [[ 9.99971269e-01 -3.16785654e-03 6.88658818e-03 2.27811850e+02] [ 3.15672382e-03 9.99993694e-01 1.62684895e-03 -2.05596060e+01] [-6.89169838e-03 -1.60506315e-03 9.99974964e-01 -5.92539372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.142414037 meters 0.11159799425111996 Centerline is valid? [False, False] Translation: X:227.81, Y:-20.56, Z:-5.93 [[ 9.99971824e-01 -2.95238759e-03 6.90182411e-03 2.27811989e+02] [ 2.93864443e-03 9.99993681e-01 2.00053006e-03 -2.05604572e+01] [-6.90768684e-03 -1.98019168e-03 9.99974181e-01 -5.92565644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.172414037 meters 0.11665060567451159 Centerline is valid? [False, False] Translation: X:227.81, Y:-20.56, Z:-5.93 [[ 9.99972509e-01 -2.74015308e-03 6.89011761e-03 2.27811905e+02] [ 2.72367468e-03 9.99993411e-01 2.39984648e-03 -2.05618653e+01] [-6.89664816e-03 -2.38101406e-03 9.99973383e-01 -5.92548816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.202414037 meters 0.11580380458783385 Centerline is valid? [False, False] Translation: X:227.81, Y:-20.56, Z:-5.93 [[ 9.99973647e-01 -2.46178444e-03 6.82977994e-03 2.27812206e+02] [ 2.44255839e-03 9.99993035e-01 2.82194587e-03 -2.05627557e+01] [-6.83667939e-03 -2.80518937e-03 9.99972695e-01 -5.92576253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.232414037 meters 0.11215474565334953 Centerline is valid? [False, False] Translation: X:227.81, Y:-20.56, Z:-5.93 [[ 9.99974506e-01 -2.40891485e-03 6.72193717e-03 2.27812274e+02] [ 2.38968836e-03 9.99993035e-01 2.86682687e-03 -2.05631209e+01] [-6.72879630e-03 -2.85069045e-03 9.99973298e-01 -5.92554290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.262414037 meters 0.12245997000866622 Centerline is valid? [False, False] Translation: X:227.81, Y:-20.56, Z:-5.93 [[ 9.99976588e-01 -2.06357835e-03 6.52422755e-03 2.27812881e+02] [ 2.04214145e-03 9.99992500e-01 3.29069331e-03 -2.05638945e+01] [-6.53096923e-03 -3.27729287e-03 9.99973303e-01 -5.92584871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29241403699996 meters 0.10717166661756793 Centerline is valid? [False, False] Translation: X:227.81, Y:-20.56, Z:-5.93 [[ 9.99978036e-01 -1.98197191e-03 6.32446658e-03 2.27812954e+02] [ 1.96090821e-03 9.99992516e-01 3.33497483e-03 -2.05644229e+01] [-6.33102908e-03 -3.32249989e-03 9.99974439e-01 -5.92535577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.322414037 meters 0.1071244832582084 Centerline is valid? [False, False] Translation: X:227.81, Y:-20.56, Z:-5.93 [[ 9.99979335e-01 -1.79341497e-03 6.17362494e-03 2.27813363e+02] [ 1.77169231e-03 9.99992227e-01 3.52229602e-03 -2.05646973e+01] [-6.17989389e-03 -3.51128547e-03 9.99974740e-01 -5.92551219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35241403699996 meters 0.11284538003867582 Centerline is valid? [False, False] Translation: X:227.81, Y:-20.57, Z:-5.92 [[ 9.99980790e-01 -1.71465008e-03 5.95641609e-03 2.27813471e+02] [ 1.69373516e-03 9.99992389e-01 3.51459828e-03 -2.05651524e+01] [-5.96239706e-03 -3.50444218e-03 9.99976084e-01 -5.92499679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.382414037 meters 0.10748663576370271 Centerline is valid? [False, False] Translation: X:227.81, Y:-20.57, Z:-5.92 [[ 9.99981824e-01 -1.66524987e-03 5.79467395e-03 2.27813659e+02] [ 1.64494690e-03 9.99992498e-01 3.50673350e-03 -2.05652911e+01] [-5.80047006e-03 -3.49713783e-03 9.99977062e-01 -5.92481631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41241403699996 meters 0.10991892795157074 Centerline is valid? [False, False] Translation: X:227.81, Y:-20.57, Z:-5.92 [[ 9.99983584e-01 -1.48685226e-03 5.53366616e-03 2.27814234e+02] [ 1.46691760e-03 9.99992427e-01 3.60474968e-03 -2.05653404e+01] [-5.53898398e-03 -3.59657307e-03 9.99978192e-01 -5.92489206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.442414037 meters 0.10751504368576519 Centerline is valid? [False, False] Translation: X:227.82, Y:-20.57, Z:-5.93 [[ 9.99985753e-01 -1.24160160e-03 5.19149402e-03 2.27815062e+02] [ 1.22258618e-03 9.99992539e-01 3.66437393e-03 -2.05651488e+01] [-5.19600497e-03 -3.65797468e-03 9.99979810e-01 -5.92510680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47241403699996 meters 0.10271652096882106 Centerline is valid? [False, False] Translation: X:227.82, Y:-20.56, Z:-5.92 [[ 9.99986451e-01 -1.25051488e-03 5.05312880e-03 2.27815243e+02] [ 1.23248083e-03 9.99992866e-01 3.57042785e-03 -2.05649818e+01] [-5.05755763e-03 -3.56415159e-03 9.99980859e-01 -5.92498339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.502414037 meters 0.10749882457178778 Centerline is valid? [False, False] Translation: X:227.82, Y:-20.56, Z:-5.93 [[ 9.99981457e-01 -4.58727023e-03 4.00533046e-03 2.27817936e+02] [ 4.58842979e-03 9.99989434e-01 -2.80362814e-04 -2.05641179e+01] [-4.00400204e-03 2.98735793e-04 9.99991939e-01 -5.92599939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53241403699997 meters 0.10332697293369585 Centerline is valid? [False, False] Translation: X:227.82, Y:-20.56, Z:-5.93 [[ 9.99983633e-01 -4.30631406e-03 3.76675616e-03 2.27818633e+02] [ 4.30645557e-03 9.99990727e-01 -2.94558986e-05 -2.05643569e+01] [-3.76659438e-03 4.56767845e-05 9.99992905e-01 -5.92634269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.562414037 meters 0.10438757238530197 Centerline is valid? [False, False] Translation: X:227.82, Y:-20.56, Z:-5.93 [[ 9.99984760e-01 -4.09090688e-03 3.70738104e-03 2.27819032e+02] [ 4.08990413e-03 9.99991598e-01 2.78015795e-04 -2.05647282e+01] [-3.70848723e-03 -2.62848725e-04 9.99993089e-01 -5.92676386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59241403699997 meters 0.10587305471996761 Centerline is valid? [False, False] Translation: X:227.82, Y:-20.57, Z:-5.93 [[ 9.99986127e-01 -3.76866593e-03 3.67997288e-03 2.27819377e+02] [ 3.76582744e-03 9.99992607e-01 7.77960090e-04 -2.05656821e+01] [-3.68287755e-03 -7.64091155e-04 9.99992926e-01 -5.92718141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.622414037 meters 0.10445599735114156 Centerline is valid? [False, False] Translation: X:227.82, Y:-20.57, Z:-5.93 [[ 9.99986474e-01 -3.70079789e-03 3.65454734e-03 2.27819514e+02] [ 3.69762212e-03 9.99992781e-01 8.75367575e-04 -2.05658392e+01] [-3.65776052e-03 -8.61842599e-04 9.99992939e-01 -5.92730252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65241403699997 meters 0.10627041456738388 Centerline is valid? [False, False] Translation: X:227.82, Y:-20.57, Z:-5.93 [[ 9.99987365e-01 -3.56823751e-03 3.54080927e-03 2.27819893e+02] [ 3.56472682e-03 9.99993149e-01 9.97310471e-04 -2.05658789e+01] [-3.54434365e-03 -9.84675852e-04 9.99993234e-01 -5.92751927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.682414037 meters 0.10323286801030013 Centerline is valid? [False, False] Translation: X:227.82, Y:-20.57, Z:-5.93 [[ 9.99988199e-01 -3.39184818e-03 3.47803369e-03 2.27820309e+02] [ 3.38770151e-03 9.99993545e-01 1.19744404e-03 -2.05659221e+01] [-3.48207279e-03 -1.18564737e-03 9.99993235e-01 -5.92793206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.712414037 meters 0.10541927396025405 Centerline is valid? [False, False] Translation: X:227.82, Y:-20.57, Z:-5.93 [[ 9.99988992e-01 -3.20085338e-03 3.43084880e-03 2.27820776e+02] [ 3.19586197e-03 9.99993828e-01 1.45935766e-03 -2.05660347e+01] [-3.43549882e-03 -1.44837708e-03 9.99993050e-01 -5.92850130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.742414037 meters 0.104241690543687 Centerline is valid? [False, False] Translation: X:227.82, Y:-20.57, Z:-5.93 [[ 9.99989080e-01 -3.18578076e-03 3.41920690e-03 2.27821005e+02] [ 3.18087129e-03 9.99993904e-01 1.44032986e-03 -2.05656528e+01] [-3.42377463e-03 -1.42943807e-03 9.99993117e-01 -5.92877824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.772414037 meters 0.1011146500775834 Centerline is valid? [False, False] Translation: X:227.82, Y:-20.57, Z:-5.93 [[ 9.99990085e-01 -3.02272164e-03 3.26990237e-03 2.27821485e+02] [ 3.01748114e-03 9.99994157e-01 1.60639412e-03 -2.05657376e+01] [-3.27473895e-03 -1.59651133e-03 9.99993364e-01 -5.92906812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.802414037 meters 0.10681696730847265 Centerline is valid? [False, False] Translation: X:227.82, Y:-20.57, Z:-5.93 [[ 9.99991141e-01 -2.76921016e-03 3.16998836e-03 2.27822042e+02] [ 2.76306351e-03 9.99994298e-01 1.94175268e-03 -2.05660410e+01] [-3.17534740e-03 -1.93297660e-03 9.99993090e-01 -5.92958876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.832414037 meters 0.10664924183978904 Centerline is valid? [False, False] Translation: X:227.82, Y:-20.57, Z:-5.93 [[ 9.99990941e-01 -2.75556734e-03 3.24429995e-03 2.27822066e+02] [ 2.74900132e-03 9.99994168e-01 2.02658653e-03 -2.05660151e+01] [-3.24986542e-03 -2.01764959e-03 9.99992684e-01 -5.92984031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.862414037 meters 0.1051317190637188 Centerline is valid? [False, False] Translation: X:227.82, Y:-20.57, Z:-5.93 [[ 9.99990764e-01 -2.82980855e-03 3.23476462e-03 2.27821977e+02] [ 2.82363386e-03 9.99994186e-01 1.91182970e-03 -2.05659250e+01] [-3.24015593e-03 -1.90267825e-03 9.99992941e-01 -5.92967640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.892414037 meters 0.10844160183968207 Centerline is valid? [False, False] Translation: X:227.82, Y:-20.57, Z:-5.93 [[ 9.99990116e-01 -3.00283515e-03 3.27895209e-03 2.27821710e+02] [ 2.99742088e-03 9.99994138e-01 1.65488807e-03 -2.05655586e+01] [-3.28390222e-03 -1.64504331e-03 9.99993255e-01 -5.92940736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.922414037 meters 0.10889139033189972 Centerline is valid? [False, False] Translation: X:227.82, Y:-20.57, Z:-5.93 [[ 9.99990930e-01 -2.81375716e-03 3.19725348e-03 2.27822198e+02] [ 2.80766588e-03 9.99994238e-01 1.90805464e-03 -2.05656745e+01] [-3.20260386e-03 -1.89906051e-03 9.99993068e-01 -5.92989101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.952414037 meters 0.11195593276216294 Centerline is valid? [False, False] Translation: X:227.82, Y:-20.56, Z:-5.93 [[ 9.99991107e-01 -2.86263825e-03 3.09698777e-03 2.27822447e+02] [ 2.85721598e-03 9.99994380e-01 1.75383067e-03 -2.05649867e+01] [-3.10199095e-03 -1.74496631e-03 9.99993666e-01 -5.92997249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.982414037 meters 0.16182717982930428 Centerline is valid? [False, False] Translation: X:227.90, Y:-20.57, Z:-5.93 [[ 9.99987986e-01 -4.44680701e-03 2.06269406e-03 2.27902624e+02] [ 4.44856080e-03 9.99989747e-01 -8.46438060e-04 -2.05734002e+01] [-2.05890897e-03 8.55603911e-04 9.99997514e-01 -5.92958060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.012414037 meters 0.10503367789587433 Centerline is valid? [False, False] Translation: X:227.84, Y:-20.57, Z:-5.93 [[ 9.99991744e-01 -3.94621014e-03 -9.69554562e-04 2.27839777e+02] [ 3.95114300e-03 9.99978986e-01 5.13964510e-03 -2.05653394e+01] [ 9.49252069e-04 -5.14343352e-03 9.99986322e-01 -5.92598608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04241403699996 meters 0.11187935268971881 Centerline is valid? [False, False] Translation: X:227.84, Y:-20.56, Z:-5.93 [[ 9.99971356e-01 -7.30170288e-03 -1.99310891e-03 2.27842627e+02] [ 7.30428706e-03 9.99972488e-01 1.29237307e-03 -2.05640909e+01] [ 1.98361756e-03 -1.30689429e-03 9.99997179e-01 -5.92717171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.072414037 meters 0.1084317389180541 Centerline is valid? [False, False] Translation: X:227.84, Y:-20.56, Z:-5.93 [[ 9.99971043e-01 -7.28719083e-03 -2.19331294e-03 2.27843447e+02] [ 7.28965725e-03 9.99972804e-01 1.11863280e-03 -2.05627602e+01] [ 2.18510160e-03 -1.13458891e-03 9.99996969e-01 -5.92778775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10241403699996 meters 0.11542945588770873 Centerline is valid? [False, False] Translation: X:227.84, Y:-20.56, Z:-5.93 [[ 9.99971941e-01 -7.12427745e-03 -2.31555339e-03 2.27844086e+02] [ 7.12723972e-03 9.99973790e-01 1.27356688e-03 -2.05624531e+01] [ 2.30641946e-03 -1.29003465e-03 9.99996508e-01 -5.92837099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.132414037 meters 0.113178931050691 Centerline is valid? [False, False] Translation: X:227.84, Y:-20.56, Z:-5.93 [[ 9.99971976e-01 -7.07497681e-03 -2.44790586e-03 2.27844608e+02] [ 7.07798204e-03 9.99974205e-01 1.22119635e-03 -2.05617972e+01] [ 2.43920278e-03 -1.23848836e-03 9.99996258e-01 -5.92872522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16241403699996 meters 0.1122682075772125 Centerline is valid? [False, False] Translation: X:227.84, Y:-20.56, Z:-5.93 [[ 9.99970080e-01 -7.31607108e-03 -2.51276612e-03 2.27844775e+02] [ 7.31799349e-03 9.99972937e-01 7.56716503e-04 -2.05601536e+01] [ 2.50716193e-03 -7.75082269e-04 9.99996557e-01 -5.92876167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.192414037 meters 0.11271988965216434 Centerline is valid? [False, False] Translation: X:227.84, Y:-20.56, Z:-5.93 [[ 9.99990802e-01 -3.94488954e-03 -1.68348300e-03 2.27842463e+02] [ 3.95221759e-03 9.99982633e-01 4.37201403e-03 -2.05602089e+01] [ 1.66620665e-03 -4.37862730e-03 9.99989026e-01 -5.92779920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22241403699996 meters 0.11488676499868507 Centerline is valid? [False, False] Translation: X:227.84, Y:-20.56, Z:-5.93 [[ 9.99990258e-01 -4.03030846e-03 -1.79992399e-03 2.27842974e+02] [ 4.03764090e-03 9.99983489e-01 4.08886728e-03 -2.05587286e+01] [ 1.78341488e-03 -4.09609490e-03 9.99990021e-01 -5.92820090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.252414037 meters 0.11663975400969054 Centerline is valid? [False, False] Translation: X:227.84, Y:-20.56, Z:-5.93 [[ 9.99990348e-01 -3.92331167e-03 -1.97751404e-03 2.27843574e+02] [ 3.93138141e-03 9.99983894e-01 4.09351680e-03 -2.05582635e+01] [ 1.96142205e-03 -4.10125166e-03 9.99989666e-01 -5.92852793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28241403699997 meters 0.11354563388790478 Centerline is valid? [False, False] Translation: X:227.84, Y:-20.56, Z:-5.93 [[ 9.99989283e-01 -4.17050628e-03 -2.00998623e-03 2.27843542e+02] [ 4.17786105e-03 9.99984542e-01 3.66891165e-03 -2.05570970e+01] [ 1.99465394e-03 -3.67726978e-03 9.99991249e-01 -5.92838587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.312414037 meters 0.11327912220267371 Centerline is valid? [False, False] Translation: X:227.84, Y:-20.55, Z:-5.93 [[ 9.99987667e-01 -4.46486607e-03 -2.17526960e-03 2.27844049e+02] [ 4.47148997e-03 9.99985352e-01 3.04980533e-03 -2.05546772e+01] [ 2.16162076e-03 -3.05949442e-03 9.99992983e-01 -5.92866111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34241403699997 meters 0.11342901873345633 Centerline is valid? [False, False] Translation: X:227.84, Y:-20.55, Z:-5.93 [[ 9.99987440e-01 -4.41605454e-03 -2.37035107e-03 2.27844768e+02] [ 4.42295668e-03 9.99985971e-01 2.91456468e-03 -2.05535850e+01] [ 2.35744694e-03 -2.92501203e-03 9.99992943e-01 -5.92912869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.372414037 meters 0.11607634966258365 Centerline is valid? [False, False] Translation: X:227.85, Y:-20.55, Z:-5.93 [[ 9.99986062e-01 -4.56036251e-03 -2.66079175e-03 2.27845754e+02] [ 4.56660386e-03 9.99986825e-01 2.34433306e-03 -2.05508977e+01] [ 2.65006569e-03 -2.35645117e-03 9.99993712e-01 -5.92971611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40241403699997 meters 0.11768144271942461 Centerline is valid? [False, False] Translation: X:227.85, Y:-20.55, Z:-5.93 [[ 9.99985182e-01 -4.66779557e-03 -2.80118356e-03 2.27846169e+02] [ 4.67342942e-03 9.99987063e-01 2.00807203e-03 -2.05495862e+01] [ 2.79177405e-03 -2.02113341e-03 9.99994060e-01 -5.92990354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.432414037 meters 0.1144002900769448 Centerline is valid? [False, False] Translation: X:227.85, Y:-20.55, Z:-5.93 [[ 9.99983788e-01 -4.92285484e-03 -2.86167096e-03 2.27846587e+02] [ 4.92704111e-03 9.99986800e-01 1.45767012e-03 -2.05472645e+01] [ 2.85445728e-03 -1.47174606e-03 9.99994843e-01 -5.93031794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.462414037 meters 0.11856202682682405 Centerline is valid? [False, False] Translation: X:227.85, Y:-20.55, Z:-5.93 [[ 9.99983120e-01 -5.06357302e-03 -2.84943845e-03 2.27846611e+02] [ 5.06710054e-03 9.99986403e-01 1.23211603e-03 -2.05463819e+01] [ 2.84316080e-03 -1.24653362e-03 9.99995181e-01 -5.93040840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.492414037 meters 0.1167060259167674 Centerline is valid? [False, False] Translation: X:227.85, Y:-20.55, Z:-5.93 [[ 9.99982333e-01 -5.22358115e-03 -2.83675780e-03 2.27846572e+02] [ 5.22642966e-03 9.99985844e-01 9.97661861e-04 -2.05455500e+01] [ 2.83150627e-03 -1.01247035e-03 9.99995479e-01 -5.93041452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.522414037 meters 0.11806826579050843 Centerline is valid? [False, False] Translation: X:227.85, Y:-20.54, Z:-5.93 [[ 9.99980660e-01 -5.54337347e-03 -2.81978998e-03 2.27846541e+02] [ 5.54472688e-03 9.99984516e-01 4.72377931e-04 -2.05437860e+01] [ 2.81712775e-03 -4.88003761e-04 9.99995913e-01 -5.93041774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.552414037 meters 0.11435654644600378 Centerline is valid? [False, False] Translation: X:227.85, Y:-20.54, Z:-5.93 [[ 9.99980425e-01 -5.52772336e-03 -2.93143433e-03 2.27846999e+02] [ 5.52892249e-03 9.99984635e-01 4.01113180e-04 -2.05430127e+01] [ 2.92917204e-03 -4.17313002e-04 9.99995623e-01 -5.93076847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.582414037 meters 0.11680427790533668 Centerline is valid? [False, False] Translation: X:227.85, Y:-20.54, Z:-5.93 [[ 9.99980266e-01 -5.49436374e-03 -3.04625371e-03 2.27847508e+02] [ 5.49541776e-03 9.99984843e-01 3.37740326e-04 -2.05422640e+01] [ 3.04435187e-03 -3.54474098e-04 9.99995303e-01 -5.93117418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.612414037 meters 0.117332962409525 Centerline is valid? [False, False] Translation: X:227.85, Y:-20.54, Z:-5.93 [[ 9.99979265e-01 -5.51681514e-03 -3.32194520e-03 2.27848573e+02] [ 5.51698055e-03 9.99984781e-01 4.06327811e-05 -2.05401773e+01] [ 3.32167048e-03 -5.89590456e-05 9.99994481e-01 -5.93192864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.642414037 meters 0.11436567892002837 Centerline is valid? [False, False] Translation: X:227.85, Y:-20.54, Z:-5.93 [[ 9.99979371e-01 -5.35827118e-03 -3.54214322e-03 2.27849447e+02] [ 5.35860805e-03 9.99985639e-01 8.56217659e-05 -2.05394554e+01] [ 3.54163356e-03 -1.04600957e-04 9.99993723e-01 -5.93255394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.672414037 meters 0.12239926850937381 Centerline is valid? [False, False] Translation: X:227.85, Y:-20.54, Z:-5.93 [[ 9.99978903e-01 -5.37716841e-03 -3.64410409e-03 2.27849914e+02] [ 5.37706451e-03 9.99985543e-01 -3.83080304e-05 -2.05385488e+01] [ 3.64425740e-03 1.87126395e-05 9.99993359e-01 -5.93296051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.702414037 meters 0.1141538627403375 Centerline is valid? [False, False] Translation: X:227.85, Y:-20.54, Z:-5.93 [[ 9.99978679e-01 -5.23148734e-03 -3.90798428e-03 2.27850820e+02] [ 5.23122686e-03 9.99986314e-01 -7.68711048e-05 -2.05376392e+01] [ 3.90833294e-03 5.64259135e-05 9.99992361e-01 -5.93348493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.732414037 meters 0.11570596109195558 Centerline is valid? [False, False] Translation: X:227.85, Y:-20.54, Z:-5.93 [[ 9.99977342e-01 -4.97812017e-03 -4.53146937e-03 2.27852575e+02] [ 4.97659332e-03 9.99987556e-01 -3.48154937e-04 -2.05353907e+01] [ 4.53314614e-03 3.25595768e-04 9.99989672e-01 -5.93418859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.762414037 meters 0.11570596109195558 Centerline is valid? [False, False] Translation: X:227.85, Y:-20.54, Z:-5.93 [[ 9.99977342e-01 -4.97812017e-03 -4.53146937e-03 2.27852575e+02] [ 4.97659332e-03 9.99987556e-01 -3.48154937e-04 -2.05353907e+01] [ 4.53314614e-03 3.25595768e-04 9.99989672e-01 -5.93418859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79241403699996 meters 0.1176621479925237 Centerline is valid? [False, False] Translation: X:227.85, Y:-20.53, Z:-5.93 [[ 9.99976733e-01 -4.90292383e-03 -4.74296074e-03 2.27853280e+02] [ 4.90081821e-03 9.99987887e-01 -4.55466786e-04 -2.05343571e+01] [ 4.74513641e-03 4.32211800e-04 9.99988648e-01 -5.93457755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.822414037 meters 0.11237167411810427 Centerline is valid? [False, False] Translation: X:227.85, Y:-20.53, Z:-5.93 [[ 9.99990007e-01 -9.41720659e-04 -4.37020963e-03 2.27852605e+02] [ 9.57279210e-04 9.99993207e-01 3.55941320e-03 -2.05334338e+01] [ 4.36682797e-03 -3.56356115e-03 9.99984116e-01 -5.93482519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85241403699996 meters 0.1132075420073296 Centerline is valid? [False, False] Translation: X:227.85, Y:-20.53, Z:-5.93 [[ 9.99989290e-01 -1.03301522e-03 -4.51143527e-03 2.27852960e+02] [ 1.04772143e-03 9.99994142e-01 3.25861612e-03 -2.05322495e+01] [ 4.50804264e-03 -3.26330795e-03 9.99984514e-01 -5.93490884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.882414037 meters 0.11768525366908551 Centerline is valid? [False, False] Translation: X:227.85, Y:-20.53, Z:-5.94 [[ 9.99987952e-01 -9.81900676e-04 -4.80954474e-03 2.27853727e+02] [ 9.96121184e-04 9.99995137e-01 2.95522399e-03 -2.05309096e+01] [ 4.80661961e-03 -2.95997927e-03 9.99984067e-01 -5.93508698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91241403699996 meters 0.11180076217011277 Centerline is valid? [False, False] Translation: X:227.85, Y:-20.53, Z:-5.93 [[ 9.99987433e-01 -1.23871546e-03 -4.85793308e-03 2.27853592e+02] [ 1.25078192e-03 9.99996139e-01 2.48161626e-03 -2.05299259e+01] [ 4.85484031e-03 -2.48766129e-03 9.99985121e-01 -5.93471007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.942414037 meters 0.11205035634029295 Centerline is valid? [False, False] Translation: X:227.85, Y:-20.53, Z:-5.94 [[ 9.99986619e-01 -1.08617183e-03 -5.05784071e-03 2.27854259e+02] [ 1.09904516e-03 9.99996162e-01 2.54313802e-03 -2.05295506e+01] [ 5.05505901e-03 -2.54866278e-03 9.99983975e-01 -5.93506458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97241403699996 meters 0.11867410977298003 Centerline is valid? [False, False] Translation: X:227.85, Y:-20.53, Z:-5.93 [[ 9.99985905e-01 -1.27765164e-03 -5.15342735e-03 2.27854282e+02] [ 1.28857491e-03 9.99996929e-01 2.11684897e-03 -2.05285882e+01] [ 5.15070693e-03 -2.12345971e-03 9.99984480e-01 -5.93476933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.002414037 meters 0.1203543723937849 Centerline is valid? [False, False] Translation: X:227.89, Y:-20.53, Z:-5.93 [[ 9.99966317e-01 -5.03095123e-04 -8.19215371e-03 2.27886848e+02] [ 5.01059743e-04 9.99999843e-01 -2.50505330e-04 -2.05295473e+01] [ 8.19227845e-03 2.46392134e-04 9.99966412e-01 -5.93236184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03241403699997 meters 0.11225593587443337 Centerline is valid? [False, False] Translation: X:227.86, Y:-20.53, Z:-5.93 [[ 9.99988695e-01 1.99135828e-03 -4.31791134e-03 2.27859014e+02] [-1.99204377e-03 9.99998004e-01 -1.54461214e-04 -2.05269852e+01] [ 4.31759513e-03 1.63060937e-04 9.99990666e-01 -5.93345281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.062414037 meters 0.11750012319683718 Centerline is valid? [False, False] Translation: X:227.86, Y:-20.53, Z:-5.93 [[ 9.99987846e-01 1.98306107e-03 -4.51388679e-03 2.27859456e+02] [-1.98477665e-03 9.99997960e-01 -3.75619296e-04 -2.05261593e+01] [ 4.51313271e-03 3.84573788e-04 9.99989742e-01 -5.93348258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09241403699997 meters 0.11449297561153346 Centerline is valid? [False, False] Translation: X:227.86, Y:-20.53, Z:-5.93 [[ 9.99987299e-01 2.01707769e-03 -4.61878268e-03 2.27859738e+02] [-2.01894676e-03 9.99997882e-01 -4.00040555e-04 -2.05260026e+01] [ 4.61796599e-03 4.09360551e-04 9.99989253e-01 -5.93357600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.122414037 meters 0.11374778099172475 Centerline is valid? [False, False] Translation: X:227.86, Y:-20.53, Z:-5.93 [[ 9.99987096e-01 2.15544774e-03 -4.60026256e-03 2.27860011e+02] [-2.15607066e-03 9.99997667e-01 -1.30454440e-04 -2.05262309e+01] [ 4.59997064e-03 1.40371248e-04 9.99989410e-01 -5.93407244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15241403699997 meters 0.11884882553289206 Centerline is valid? [False, False] Translation: X:227.86, Y:-20.53, Z:-5.93 [[ 9.99987877e-01 2.13831595e-03 -4.43538894e-03 2.27859619e+02] [-2.13817434e-03 9.99997713e-01 3.66702666e-05 -2.05269416e+01] [ 4.43545721e-03 -2.71861873e-05 9.99990163e-01 -5.93401709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.182414037 meters 0.109648353661327 Centerline is valid? [False, False] Translation: X:227.86, Y:-20.53, Z:-5.93 [[ 9.99988534e-01 2.03832521e-03 -4.33325379e-03 2.27859146e+02] [-2.03840574e-03 9.99997922e-01 -1.41676600e-05 -2.05273612e+01] [ 4.33321591e-03 2.30004270e-05 9.99990611e-01 -5.93363835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.212414037 meters 0.11620601741223405 Centerline is valid? [False, False] Translation: X:227.86, Y:-20.53, Z:-5.93 [[ 9.99988041e-01 2.28591598e-03 -4.32345867e-03 2.27859409e+02] [-2.28414582e-03 9.99997306e-01 4.14325078e-04 -2.05281664e+01] [ 4.32439414e-03 -4.04444713e-04 9.99990568e-01 -5.93407955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.242414037 meters 0.11268140778061521 Centerline is valid? [False, False] Translation: X:227.86, Y:-20.53, Z:-5.93 [[ 9.99989500e-01 2.10643207e-03 -4.06984952e-03 2.27858404e+02] [-2.10482221e-03 9.99997705e-01 3.99798944e-04 -2.05292042e+01] [ 4.07068233e-03 -3.91228436e-04 9.99991638e-01 -5.93337769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.272414037 meters 0.11514575875772999 Centerline is valid? [False, False] Translation: X:227.86, Y:-20.53, Z:-5.93 [[ 9.99990185e-01 2.05749334e-03 -3.92391662e-03 2.27857947e+02] [-2.05570189e-03 9.99997781e-01 4.60526132e-04 -2.05297458e+01] [ 3.92485544e-03 -4.52455209e-04 9.99992195e-01 -5.93315622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.302414037 meters 0.1119053314812112 Centerline is valid? [False, False] Translation: X:227.86, Y:-20.53, Z:-5.93 [[ 9.99990660e-01 2.00917249e-03 -3.82675187e-03 2.27857200e+02] [-2.00723354e-03 9.99997855e-01 5.10456371e-04 -2.05310299e+01] [ 3.82776925e-03 -5.02770418e-04 9.99992548e-01 -5.93233502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.332414037 meters 0.11574169218326566 Centerline is valid? [False, False] Translation: X:227.86, Y:-20.53, Z:-5.93 [[ 9.99990670e-01 2.04774070e-03 -3.80345961e-03 2.27857017e+02] [-2.04534717e-03 9.99997708e-01 6.33085483e-04 -2.05317112e+01] [ 3.80474729e-03 -6.25300181e-04 9.99992566e-01 -5.93214484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.362414037 meters 0.11656372131247755 Centerline is valid? [False, False] Translation: X:227.86, Y:-20.53, Z:-5.93 [[ 9.99990512e-01 2.12603681e-03 -3.80220056e-03 2.27856934e+02] [-2.12296081e-03 9.99997416e-01 8.12857239e-04 -2.05324726e+01] [ 3.80391890e-03 -8.04777603e-04 9.99992441e-01 -5.93204884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.392414037 meters 0.11295500799664558 Centerline is valid? [False, False] Translation: X:227.86, Y:-20.53, Z:-5.93 [[ 9.99989218e-01 2.47649907e-03 -3.92833350e-03 2.27857333e+02] [-2.47123310e-03 9.99996042e-01 1.34479781e-03 -2.05339911e+01] [ 3.93164834e-03 -1.33507548e-03 9.99991380e-01 -5.93227977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.422414037 meters 0.11984707499897981 Centerline is valid? [False, False] Translation: X:227.86, Y:-20.54, Z:-5.93 [[ 9.99987304e-01 2.92299298e-03 -4.10457179e-03 2.27858066e+02] [-2.91495692e-03 9.99993826e-01 1.96245043e-03 -2.05351489e+01] [ 4.11028268e-03 -1.95046087e-03 9.99989651e-01 -5.93282874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.452414037 meters 0.11379428919683882 Centerline is valid? [False, False] Translation: X:227.86, Y:-20.54, Z:-5.93 [[ 9.99986820e-01 2.98395526e-03 -4.17800690e-03 2.27858118e+02] [-2.97549716e-03 9.99993514e-01 2.02918874e-03 -2.05355910e+01] [ 4.18403481e-03 -2.01673035e-03 9.99989213e-01 -5.93267592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.482414037 meters 0.11528980053402313 Centerline is valid? [False, False] Translation: X:227.86, Y:-20.54, Z:-5.93 [[ 9.99985493e-01 3.15517005e-03 -4.36565511e-03 2.27858371e+02] [-3.14574239e-03 9.99992709e-01 2.16469000e-03 -2.05362628e+01] [ 4.37245325e-03 -2.15092537e-03 9.99988128e-01 -5.93245679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.512414037 meters 0.11560184739310435 Centerline is valid? [False, False] Translation: X:227.86, Y:-20.54, Z:-5.93 [[ 9.99985510e-01 -3.78398998e-04 -5.36994823e-03 2.27860650e+02] [ 3.68617891e-04 9.99998272e-01 -1.82232566e-03 -2.05356778e+01] [ 5.37062852e-03 1.82031979e-03 9.99983921e-01 -5.93284091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54241403699996 meters 0.11030456410393694 Centerline is valid? [False, False] Translation: X:227.86, Y:-20.54, Z:-5.93 [[ 9.99984387e-01 -1.13895132e-04 -5.58691012e-03 2.27860944e+02] [ 1.05229333e-04 9.99998791e-01 -1.55135918e-03 -2.05367567e+01] [ 5.58708006e-03 1.55074706e-03 9.99983190e-01 -5.93259874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.572414037 meters 0.1146265114464556 Centerline is valid? [False, False] Translation: X:227.86, Y:-20.54, Z:-5.93 [[ 9.99983593e-01 -7.91090345e-05 -5.72776822e-03 2.27861051e+02] [ 7.00207990e-05 9.99998738e-01 -1.58688065e-03 -2.05369951e+01] [ 5.72788653e-03 1.58645355e-03 9.99982337e-01 -5.93230588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60241403699996 meters 0.11575691389465761 Centerline is valid? [False, False] Translation: X:227.86, Y:-20.54, Z:-5.93 [[ 9.99982557e-01 1.83310804e-04 -5.90348280e-03 2.27861615e+02] [-1.90999693e-04 9.99999134e-01 -1.30189513e-03 -2.05374395e+01] [ 5.90323904e-03 1.30299999e-03 9.99981727e-01 -5.93259575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.632414037 meters 0.10807699197669952 Centerline is valid? [False, False] Translation: X:227.86, Y:-20.54, Z:-5.93 [[ 9.99979931e-01 4.69588691e-04 -6.31802964e-03 2.27862363e+02] [-4.77181474e-04 9.99999166e-01 -1.20031060e-03 -2.05377473e+01] [ 6.31746072e-03 1.20330135e-03 9.99979321e-01 -5.93240210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66241403699996 meters 0.10508821670716284 Centerline is valid? [False, False] Translation: X:227.86, Y:-20.54, Z:-5.93 [[ 9.99978330e-01 5.88921521e-04 -6.55684929e-03 2.27862825e+02] [-5.96856915e-04 9.99999092e-01 -1.20835400e-03 -2.05376809e+01] [ 6.55613171e-03 1.21224132e-03 9.99977774e-01 -5.93233494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.692414037 meters 0.10910169203304101 Centerline is valid? [False, False] Translation: X:227.86, Y:-20.54, Z:-5.93 [[ 9.99975812e-01 9.89938158e-04 -6.88445399e-03 2.27863829e+02] [-9.95737134e-04 9.99999152e-01 -8.38952533e-04 -2.05379963e+01] [ 6.88361764e-03 8.45787346e-04 9.99975950e-01 -5.93281093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72241403699996 meters 0.1088316316736821 Centerline is valid? [False, False] Translation: X:227.86, Y:-20.54, Z:-5.93 [[ 9.99973221e-01 1.11407523e-03 -7.23294284e-03 2.27864321e+02] [-1.12097648e-03 9.99998920e-01 -9.50157455e-04 -2.05378118e+01] [ 7.23187648e-03 9.58239970e-04 9.99973391e-01 -5.93244352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.752414037 meters 0.10384815607569498 Centerline is valid? [False, False] Translation: X:227.86, Y:-20.54, Z:-5.93 [[ 9.99972153e-01 1.10498711e-03 -7.38059697e-03 2.27864411e+02] [-1.11308379e-03 9.99998783e-01 -1.09300550e-03 -2.05377379e+01] [ 7.37938024e-03 1.10119028e-03 9.99972166e-01 -5.93207823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78241403699997 meters 0.10297522953420041 Centerline is valid? [False, False] Translation: X:227.86, Y:-20.54, Z:-5.93 [[ 9.99970878e-01 1.09691322e-03 -7.55246564e-03 2.27864508e+02] [-1.10645262e-03 9.99998595e-01 -1.25902177e-03 -2.05376534e+01] [ 7.55107399e-03 1.26734155e-03 9.99970687e-01 -5.93166069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.812414037 meters 0.1016776623931702 Centerline is valid? [False, False] Translation: X:227.86, Y:-20.54, Z:-5.93 [[ 9.99970858e-01 1.13182665e-03 -7.55000337e-03 2.27864553e+02] [-1.14086905e-03 9.99998637e-01 -1.19346909e-03 -2.05378203e+01] [ 7.54864228e-03 1.20204788e-03 9.99970786e-01 -5.93173443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84241403699997 meters 0.09917471219945355 Centerline is valid? [False, True] Translation: X:227.87, Y:-20.54, Z:-5.93 [[ 9.99969703e-01 1.37805489e-03 -7.66121635e-03 2.27865074e+02] [-1.38483000e-03 9.99998655e-01 -8.79104647e-04 -2.05382006e+01] [ 7.65999459e-03 8.89687495e-04 9.99970266e-01 -5.93218101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.872414037 meters 0.10233003824340443 Centerline is valid? [True, False] Translation: X:227.87, Y:-20.54, Z:-5.93 [[ 9.99969268e-01 1.41732041e-03 -7.71060729e-03 2.27865078e+02] [-1.42369865e-03 9.99998649e-01 -8.21776907e-04 -2.05386623e+01] [ 7.70943215e-03 8.32729234e-04 9.99969935e-01 -5.93203557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90241403699997 meters 0.10401226952470886 Centerline is valid? [False, False] Translation: X:227.87, Y:-20.54, Z:-5.93 [[ 9.99969662e-01 1.34747848e-03 -7.67203980e-03 2.27865015e+02] [-1.35446813e-03 9.99998672e-01 -9.05932768e-04 -2.05384390e+01] [ 7.67080889e-03 9.16296817e-04 9.99970159e-01 -5.93206403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.932414037 meters 0.0966953883129954 Centerline is valid? [False, True] Translation: X:227.87, Y:-20.54, Z:-5.93 [[ 9.99968317e-01 1.51324583e-03 -7.81501210e-03 2.27865426e+02] [-1.51901808e-03 9.99998578e-01 -7.32727088e-04 -2.05385859e+01] [ 7.81389219e-03 7.44575018e-04 9.99969194e-01 -5.93224235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.962414037 meters 0.09792098401074639 Centerline is valid? [True, True] Translation: X:227.89, Y:-20.54, Z:-5.93 [[ 9.99973774e-01 1.50716001e-03 -7.08383686e-03 2.27892489e+02] [-1.50174033e-03 9.99998576e-01 7.70334409e-04 -2.05444617e+01] [ 7.08498779e-03 -7.59676123e-04 9.99974613e-01 -5.93387915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.992414037 meters 0.09916515424639137 Centerline is valid? [True, True] Translation: X:227.92, Y:-20.55, Z:-5.93 [[ 9.99975092e-01 1.34247350e-03 -6.92920155e-03 2.27921248e+02] [-1.33728453e-03 9.99998822e-01 7.53434064e-04 -2.05501947e+01] [ 6.93020486e-03 -7.44148983e-04 9.99975709e-01 -5.93400782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.022414037 meters 0.10066380980082679 Centerline is valid? [True, False] Translation: X:227.92, Y:-20.55, Z:-5.93 [[ 9.99976793e-01 1.20603711e-03 -6.70511616e-03 2.27920452e+02] [-1.20087133e-03 9.99998979e-01 7.74395974e-04 -2.05509879e+01] [ 6.70604327e-03 -7.66326021e-04 9.99977221e-01 -5.93351800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.052414037 meters 0.09977866262098047 Centerline is valid? [False, True] Translation: X:227.92, Y:-20.55, Z:-5.93 [[ 9.99977358e-01 1.11578398e-03 -6.63608962e-03 2.27920125e+02] [-1.11100952e-03 9.99999121e-01 7.23110826e-04 -2.05512630e+01] [ 6.63689062e-03 -7.15721694e-04 9.99977719e-01 -5.93324461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.082414037 meters 0.10051497641171529 Centerline is valid? [True, False] Translation: X:227.92, Y:-20.55, Z:-5.93 [[ 9.99977092e-01 1.19094701e-03 -6.66306577e-03 2.27920357e+02] [-1.18553897e-03 9.99998965e-01 8.15535466e-04 -2.05513075e+01] [ 6.66403013e-03 -8.07617460e-04 9.99977469e-01 -5.93351160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.112414037 meters 0.10032568162970794 Centerline is valid? [False, False] Translation: X:227.92, Y:-20.55, Z:-5.93 [[ 9.99976588e-01 1.09076310e-03 -6.75531768e-03 2.27920477e+02] [-1.08709598e-03 9.99999260e-01 5.46498414e-04 -2.05506965e+01] [ 6.75590878e-03 -5.39141941e-04 9.99977033e-01 -5.93338823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.142414037 meters 0.10079970461109629 Centerline is valid? [False, False] Translation: X:227.92, Y:-20.55, Z:-5.93 [[ 9.99976059e-01 1.06443384e-03 -6.83722400e-03 2.27920706e+02] [-1.06160983e-03 9.99999350e-01 4.16651291e-04 -2.05501929e+01] [ 6.83766305e-03 -4.09382851e-04 9.99976539e-01 -5.93346725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.172414037 meters 0.10020564466518232 Centerline is valid? [False, False] Translation: X:227.92, Y:-20.55, Z:-5.93 [[ 9.99973143e-01 1.09106617e-03 -7.24733391e-03 2.27921565e+02] [-1.09130932e-03 9.99999404e-01 -2.95964909e-05 -2.05485760e+01] [ 7.24729730e-03 3.75047791e-05 9.99973737e-01 -5.93354691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.202414037 meters 0.09154115510888644 Centerline is valid? [False, True] Translation: X:227.92, Y:-20.55, Z:-5.93 [[ 9.99967408e-01 1.41090630e-03 -7.94938265e-03 2.27923197e+02] [-1.41446884e-03 9.99998902e-01 -4.42549621e-04 -2.05463989e+01] [ 7.94874952e-03 4.53779351e-04 9.99968305e-01 -5.93394784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.232414037 meters 0.09631033216176182 Centerline is valid? [True, True] Translation: X:227.95, Y:-20.56, Z:-5.94 [[ 9.99964939e-01 4.78075308e-03 -6.87497471e-03 2.27950701e+02] [-4.77625987e-03 9.99988369e-01 6.69830624e-04 -2.05576637e+01] [ 6.87809705e-03 -6.36970473e-04 9.99976143e-01 -5.93778744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.262414037 meters 0.09200102261206385 Centerline is valid? [True, True] Translation: X:227.98, Y:-20.55, Z:-5.94 [[ 9.99942444e-01 7.89713965e-03 -7.26253753e-03 2.27982409e+02] [-7.89220197e-03 9.99968605e-01 7.08292917e-04 -2.05511990e+01] [ 7.26790301e-03 -6.50934737e-04 9.99973377e-01 -5.93667757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29241403699996 meters 0.09257041487659351 Centerline is valid? [True, True] Translation: X:228.01, Y:-20.55, Z:-5.94 [[ 9.99912241e-01 1.12703539e-02 -6.96350000e-03 2.28011078e+02] [-1.12659020e-02 9.99936308e-01 6.78212748e-04 -2.05534498e+01] [ 6.97070018e-03 -5.99703119e-04 9.99975525e-01 -5.93793061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.322414037 meters 0.08384112621907532 Centerline is valid? [True, True] Translation: X:228.04, Y:-20.54, Z:-5.93 [[ 9.99784133e-01 1.97322179e-02 -6.50595009e-03 2.28043344e+02] [-1.97285045e-02 9.99805173e-01 6.34463472e-04 -2.05357022e+01] [ 6.51720193e-03 -5.05973847e-04 9.99978635e-01 -5.93434235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35241403699996 meters 0.08439704514152478 Centerline is valid? [True, True] Translation: X:228.07, Y:-20.54, Z:-5.94 [[ 9.99696392e-01 2.36929174e-02 -6.76536039e-03 2.28072713e+02] [-2.36889960e-02 9.99719159e-01 6.59179629e-04 -2.05375602e+01] [ 6.77907828e-03 -4.98714902e-04 9.99976897e-01 -5.93667538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.382414037 meters 0.08053361931480332 Centerline is valid? [True, True] Translation: X:228.10, Y:-20.53, Z:-5.94 [[ 9.99569988e-01 2.83108311e-02 -7.63784714e-03 2.28104185e+02] [-2.83059642e-02 9.99599029e-01 7.44587038e-04 -2.05291976e+01] [ 7.65586446e-03 -5.28070229e-04 9.99970554e-01 -5.93528303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.41241403699996 meters 0.07859427783537337 Centerline is valid? [True, True] Translation: X:228.13, Y:-20.52, Z:-5.94 [[ 9.99222036e-01 3.88408482e-02 -6.83452322e-03 2.28134683e+02] [-3.88371994e-02 9.99245330e-01 6.65838333e-04 -2.05227274e+01] [ 6.85522713e-03 -3.99886594e-04 9.99976423e-01 -5.93706356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.442414037 meters 0.07726339120986146 Centerline is valid? [True, True] Translation: X:228.17, Y:-20.52, Z:-5.94 [[ 9.99013054e-01 4.36874387e-02 -8.02037750e-03 2.28165413e+02] [-4.36825670e-02 9.99045155e-01 7.81670488e-04 -2.05189305e+01] [ 8.04686847e-03 -4.30548344e-04 9.99967531e-01 -5.93765772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.47241403699996 meters 0.07410646324839423 Centerline is valid? [True, True] Translation: X:228.20, Y:-20.51, Z:-5.94 [[ 9.98568194e-01 5.28433903e-02 -8.31496177e-03 2.28197325e+02] [-5.28384710e-02 9.98602744e-01 8.10338383e-04 -2.05065025e+01] [ 8.34616466e-03 -3.69828269e-04 9.99965102e-01 -5.93674894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.502414037 meters 0.0731766153187288 Centerline is valid? [True, True] Translation: X:228.23, Y:-20.50, Z:-5.94 [[ 9.98347537e-01 5.68615980e-02 -8.30384267e-03 2.28227396e+02] [-5.68568379e-02 9.98382014e-01 8.08371230e-04 -2.05029663e+01] [ 8.33637245e-03 -3.34905190e-04 9.99965196e-01 -5.93745477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53241403699997 meters 0.07265669855637405 Centerline is valid? [True, True] Translation: X:228.26, Y:-20.50, Z:-5.94 [[ 9.98120092e-01 6.07010975e-02 -8.46510074e-03 2.28256292e+02] [-6.06962951e-02 9.98155941e-01 8.23317822e-04 -2.05010352e+01] [ 8.49946689e-03 -3.07969809e-04 9.99963831e-01 -5.93949570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.562414037 meters 0.07166069834064527 Centerline is valid? [True, True] Translation: X:228.29, Y:-20.50, Z:-5.94 [[ 9.97772708e-01 6.62536902e-02 -7.75062030e-03 2.28286393e+02] [-6.62498304e-02 9.97802782e-01 7.53973767e-04 -2.04950862e+01] [ 7.78354404e-03 -2.38817167e-04 9.99969679e-01 -5.94092411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59241403699997 meters 0.07102797530214994 Centerline is valid? [True, True] Translation: X:228.32, Y:-20.49, Z:-5.94 [[ 9.97685612e-01 6.76612979e-02 -6.73555379e-03 2.28315956e+02] [-6.76584240e-02 9.97708329e-01 6.53893248e-04 -2.04917738e+01] [ 6.76436139e-03 -1.96662931e-04 9.99977102e-01 -5.93934695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.622414037 meters 0.07102797530214994 Centerline is valid? [True, True] Translation: X:228.34, Y:-20.49, Z:-5.94 [[ 9.97703286e-01 6.74001253e-02 -6.73613417e-03 2.28343210e+02] [-6.73972857e-02 9.97726008e-01 6.47917846e-04 -2.04943164e+01] [ 6.76448600e-03 -1.92432604e-04 9.99977102e-01 -5.93993764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65241403699997 meters 0.07088727626877085 Centerline is valid? [True, True] Translation: X:228.37, Y:-20.49, Z:-5.94 [[ 9.97604214e-01 6.90630640e-02 -4.01568448e-03 2.28372191e+02] [-6.90620597e-02 9.97612290e-01 3.88378234e-04 -2.04914970e+01] [ 4.03291878e-03 -1.10116321e-04 9.99991862e-01 -5.94099829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.682414037 meters 0.07087062696932382 Centerline is valid? [True, True] Translation: X:228.40, Y:-20.49, Z:-5.94 [[ 9.97606733e-01 6.91058316e-02 -2.27836088e-03 2.28400298e+02] [-6.91055114e-02 9.97609333e-01 2.19061565e-04 -2.04912168e+01] [ 2.28805251e-03 -6.10899982e-05 9.99997381e-01 -5.94045825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.712414037 meters 0.0709884340721543 Centerline is valid? [True, True] Translation: X:228.43, Y:-20.49, Z:-5.94 [[ 9.97616510e-01 6.89860730e-02 -1.49036190e-03 2.28427970e+02] [-6.89859383e-02 9.97617622e-01 1.41707071e-04 -2.04916162e+01] [ 1.49658711e-03 -3.85552996e-05 9.99998879e-01 -5.94121261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.742414037 meters 0.07038099359663966 Centerline is valid? [True, True] Translation: X:228.46, Y:-20.48, Z:-5.94 [[ 9.97722848e-01 6.74387133e-02 1.06660792e-03 2.28457135e+02] [-6.74386364e-02 9.97723418e-01 -1.07936662e-04 -2.04848610e+01] [-1.07145881e-03 3.57602903e-05 9.99999425e-01 -5.93801144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.772414037 meters 0.07092876119075091 Centerline is valid? [True, True] Translation: X:228.48, Y:-20.49, Z:-5.94 [[ 9.97782273e-01 6.65479062e-02 1.38258986e-03 2.28484424e+02] [-6.65477828e-02 9.97783230e-01 -1.35130065e-04 -2.04865223e+01] [-1.38851760e-03 4.28220934e-05 9.99999035e-01 -5.93989175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.802414037 meters 0.07090205135522644 Centerline is valid? [True, True] Translation: X:228.51, Y:-20.48, Z:-5.94 [[ 9.97913527e-01 6.45610776e-02 6.78362267e-04 2.28513584e+02] [-6.45610447e-02 9.97913757e-01 -7.01949253e-05 -2.04822037e+01] [-6.81478899e-04 2.62526888e-05 9.99999767e-01 -5.94192388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.832414037 meters 0.07105362689723158 Centerline is valid? [True, True] Translation: X:228.54, Y:-20.48, Z:-5.94 [[ 9.98032829e-01 6.26934293e-02 7.51035920e-05 2.28542826e+02] [-6.26934286e-02 9.98032832e-01 -1.22147593e-05 -2.04810265e+01] [-7.57216358e-05 7.48222906e-06 9.99999997e-01 -5.94331103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.862414037 meters 0.07199525772043001 Centerline is valid? [True, True] Translation: X:228.57, Y:-20.48, Z:-5.95 [[ 9.98150277e-01 6.07740740e-02 -1.59254621e-03 2.28571474e+02] [-6.07739099e-02 9.98151546e-01 1.51263175e-04 -2.04831979e+01] [ 1.59879534e-03 -5.41981204e-05 9.99998720e-01 -5.94706925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.892414037 meters 0.07227440938988998 Centerline is valid? [True, True] Translation: X:228.60, Y:-20.48, Z:-5.95 [[ 9.98331806e-01 5.76909561e-02 -2.31499960e-03 2.28601612e+02] [-5.76905978e-02 9.98334486e-01 2.21297396e-04 -2.04778205e+01] [ 2.32391079e-03 -8.73745178e-05 9.99997296e-01 -5.94863924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.922414037 meters 0.07412749916373672 Centerline is valid? [True, True] Translation: X:228.63, Y:-20.48, Z:-5.95 [[ 9.98406744e-01 5.64024002e-02 -1.65620240e-03 2.28628952e+02] [-5.64022190e-02 9.98408116e-01 1.55967015e-04 -2.04828059e+01] [ 1.66236283e-03 -6.23050296e-05 9.99998616e-01 -5.95274662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.952414037 meters 0.07428491820140616 Centerline is valid? [True, True] Translation: X:228.66, Y:-20.48, Z:-5.95 [[ 9.98562767e-01 5.35846473e-02 1.04204474e-03 2.28658384e+02] [-5.35845676e-02 9.98563310e-01 -1.04324396e-04 -2.04764541e+01] [-1.04613783e-03 4.83369404e-05 9.99999452e-01 -5.95204547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.982414037 meters 0.07468279004961736 Centerline is valid? [True, True] Translation: X:228.69, Y:-20.48, Z:-5.95 [[ 9.98633509e-01 5.21423469e-02 3.50574698e-03 2.28686703e+02] [-5.21414757e-02 9.98639650e-01 -3.39522041e-04 -2.04760220e+01] [-3.51868141e-03 1.56263266e-04 9.99993797e-01 -5.95240925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.012414037 meters 0.07485543875004506 Centerline is valid? [True, True] Translation: X:228.72, Y:-20.47, Z:-5.95 [[ 9.98751661e-01 4.97726603e-02 4.21934006e-03 2.28716209e+02] [-4.97714000e-02 9.98760554e-01 -4.03229311e-04 -2.04732057e+01] [-4.23418021e-03 1.92723482e-04 9.99991017e-01 -5.95121858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04241403699996 meters 0.07700537595210107 Centerline is valid? [True, True] Translation: X:228.75, Y:-20.47, Z:-5.95 [[ 9.98949271e-01 4.53000881e-02 6.94666087e-03 2.28745187e+02] [-4.52965784e-02 9.98973364e-01 -6.61820962e-04 -2.04719806e+01] [-6.96950972e-03 3.46465598e-04 9.99975653e-01 -5.95212286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.072414037 meters 0.07844452302443748 Centerline is valid? [True, True] Translation: X:228.77, Y:-20.47, Z:-5.95 [[ 9.99034801e-01 4.32503470e-02 7.67289300e-03 2.28773889e+02] [-4.32460026e-02 9.99064186e-01 -7.31289406e-04 -2.04731483e+01] [-7.69734112e-03 3.98761615e-04 9.99970296e-01 -5.95402264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10241403699996 meters 0.08049153963997144 Centerline is valid? [True, True] Translation: X:228.81, Y:-20.47, Z:-5.96 [[ 9.99223421e-01 3.86935394e-02 7.44082748e-03 2.28805204e+02] [-3.86893367e-02 9.99251037e-01 -7.07985290e-04 -2.04691009e+01] [-7.46264903e-03 4.19554803e-04 9.99972066e-01 -5.95671592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.132414037 meters 0.08304571331937216 Centerline is valid? [True, True] Translation: X:228.83, Y:-20.47, Z:-5.96 [[ 9.99313499e-01 3.63664790e-02 7.07180660e-03 2.28833118e+02] [-3.63626162e-02 9.99338434e-01 -6.74080081e-04 -2.04717718e+01] [-7.09164206e-03 4.16467935e-04 9.99974767e-01 -5.96026565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16241403699996 meters 0.08528611172239665 Centerline is valid? [True, True] Translation: X:228.86, Y:-20.47, Z:-5.96 [[ 9.99396405e-01 3.41837901e-02 6.18828074e-03 2.28861824e+02] [-3.41807952e-02 9.99415492e-01 -5.89109508e-04 -2.04735252e+01] [-6.20480164e-03 3.77233567e-04 9.99980679e-01 -5.96343168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.192414037 meters 0.08548457896172687 Centerline is valid? [True, True] Translation: X:228.89, Y:-20.46, Z:-5.97 [[ 9.99529997e-01 3.00406993e-02 6.11081295e-03 2.28893723e+02] [-3.00377072e-02 9.99548597e-01 -5.80854989e-04 -2.04635222e+01] [-6.12550381e-03 3.97027175e-04 9.99981160e-01 -5.96608607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22241403699996 meters 0.09208254120678326 Centerline is valid? [True, True] Translation: X:228.92, Y:-20.47, Z:-5.97 [[ 9.99658327e-01 2.48336389e-02 8.15594797e-03 2.28922438e+02] [-2.48281309e-02 9.99691433e-01 -7.75903347e-04 -2.04675355e+01] [-8.17269982e-03 5.73141298e-04 9.99966439e-01 -5.96965899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.252414037 meters 0.09305515638139102 Centerline is valid? [True, True] Translation: X:228.95, Y:-20.47, Z:-5.97 [[ 9.99725078e-01 2.19647249e-02 8.20477699e-03 2.28952413e+02] [-2.19590558e-02 9.99758566e-01 -7.80413824e-04 -2.04662457e+01] [-8.21993766e-03 6.00030115e-04 9.99966036e-01 -5.97057055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28241403699997 meters 0.09529423992587975 Centerline is valid? [True, True] Translation: X:228.98, Y:-20.47, Z:-5.97 [[ 9.99766323e-01 1.94137243e-02 9.50820804e-03 2.28982664e+02] [-1.94059981e-02 9.99811277e-01 -9.04177192e-04 -2.04677561e+01] [-9.52396707e-03 7.19449640e-04 9.99954387e-01 -5.97167551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.312414037 meters 0.09980670054803639 Centerline is valid? [True, True] Translation: X:229.01, Y:-20.47, Z:-5.97 [[ 9.99814470e-01 1.52063308e-02 1.18233712e-02 2.29012291e+02] [-1.51940966e-02 9.99883931e-01 -1.12389132e-03 -2.04683036e+01] [-1.18390891e-02 9.44037365e-04 9.99929470e-01 -5.97271430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34241403699997 meters 0.09321315868023072 Centerline is valid? [True, True] Translation: X:229.05, Y:-20.45, Z:-5.97 [[ 9.99682177e-01 2.12835863e-02 1.35112805e-02 2.29045041e+02] [-2.12681607e-02 9.99772982e-01 -1.28435827e-03 -2.04505385e+01] [-1.35355489e-02 9.96589981e-04 9.99907894e-01 -5.97017530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.372414037 meters 0.08901649570344339 Centerline is valid? [True, True] Translation: X:229.08, Y:-20.43, Z:-5.97 [[ 9.99399247e-01 3.08202463e-02 1.58510781e-02 2.29076359e+02] [-3.08002079e-02 9.99524425e-01 -1.50679898e-03 -2.04332846e+01] [-1.58899796e-02 1.01767726e-03 9.99873228e-01 -5.96678943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40241403699997 meters 0.08432082504248843 Centerline is valid? [True, True] Translation: X:229.11, Y:-20.42, Z:-5.97 [[ 9.99194369e-01 3.67929664e-02 1.60278367e-02 2.29107197e+02] [-3.67732454e-02 9.99322474e-01 -1.52350447e-03 -2.04215502e+01] [-1.60730317e-02 9.32881517e-04 9.99870385e-01 -5.96671880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.432414037 meters 0.08276530394502571 Centerline is valid? [True, True] Translation: X:229.14, Y:-20.42, Z:-5.97 [[ 9.98976810e-01 4.26289171e-02 1.51032616e-02 2.29137104e+02] [-4.26120771e-02 9.99090662e-01 -1.43520084e-03 -2.04175315e+01] [-1.51507087e-02 7.90151014e-04 9.99884909e-01 -5.97126217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.462414037 meters 0.08111036721655025 Centerline is valid? [True, True] Translation: X:229.17, Y:-20.42, Z:-5.97 [[ 9.98939201e-01 4.37575828e-02 1.43438695e-02 2.29166183e+02] [-4.37424909e-02 9.99041908e-01 -1.36435336e-03 -2.04165309e+01] [-1.43898275e-02 7.35469479e-04 9.99896191e-01 -5.97374760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.492414037 meters 0.08231049171466112 Centerline is valid? [True, True] Translation: X:229.19, Y:-20.43, Z:-5.98 [[ 9.99003494e-01 4.27407407e-02 1.28548576e-02 2.29193654e+02] [-4.27285873e-02 9.99085974e-01 -1.21871729e-03 -2.04252534e+01] [-1.28951968e-02 6.68232927e-04 9.99916630e-01 -5.98027022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.522414037 meters 0.08432053758983891 Centerline is valid? [True, True] Translation: X:229.22, Y:-20.43, Z:-5.98 [[ 9.99035732e-01 4.21363035e-02 1.23344375e-02 2.29220292e+02] [-4.21250809e-02 9.99111662e-01 -1.16836932e-03 -2.04345480e+01] [-1.23727111e-02 6.47653525e-04 9.99923245e-01 -5.98369329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.552414037 meters 0.08340348500436794 Centerline is valid? [True, True] Translation: X:229.25, Y:-20.44, Z:-5.98 [[ 9.99042643e-01 4.20937358e-02 1.19127955e-02 2.29247954e+02] [-4.20832545e-02 9.99113469e-01 -1.12925608e-03 -2.04356141e+01] [-1.19497690e-02 6.26845777e-04 9.99928402e-01 -5.98494268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.582414037 meters 0.08371726712810429 Centerline is valid? [True, True] Translation: X:229.28, Y:-20.44, Z:-5.99 [[ 9.99076505e-01 4.13506118e-02 1.16732457e-02 2.29276361e+02] [-4.13405373e-02 9.99144506e-01 -1.10313032e-03 -2.04398539e+01] [-1.17088744e-02 6.19533333e-04 9.99931257e-01 -5.98540415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.612414037 meters 0.08446761737269105 Centerline is valid? [True, True] Translation: X:229.30, Y:-20.44, Z:-5.99 [[ 9.99042932e-01 4.19862872e-02 1.22625762e-02 2.29304253e+02] [-4.19752749e-02 9.99117983e-01 -1.15415213e-03 -2.04439463e+01] [-1.23002190e-02 6.38322520e-04 9.99924146e-01 -5.98502054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.642414037 meters 0.08366703692567215 Centerline is valid? [True, True] Translation: X:229.33, Y:-20.44, Z:-5.98 [[ 9.98928410e-01 4.42816432e-02 1.34598674e-02 2.29334090e+02] [-4.42686069e-02 9.99018864e-01 -1.26507929e-03 -2.04444669e+01] [-1.35026812e-02 6.67874065e-04 9.99908612e-01 -5.98270775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.672414037 meters 0.08243432138080092 Centerline is valid? [True, True] Translation: X:229.36, Y:-20.44, Z:-5.98 [[ 9.98923572e-01 4.41366221e-02 1.42708101e-02 2.29363389e+02] [-4.41219386e-02 9.99025251e-01 -1.34228909e-03 -2.04437629e+01] [-1.43161438e-02 7.11188402e-04 9.99897266e-01 -5.98273319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.702414037 meters 0.08166595662330205 Centerline is valid? [True, True] Translation: X:229.39, Y:-20.44, Z:-5.98 [[ 9.98915853e-01 4.38686048e-02 1.55776602e-02 2.29391096e+02] [-4.38511391e-02 9.99037008e-01 -1.46116923e-03 -2.04448691e+01] [-1.56267584e-02 7.76486968e-04 9.99877593e-01 -5.98256421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.732414037 meters 0.08346215445526088 Centerline is valid? [True, True] Translation: X:229.42, Y:-20.45, Z:-5.98 [[ 9.98807710e-01 4.54838553e-02 1.77306719e-02 2.29417973e+02] [-4.54615993e-02 9.98964714e-01 -1.65648241e-03 -2.04541835e+01] [-1.77876588e-02 8.48442705e-04 9.99841427e-01 -5.98334838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.762414037 meters 0.08129257154854147 Centerline is valid? [True, True] Translation: X:229.45, Y:-20.45, Z:-5.98 [[ 9.98778591e-01 4.60366661e-02 1.79430188e-02 2.29447374e+02] [-4.60139818e-02 9.98939391e-01 -1.67526495e-03 -2.04511026e+01] [-1.80011119e-02 8.47589021e-04 9.99837608e-01 -5.98405406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79241403699996 meters 0.08100466402775236 Centerline is valid? [True, True] Translation: X:229.47, Y:-20.45, Z:-5.99 [[ 9.98722292e-01 4.73682444e-02 1.76077593e-02 2.29474726e+02] [-4.73466907e-02 9.98877172e-01 -1.63919144e-03 -2.04528128e+01] [-1.76656344e-02 8.03427901e-04 9.99843628e-01 -5.98534608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.822414037 meters 0.08016333678837767 Centerline is valid? [True, True] Translation: X:229.50, Y:-20.45, Z:-5.99 [[ 9.98691949e-01 4.81350610e-02 1.72454853e-02 2.29503615e+02] [-4.81145127e-02 9.98840537e-01 -1.60469020e-03 -2.04528959e+01] [-1.73027317e-02 7.72833059e-04 9.99849998e-01 -5.98658010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.85241403699996 meters 0.07871841487743778 Centerline is valid? [True, True] Translation: X:229.53, Y:-20.45, Z:-5.99 [[ 9.98520530e-01 5.13518513e-02 1.78812496e-02 2.29533399e+02] [-5.13303701e-02 9.98680350e-01 -1.65852297e-03 -2.04509463e+01] [-1.79428208e-02 7.38218074e-04 9.99838742e-01 -5.98776097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.882414037 meters 0.07786993413919369 Centerline is valid? [True, True] Translation: X:229.56, Y:-20.45, Z:-5.99 [[ 9.98328669e-01 5.49428604e-02 1.79207069e-02 2.29562442e+02] [-5.49218733e-02 9.98489272e-01 -1.66154269e-03 -2.04506431e+01] [-1.79849235e-02 6.74526911e-04 9.99838031e-01 -5.98776484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.91241403699996 meters 0.07621755205901833 Centerline is valid? [True, True] Translation: X:229.59, Y:-20.45, Z:-5.99 [[ 9.97969947e-01 6.09178984e-02 1.85740200e-02 2.29592991e+02] [-6.08963998e-02 9.98142608e-01 -1.72138231e-03 -2.04470625e+01] [-1.86443838e-02 5.86796867e-04 9.99826006e-01 -5.98878912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.942414037 meters 0.07590528754931661 Centerline is valid? [True, True] Translation: X:229.62, Y:-20.45, Z:-5.99 [[ 9.97812705e-01 6.35112612e-02 1.83337290e-02 2.29621989e+02] [-6.34907555e-02 9.97980981e-01 -1.69895985e-03 -2.04484365e+01] [-1.84046159e-02 5.31221420e-04 9.99830480e-01 -5.99002198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.97241403699996 meters 0.0754241915964085 Centerline is valid? [True, True] Translation: X:229.65, Y:-20.45, Z:-5.99 [[ 9.97638248e-01 6.59557543e-02 1.91771982e-02 2.29649321e+02] [-6.59337935e-02 9.97822420e-01 -1.77586475e-03 -2.04499308e+01] [-1.92525669e-02 5.07245165e-04 9.99814523e-01 -5.99134617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.002414037 meters 0.07514642898405152 Centerline is valid? [True, True] Translation: X:229.68, Y:-20.45, Z:-5.99 [[ 9.97558293e-01 6.74323202e-02 1.81750800e-02 2.29678233e+02] [-6.74128722e-02 9.97723748e-01 -1.68128275e-03 -2.04522125e+01] [-1.82470817e-02 4.51943202e-04 9.99833406e-01 -5.99292010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03241403699997 meters 0.0748669462303632 Centerline is valid? [True, True] Translation: X:229.71, Y:-20.45, Z:-5.99 [[ 9.97469353e-01 6.86667647e-02 1.84327028e-02 2.29706865e+02] [-6.86470558e-02 9.97639559e-01 -1.70059450e-03 -2.04538147e+01] [-1.85059678e-02 4.30940121e-04 9.99828657e-01 -5.99355871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.062414037 meters 0.07459568890945499 Centerline is valid? [True, True] Translation: X:229.74, Y:-20.45, Z:-5.99 [[ 9.97390577e-01 7.00387617e-02 1.75102577e-02 2.29735881e+02] [-7.00212570e-02 9.97544198e-01 -1.61153534e-03 -2.04541994e+01] [-1.75801259e-02 3.81239913e-04 9.99845385e-01 -5.99446648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09241403699997 meters 0.07439389303396883 Centerline is valid? [True, True] Translation: X:229.76, Y:-20.46, Z:-5.99 [[ 9.97354395e-01 7.06590767e-02 1.70735561e-02 2.29764164e+02] [-7.06425936e-02 9.97500460e-01 -1.56735099e-03 -2.04553623e+01] [-1.71416276e-02 3.57084108e-04 9.99853008e-01 -5.99458365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.122414037 meters 0.07416473094351737 Centerline is valid? [True, True] Translation: X:229.79, Y:-20.46, Z:-5.99 [[ 9.97269490e-01 7.17043295e-02 1.76650172e-02 2.29793438e+02] [-7.16869342e-02 9.97425872e-01 -1.61680940e-03 -2.04562601e+01] [-1.77354774e-02 3.46043756e-04 9.99842654e-01 -5.99473982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15241403699997 meters 0.07428443899004597 Centerline is valid? [True, True] Translation: X:229.82, Y:-20.46, Z:-6.00 [[ 9.97261329e-01 7.17210408e-02 1.80536659e-02 2.29820360e+02] [-7.17029188e-02 9.97424668e-01 -1.64992884e-03 -2.04583777e+01] [-1.81255064e-02 3.50909679e-04 9.99835658e-01 -5.99547852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.182414037 meters 0.07435068770762773 Centerline is valid? [True, True] Translation: X:229.85, Y:-20.46, Z:-6.00 [[ 9.97288927e-01 7.14253732e-02 1.76977765e-02 2.29848453e+02] [-7.14079387e-02 9.97445886e-01 -1.61591239e-03 -2.04615633e+01] [-1.77679915e-02 3.47769798e-04 9.99842076e-01 -5.99675022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.212414037 meters 0.07429181825085866 Centerline is valid? [True, True] Translation: X:229.88, Y:-20.47, Z:-6.00 [[ 9.97332043e-01 7.10247195e-02 1.68607417e-02 2.29875803e+02] [-7.10089264e-02 9.97474500e-01 -1.53426974e-03 -2.04651271e+01] [-1.69271310e-02 3.32913210e-04 9.99856670e-01 -5.99814049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.242414037 meters 0.07411035963809819 Centerline is valid? [True, True] Translation: X:229.90, Y:-20.47, Z:-6.00 [[ 9.97267412e-01 7.16527464e-02 1.79887102e-02 2.29904164e+02] [-7.16348918e-02 9.97429580e-01 -1.63578549e-03 -2.04665606e+01] [-1.80596802e-02 3.42696253e-04 9.99836852e-01 -5.99761867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.272414037 meters 0.07396291957219894 Centerline is valid? [True, True] Translation: X:229.93, Y:-20.47, Z:-6.00 [[ 9.97285856e-01 7.17559997e-02 1.64923822e-02 2.29931587e+02] [-7.17410611e-02 9.97422168e-01 -1.49640470e-03 -2.04686216e+01] [-1.65572436e-02 3.09162246e-04 9.99862872e-01 -5.99892911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.302414037 meters 0.07421031371145115 Centerline is valid? [True, True] Translation: X:229.96, Y:-20.47, Z:-6.00 [[ 9.97378453e-01 7.07418520e-02 1.52253856e-02 2.29958538e+02] [-7.07290743e-02 9.97494613e-01 -1.37675251e-03 -2.04732291e+01] [-1.52846341e-02 2.96265865e-04 9.99883139e-01 -6.00092521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.332414037 meters 0.0738521683629094 Centerline is valid? [True, True] Translation: X:229.99, Y:-20.48, Z:-6.00 [[ 9.97412991e-01 7.04276732e-02 1.43967924e-02 2.29986234e+02] [-7.04162181e-02 9.97516848e-01 -1.30166233e-03 -2.04757457e+01] [-1.44527161e-02 2.84527243e-04 9.99895514e-01 -6.00183525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.362414037 meters 0.07387424742964126 Centerline is valid? [True, True] Translation: X:230.01, Y:-20.48, Z:-6.00 [[ 9.97472630e-01 6.97743271e-02 1.34125292e-02 2.30014593e+02] [-6.97643719e-02 9.97562765e-01 -1.20925405e-03 -2.04789039e+01] [-1.34642146e-02 2.70481137e-04 9.99909317e-01 -6.00235738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.392414037 meters 0.09593691827924014 Centerline is valid? [True, True] Translation: X:230.04, Y:-20.53, Z:-6.01 [[ 9.98616592e-01 5.04222172e-02 1.49165026e-02 2.30039139e+02] [-5.04078261e-02 9.98727819e-01 -1.33942256e-03 -2.05344823e+01] [-1.49650627e-02 5.85661126e-04 9.99887846e-01 -6.00924105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.422414037 meters 0.07409802391546463 Centerline is valid? [True, True] Translation: X:230.07, Y:-20.49, Z:-6.01 [[ 9.97493313e-01 6.98623009e-02 1.12405460e-02 2.30073593e+02] [-6.98553631e-02 9.97556620e-01 -1.00912935e-03 -2.04881665e+01] [-1.12835812e-02 2.21387361e-04 9.99936314e-01 -6.00505269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.452414037 meters 0.0736360113968952 Centerline is valid? [True, True] Translation: X:230.10, Y:-20.49, Z:-6.01 [[ 9.97592100e-01 6.86961216e-02 9.53124934e-03 2.30102510e+02] [-6.86910538e-02 9.97637611e-01 -8.58439110e-04 -2.04911762e+01] [-9.56770426e-03 2.01660514e-04 9.99954208e-01 -6.00566614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.482414037 meters 0.07430361119151767 Centerline is valid? [True, True] Translation: X:230.13, Y:-20.50, Z:-6.01 [[ 9.97644393e-01 6.79875905e-02 9.12974052e-03 2.30129400e+02] [-6.79829420e-02 9.97686148e-01 -8.18893535e-04 -2.04979586e+01] [-9.16429024e-03 1.96297923e-04 9.99957988e-01 -6.00769707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.512414037 meters 0.07362518296716533 Centerline is valid? [True, True] Translation: X:230.16, Y:-20.50, Z:-6.01 [[ 9.97683686e-01 6.77409549e-02 6.19891007e-03 2.30157940e+02] [-6.77387961e-02 9.97702934e-01 -5.57785194e-04 -2.04987291e+01] [-6.22245566e-03 1.36586483e-04 9.99980631e-01 -6.00824063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54241403699996 meters 0.07362518296716533 Centerline is valid? [True, True] Translation: X:230.19, Y:-20.50, Z:-6.01 [[ 9.97702025e-01 6.74702963e-02 6.19899456e-03 2.30185160e+02] [-6.74681381e-02 9.97721274e-01 -5.56843793e-04 -2.05009665e+01] [-6.22243917e-03 1.37329559e-04 9.99980631e-01 -6.00883261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.572414037 meters 0.07338574458159332 Centerline is valid? [True, True] Translation: X:230.21, Y:-20.50, Z:-6.01 [[ 9.97704106e-01 6.75331679e-02 5.07826169e-03 2.30213696e+02] [-6.75317246e-02 9.97717023e-01 -4.55341582e-04 -2.05023644e+01] [-5.09741880e-03 1.11352396e-04 9.99987002e-01 -6.00820250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60241403699996 meters 0.07378692935775867 Centerline is valid? [True, True] Translation: X:230.24, Y:-20.51, Z:-6.01 [[ 9.97684341e-01 6.79303354e-02 3.37999281e-03 2.30240886e+02] [-6.79297022e-02 9.97690064e-01 -3.01925602e-04 -2.05066411e+01] [-3.39269515e-03 7.16245407e-05 9.99994242e-01 -6.01207812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.632414037 meters 0.0729005388522897 Centerline is valid? [True, True] Translation: X:230.27, Y:-20.50, Z:-6.01 [[ 9.97534391e-01 7.01789325e-02 -2.36338459e-04 2.30269657e+02] [-7.01789308e-02 9.97534419e-01 1.57790915e-05 -2.05045900e+01] [ 2.36863108e-04 8.45793998e-07 9.99999972e-01 -6.01208938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66241403699996 meters 0.0727875342490591 Centerline is valid? [True, True] Translation: X:230.30, Y:-20.51, Z:-6.01 [[ 9.97538977e-01 7.00997087e-02 -1.42136660e-03 2.30298337e+02] [-7.00996084e-02 9.97539989e-01 1.20298012e-04 -2.05053648e+01] [ 1.42630288e-03 -2.03647138e-05 9.99998983e-01 -6.01216828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.692414037 meters 0.072801010613496 Centerline is valid? [True, True] Translation: X:230.33, Y:-20.51, Z:-6.02 [[ 9.97356082e-01 7.26235755e-02 -2.58104451e-03 2.30325574e+02] [-7.26232359e-02 9.97359421e-01 2.25166357e-04 -2.05076962e+01] [ 2.59058145e-03 -3.71272314e-05 9.99996644e-01 -6.01598686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72241403699996 meters 0.07232481035125192 Centerline is valid? [True, True] Translation: X:230.35, Y:-20.51, Z:-6.01 [[ 9.97345390e-01 7.27691475e-02 -2.61213869e-03 2.30353849e+02] [-7.27688120e-02 9.97348811e-01 2.23392319e-04 -2.05083587e+01] [ 2.62146948e-03 -3.27170705e-05 9.99996563e-01 -6.01348528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.752414037 meters 0.07172980796875306 Centerline is valid? [True, True] Translation: X:230.38, Y:-20.51, Z:-6.01 [[ 9.97283782e-01 7.36224838e-02 -2.18837952e-03 2.30382695e+02] [-7.36222522e-02 9.97286182e-01 1.86331564e-04 -2.05097878e+01] [ 2.19615885e-03 -2.47120177e-05 9.99997588e-01 -6.01053373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78241403699997 meters 0.07157655443257155 Centerline is valid? [True, True] Translation: X:230.41, Y:-20.51, Z:-6.01 [[ 9.97279191e-01 7.36669249e-02 -2.72013539e-03 2.30410994e+02] [-7.36665659e-02 9.97282900e-01 2.32079391e-04 -2.05115634e+01] [ 2.72984108e-03 -3.10649148e-05 9.99996273e-01 -6.01000687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.812414037 meters 0.07129302287374745 Centerline is valid? [True, True] Translation: X:230.44, Y:-20.51, Z:-6.01 [[ 9.97302782e-01 7.33389517e-02 -2.92574580e-03 2.30438789e+02] [-7.33385387e-02 9.97307073e-01 2.48343745e-04 -2.05146162e+01] [ 2.93608025e-03 -3.31039866e-05 9.99995689e-01 -6.00896961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84241403699997 meters 0.07116720524367338 Centerline is valid? [True, True] Translation: X:230.47, Y:-20.52, Z:-6.01 [[ 9.97259791e-01 7.38799514e-02 -3.82919711e-03 2.30466361e+02] [-7.38792262e-02 9.97267141e-01 3.30702081e-04 -2.05174544e+01] [ 3.84316471e-03 -4.68977692e-05 9.99992614e-01 -6.01030011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.872414037 meters 0.07103809362180298 Centerline is valid? [True, True] Translation: X:230.49, Y:-20.52, Z:-6.01 [[ 9.97311714e-01 7.30521291e-02 -5.72123566e-03 2.30494920e+02] [-7.30505186e-02 9.97328121e-01 4.90240124e-04 -2.05209624e+01] [ 5.74176230e-03 -7.09829855e-05 9.99983513e-01 -6.01098409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90241403699997 meters 0.07123897903580442 Centerline is valid? [True, True] Translation: X:230.52, Y:-20.52, Z:-6.01 [[ 9.97314656e-01 7.29040932e-02 -6.96201801e-03 2.30522382e+02] [-7.29016774e-02 9.97338952e-01 6.00474259e-04 -2.05241138e+01] [ 6.98726878e-03 -9.13189880e-05 9.99975585e-01 -6.01400597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.932414037 meters 0.07114990995864226 Centerline is valid? [True, True] Translation: X:230.55, Y:-20.53, Z:-6.01 [[ 9.97335682e-01 7.25834786e-02 -7.29212462e-03 2.30550534e+02] [-7.25808559e-02 9.97362336e-01 6.24007567e-04 -2.05264843e+01] [ 7.31818309e-03 -9.30763671e-05 9.99973217e-01 -6.01359723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.962414037 meters 0.07152882344593577 Centerline is valid? [True, True] Translation: X:230.58, Y:-20.53, Z:-6.02 [[ 9.97342347e-01 7.23600682e-02 -8.50074738e-03 2.30577941e+02] [-7.23564663e-02 9.97378568e-01 7.30905353e-04 -2.05298733e+01] [ 8.53135161e-03 -1.13878819e-04 9.99963601e-01 -6.01570394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.992414037 meters 0.0710475318497307 Centerline is valid? [True, True] Translation: X:230.61, Y:-20.53, Z:-6.01 [[ 9.97365415e-01 7.18511148e-02 -9.98228207e-03 2.30606643e+02] [-7.18461764e-02 9.97415360e-01 8.52909092e-04 -2.05316874e+01] [ 1.00177639e-02 -1.33473232e-04 9.99949812e-01 -6.01438148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.022414037 meters 0.07093805867775066 Centerline is valid? [True, True] Translation: X:230.63, Y:-20.53, Z:-6.02 [[ 9.97295589e-01 7.27690443e-02 -1.03040591e-02 2.30633945e+02] [-7.27638155e-02 9.97348810e-01 8.81937101e-04 -2.05338737e+01] [ 1.03409188e-02 -1.29789328e-04 9.99946523e-01 -6.01533012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.052414037 meters 0.07054662791002365 Centerline is valid? [True, True] Translation: X:230.66, Y:-20.54, Z:-6.01 [[ 9.97252240e-01 7.33675466e-02 -1.02553459e-02 2.30662160e+02] [-7.33624487e-02 9.97304963e-01 8.72909506e-04 -2.05351528e+01] [ 1.02917506e-02 -1.18153675e-04 9.99947032e-01 -6.01443308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.082414037 meters 0.0705175414422383 Centerline is valid? [True, True] Translation: X:230.69, Y:-20.54, Z:-6.02 [[ 9.97236858e-01 7.35739988e-02 -1.02721143e-02 2.30688715e+02] [-7.35689027e-02 9.97289754e-01 8.73607760e-04 -2.05379469e+01] [ 1.03085492e-02 -1.15485681e-04 9.99946859e-01 -6.01549279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.112414037 meters 0.07024426703198418 Centerline is valid? [True, True] Translation: X:230.72, Y:-20.54, Z:-6.01 [[ 9.97228401e-01 7.36032469e-02 -1.08664217e-02 2.30716911e+02] [-7.35975306e-02 9.97287595e-01 9.25538055e-04 -2.05404556e+01] [ 1.09050702e-02 -1.23231030e-04 9.99940530e-01 -6.01407515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.142414037 meters 0.07050644346869714 Centerline is valid? [True, True] Translation: X:230.74, Y:-20.55, Z:-6.02 [[ 9.97259525e-01 7.30516444e-02 -1.17002991e-02 2.30744675e+02] [-7.30449888e-02 9.97328150e-01 9.95736343e-04 -2.05459399e+01] [ 1.17417779e-02 -1.38359334e-04 9.99931053e-01 -6.01737875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.172414037 meters 0.07012878397447653 Centerline is valid? [True, True] Translation: X:230.77, Y:-20.55, Z:-6.01 [[ 9.97265649e-01 7.29531754e-02 -1.17923348e-02 2.30772763e+02] [-7.29464924e-02 9.97335358e-01 9.96424397e-04 -2.05481658e+01] [ 1.18336048e-02 -1.33490364e-04 9.99929972e-01 -6.01494090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.202414037 meters 0.07055847870495896 Centerline is valid? [True, True] Translation: X:230.80, Y:-20.55, Z:-6.02 [[ 9.97349375e-01 7.15259048e-02 -1.33517336e-02 2.30800774e+02] [-7.15172310e-02 9.97438728e-01 1.12658307e-03 -2.05534896e+01] [ 1.33981161e-02 -1.68717900e-04 9.99910227e-01 -6.01625292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.232414037 meters 0.07050181397649653 Centerline is valid? [True, True] Translation: X:230.83, Y:-20.56, Z:-6.02 [[ 9.97413776e-01 7.05075555e-02 -1.39443119e-02 2.30829372e+02] [-7.04980386e-02 9.97511228e-01 1.17348148e-03 -2.05564376e+01] [ 1.39923470e-02 -1.87399960e-04 9.99902085e-01 -6.01627821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.262414037 meters 0.07073933684794911 Centerline is valid? [True, True] Translation: X:230.86, Y:-20.56, Z:-6.02 [[ 9.97514621e-01 6.90541619e-02 -1.40036933e-02 2.30858067e+02] [-6.90444658e-02 9.97612891e-01 1.17525745e-03 -2.05603144e+01] [ 1.40514214e-02 -2.05458967e-04 9.99901253e-01 -6.01579983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.29241403699996 meters 0.07081923918470474 Centerline is valid? [True, True] Translation: X:230.89, Y:-20.56, Z:-6.02 [[ 9.97565592e-01 6.83930756e-02 -1.36116560e-02 2.30886162e+02] [-6.83838262e-02 9.97658430e-01 1.14433661e-03 -2.05634645e+01] [ 1.36580480e-02 -2.10733707e-04 9.99906702e-01 -6.01566952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.322414037 meters 0.07076009894809923 Centerline is valid? [True, True] Translation: X:230.91, Y:-20.57, Z:-6.02 [[ 9.97574524e-01 6.82000539e-02 -1.39220100e-02 2.30914269e+02] [-6.81903742e-02 9.97671642e-01 1.16935188e-03 -2.05666996e+01] [ 1.39693445e-02 -2.17168567e-04 9.99902400e-01 -6.01593321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35241403699996 meters 0.07128402930879016 Centerline is valid? [True, True] Translation: X:230.94, Y:-20.57, Z:-6.02 [[ 9.97752765e-01 6.57686886e-02 -1.28023295e-02 2.30940544e+02] [-6.57603612e-02 9.97834870e-01 1.07079299e-03 -2.05730371e+01] [ 1.28450355e-02 -2.26500856e-04 9.99917473e-01 -6.01568452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.382414037 meters 0.07096337246260898 Centerline is valid? [True, True] Translation: X:230.97, Y:-20.58, Z:-6.02 [[ 9.97790507e-01 6.52713650e-02 -1.23997399e-02 2.30967974e+02] [-6.52635798e-02 9.97867526e-01 1.03188955e-03 -2.05759738e+01] [ 1.24406506e-02 -2.20358186e-04 9.99922588e-01 -6.01503305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41241403699996 meters 0.07151707430798365 Centerline is valid? [True, True] Translation: X:231.00, Y:-20.58, Z:-6.02 [[ 9.98011092e-01 6.17647705e-02 -1.26084525e-02 2.30996112e+02] [-6.17564671e-02 9.98090698e-01 1.04721356e-03 -2.05835756e+01] [ 1.26490600e-02 -2.66477270e-04 9.99919962e-01 -6.01576553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.442414037 meters 0.07177254282078094 Centerline is valid? [True, True] Translation: X:231.02, Y:-20.59, Z:-6.02 [[ 9.98120132e-01 6.00150810e-02 -1.24254572e-02 2.31024688e+02] [-6.00069178e-02 9.98197431e-01 1.02909142e-03 -2.05888016e+01] [ 1.24648205e-02 -2.81543473e-04 9.99922271e-01 -6.01667817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47241403699996 meters 0.07209701899901015 Centerline is valid? [True, True] Translation: X:231.05, Y:-20.59, Z:-6.02 [[ 9.98227667e-01 5.80840049e-02 -1.29527493e-02 2.31053446e+02] [-5.80750090e-02 9.98311649e-01 1.06989310e-03 -2.05926681e+01] [ 1.29930242e-02 -3.15765861e-04 9.99915537e-01 -6.01635649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.502414037 meters 0.07309335790936355 Centerline is valid? [True, True] Translation: X:231.08, Y:-20.60, Z:-6.02 [[ 9.98445336e-01 5.41441147e-02 -1.32410837e-02 2.31081282e+02] [-5.41343301e-02 9.98533060e-01 1.09651800e-03 -2.05999784e+01] [ 1.32810298e-02 -3.78016084e-04 9.99911732e-01 -6.01794912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53241403699997 meters 0.07385468992149447 Centerline is valid? [True, True] Translation: X:231.11, Y:-20.61, Z:-6.02 [[ 9.98652487e-01 5.00670651e-02 -1.36564445e-02 2.31110353e+02] [-5.00562803e-02 9.98745759e-01 1.13061002e-03 -2.06056810e+01] [ 1.36959224e-02 -4.45495692e-04 9.99906107e-01 -6.01841750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.562414037 meters 0.07541770839192286 Centerline is valid? [True, True] Translation: X:231.14, Y:-20.61, Z:-6.02 [[ 9.98737686e-01 4.81424486e-02 -1.43296368e-02 2.31138610e+02] [-4.81303857e-02 9.98840358e-01 1.18568772e-03 -2.06129363e+01] [ 1.43701014e-02 -4.94500062e-04 9.99896622e-01 -6.02250155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59241403699997 meters 0.07587201241194279 Centerline is valid? [True, True] Translation: X:231.17, Y:-20.62, Z:-6.02 [[ 9.98809828e-01 4.66358181e-02 -1.42838385e-02 2.31165697e+02] [-4.66237118e-02 9.98911827e-01 1.17956648e-03 -2.06171379e+01] [ 1.43233053e-02 -5.12197024e-04 9.99897285e-01 -6.02341248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.622414037 meters 0.07627340685859095 Centerline is valid? [True, True] Translation: X:231.20, Y:-20.62, Z:-6.02 [[ 9.98983479e-01 4.27348009e-02 -1.43438532e-02 2.31196230e+02] [-4.27221615e-02 9.99086287e-01 1.18657293e-03 -2.06213270e+01] [ 1.43814550e-02 -5.72566342e-04 9.99896418e-01 -6.02241545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65241403699997 meters 0.07666910580777046 Centerline is valid? [True, True] Translation: X:231.22, Y:-20.63, Z:-6.02 [[ 9.99070194e-01 4.09467096e-02 -1.34949572e-02 2.31224866e+02] [-4.09354686e-02 9.99161178e-01 1.10826897e-03 -2.06250025e+01] [ 1.35290173e-02 -5.54816097e-04 9.99908325e-01 -6.02272140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.682414037 meters 0.079229738490781 Centerline is valid? [True, True] Translation: X:231.25, Y:-20.63, Z:-6.03 [[ 9.99202140e-01 3.79202185e-02 -1.25355878e-02 2.31252853e+02] [-3.79102443e-02 9.99280615e-01 1.03242016e-03 -2.06345461e+01] [ 1.25657195e-02 -5.56369231e-04 9.99920893e-01 -6.02575798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.712414037 meters 0.07932417632267726 Centerline is valid? [True, True] Translation: X:231.28, Y:-20.64, Z:-6.02 [[ 9.99266498e-01 3.64682871e-02 -1.16846019e-02 2.31281210e+02] [-3.64595970e-02 9.99334671e-01 9.55953677e-04 -2.06372251e+01] [ 1.17116898e-02 -5.29236606e-04 9.99931276e-01 -6.02460771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.742414037 meters 0.0787897653495501 Centerline is valid? [True, True] Translation: X:231.31, Y:-20.64, Z:-6.02 [[ 9.99328850e-01 3.49337074e-02 -1.10220178e-02 2.31309672e+02] [-3.49259137e-02 9.99389500e-01 8.98857066e-04 -2.06374930e+01] [ 1.10466893e-02 -5.13299755e-04 9.99938852e-01 -6.02320667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.772414037 meters 0.08010708145150139 Centerline is valid? [True, True] Translation: X:231.34, Y:-20.64, Z:-6.03 [[ 9.99381057e-01 3.34046322e-02 -1.10287395e-02 2.31337312e+02] [-3.33967110e-02 9.99441768e-01 9.01670373e-04 -2.06426878e+01] [ 1.10527029e-02 -5.32788665e-04 9.99938775e-01 -6.02540979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.802414037 meters 0.08091522116892055 Centerline is valid? [True, True] Translation: X:231.37, Y:-20.65, Z:-6.03 [[ 9.99425652e-01 3.18712354e-02 -1.15147672e-02 2.31366882e+02] [-3.18624906e-02 9.99491818e-01 9.42141554e-04 -2.06462194e+01] [ 1.15389428e-02 -5.74711275e-04 9.99933259e-01 -6.02603221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.832414037 meters 0.08198692880787034 Centerline is valid? [True, True] Translation: X:231.39, Y:-20.65, Z:-6.03 [[ 9.99496303e-01 3.01181472e-02 -1.00018478e-02 2.31394464e+02] [-3.01114814e-02 9.99546213e-01 8.16415738e-04 -2.06505567e+01] [ 1.00218980e-02 -5.14834059e-04 9.99949647e-01 -6.02726730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.862414037 meters 0.08332528597282164 Centerline is valid? [True, True] Translation: X:231.42, Y:-20.65, Z:-6.03 [[ 9.99546089e-01 2.84165351e-02 -1.00058055e-02 2.31422901e+02] [-2.84098321e-02 9.99596030e-01 8.11433674e-04 -2.06545746e+01] [ 1.00248215e-02 -5.26802102e-04 9.99949611e-01 -6.02879371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.892414037 meters 0.08401675723460994 Centerline is valid? [True, True] Translation: X:231.45, Y:-20.66, Z:-6.03 [[ 9.99627555e-01 2.58455549e-02 -8.76120012e-03 2.31452376e+02] [-2.58402890e-02 9.99665829e-01 7.13733028e-04 -2.06580880e+01] [ 8.77671921e-03 -4.87075259e-04 9.99961365e-01 -6.02922065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.922414037 meters 0.08534522123656972 Centerline is valid? [True, True] Translation: X:231.48, Y:-20.66, Z:-6.03 [[ 9.99666900e-01 2.41073089e-02 -9.21552013e-03 2.31481468e+02] [-2.41014114e-02 9.99709237e-01 7.50491952e-04 -2.06627104e+01] [ 9.23093294e-03 -5.28134922e-04 9.99957255e-01 -6.03082247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.952414037 meters 0.08711214258814337 Centerline is valid? [True, True] Translation: X:231.51, Y:-20.67, Z:-6.03 [[ 9.99737372e-01 2.11244765e-02 -8.88497582e-03 2.31511788e+02] [-2.11188712e-02 9.99776709e-01 7.24233563e-04 -2.06676424e+01] [ 8.89829094e-03 -5.36402699e-04 9.99960266e-01 -6.03305686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.982414037 meters 0.08813725158925789 Centerline is valid? [True, True] Translation: X:231.54, Y:-20.67, Z:-6.03 [[ 9.99773868e-01 1.95919425e-02 -8.26850657e-03 2.31539939e+02] [-1.95870556e-02 9.99807930e-01 6.71603065e-04 -2.06711099e+01] [ 8.28007645e-03 -5.09495496e-04 9.99965590e-01 -6.03409844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.012414037 meters 0.09068929072504074 Centerline is valid? [True, True] Translation: X:231.57, Y:-20.68, Z:-6.04 [[ 9.99832077e-01 1.69957043e-02 -6.85295398e-03 2.31568411e+02] [-1.69922862e-02 9.99855466e-01 5.56693275e-04 -2.06768400e+01] [ 6.86142489e-03 -4.40152438e-04 9.99976363e-01 -6.03563668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04241403699996 meters 0.09193881209438001 Centerline is valid? [True, True] Translation: X:231.60, Y:-20.68, Z:-6.04 [[ 9.99868705e-01 1.53543347e-02 -5.17845338e-03 2.31597095e+02] [-1.53523658e-02 9.99882057e-01 4.19764667e-04 -2.06806072e+01] [ 5.18428783e-03 -3.40208043e-04 9.99986504e-01 -6.03659320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.072414037 meters 0.09068135843346266 Centerline is valid? [True, True] Translation: X:231.63, Y:-20.68, Z:-6.04 [[ 9.99903425e-01 1.32151714e-02 -4.30111820e-03 2.31626343e+02] [-1.32137940e-02 9.99912633e-01 3.48503638e-04 -2.06790238e+01] [ 4.30534797e-03 -2.91635892e-04 9.99990689e-01 -6.03549118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10241403699996 meters 0.09444261763568564 Centerline is valid? [True, True] Translation: X:231.65, Y:-20.69, Z:-6.04 [[ 9.99939138e-01 1.07544117e-02 -2.46245772e-03 2.31653762e+02] [-1.07539555e-02 9.99942155e-01 1.98434678e-04 -2.06858902e+01] [ 2.46444932e-03 -1.71941440e-04 9.99996948e-01 -6.03752385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.132414037 meters 0.09711220905811421 Centerline is valid? [True, True] Translation: X:231.68, Y:-20.69, Z:-6.04 [[ 9.99950478e-01 9.86989284e-03 -1.27530336e-03 2.31680862e+02] [-9.86977105e-03 9.99951287e-01 1.01759654e-04 -2.06916657e+01] [ 1.27624559e-03 -8.91676626e-05 9.99999182e-01 -6.03919660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16241403699996 meters 0.09471756382343931 Centerline is valid? [True, True] Translation: X:231.71, Y:-20.69, Z:-6.04 [[ 9.99981546e-01 6.05143221e-03 5.36895050e-04 2.31711383e+02] [-6.05140963e-03 9.99981689e-01 -4.36714859e-05 -2.06867603e+01] [-5.37149494e-04 4.04217081e-05 9.99999855e-01 -6.03729742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.192414037 meters 0.09669256732891894 Centerline is valid? [True, True] Translation: X:231.74, Y:-20.69, Z:-6.04 [[ 9.99991581e-01 3.99554004e-03 9.34260108e-04 2.31740154e+02] [-3.99547088e-03 9.99992015e-01 -7.58785259e-05 -2.06913733e+01] [-9.34555823e-04 7.21450781e-05 9.99999561e-01 -6.03813701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22241403699996 meters 0.09971819183862494 Centerline is valid? [True, True] Translation: X:231.77, Y:-20.70, Z:-6.04 [[ 9.99997281e-01 5.07176464e-04 2.27625940e-03 2.31768973e+02] [-5.06757581e-04 9.99999855e-01 -1.84595413e-04 -2.06975295e+01] [-2.27635269e-03 1.83441400e-04 9.99997392e-01 -6.04009167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.252414037 meters 0.10068633900046442 Centerline is valid? [True, False] Translation: X:231.77, Y:-20.70, Z:-6.04 [[ 9.99996824e-01 3.61758642e-04 2.49433266e-03 2.31768698e+02] [-3.61397524e-04 9.99999924e-01 -1.45224337e-04 -2.06971202e+01] [-2.49438501e-03 1.44322430e-04 9.99996879e-01 -6.04057788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28241403699997 meters 0.10208523732470487 Centerline is valid? [False, False] Translation: X:231.77, Y:-20.70, Z:-6.04 [[ 9.99996537e-01 3.63296021e-04 2.60665296e-03 2.31768728e+02] [-3.63334549e-04 9.99999934e-01 1.43072990e-05 -2.06970206e+01] [-2.60664759e-03 -1.52543365e-05 9.99996603e-01 -6.04111604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.312414037 meters 0.10420729350773009 Centerline is valid? [False, False] Translation: X:231.77, Y:-20.70, Z:-6.04 [[ 9.99993555e-01 -3.20385425e-03 1.62027753e-03 2.31771453e+02] [ 3.21101336e-03 9.99985009e-01 -4.43531946e-03 -2.06951940e+01] [-1.60604312e-03 4.44049360e-03 9.99988851e-01 -6.04148481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34241403699997 meters 0.10376609375686871 Centerline is valid? [False, False] Translation: X:231.77, Y:-20.70, Z:-6.04 [[ 9.99996849e-01 1.07398163e-03 2.26899805e-03 2.31770738e+02] [-1.07549791e-03 9.99999199e-01 6.67144657e-04 -2.06965937e+01] [-2.26827974e-03 -6.69582857e-04 9.99997203e-01 -6.04299368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.372414037 meters 0.10166972416676814 Centerline is valid? [False, False] Translation: X:231.77, Y:-20.70, Z:-6.04 [[ 9.99997471e-01 1.22811651e-03 1.88429071e-03 2.31771636e+02] [-1.22871728e-03 9.99999195e-01 3.17705016e-04 -2.06955303e+01] [-1.88389902e-03 -3.20019473e-04 9.99998174e-01 -6.04277113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40241403699997 meters 0.09512387731852144 Centerline is valid? [False, True] Translation: X:231.77, Y:-20.69, Z:-6.04 [[ 9.99997891e-01 1.57378341e-03 1.31992025e-03 2.31773146e+02] [-1.57369857e-03 9.99998760e-01 -6.53100052e-05 -2.06938841e+01] [-1.32002140e-03 6.32327108e-05 9.99999127e-01 -6.04278011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.432414037 meters 0.09512387731852144 Centerline is valid? [True, True] Translation: X:231.80, Y:-20.70, Z:-6.04 [[ 9.99997894e-01 1.57433664e-03 1.31696951e-03 2.31803144e+02] [-1.57420231e-03 9.99998756e-01 -1.03028285e-04 -2.06962139e+01] [-1.31713007e-03 1.00954891e-04 9.99999127e-01 -6.04319785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.462414037 meters 0.0947658897232126 Centerline is valid? [True, True] Translation: X:231.83, Y:-20.70, Z:-6.04 [[ 9.99987292e-01 3.86117440e-03 3.24161737e-03 2.31832659e+02] [-3.86037475e-03 9.99992517e-01 -2.52901653e-04 -2.06977210e+01] [-3.24256961e-03 2.40384582e-04 9.99994714e-01 -6.04308789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.492414037 meters 0.09097133509872991 Centerline is valid? [True, True] Translation: X:231.86, Y:-20.69, Z:-6.04 [[ 9.99978274e-01 5.37630413e-03 3.81393380e-03 2.31862974e+02] [-5.37520273e-03 9.99985509e-01 -2.98976995e-04 -2.06909007e+01] [-3.81548593e-03 2.78469832e-04 9.99992682e-01 -6.04283662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.522414037 meters 0.08816258572709353 Centerline is valid? [True, True] Translation: X:231.89, Y:-20.69, Z:-6.04 [[ 9.99932525e-01 1.04026480e-02 5.17004548e-03 2.31893661e+02] [-1.04006926e-02 9.99945829e-01 -4.04969548e-04 -2.06856885e+01] [-5.17397817e-03 3.51170170e-04 9.99986553e-01 -6.04307544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.552414037 meters 0.08732617410744468 Centerline is valid? [True, True] Translation: X:231.92, Y:-20.69, Z:-6.04 [[ 9.99895073e-01 1.32663214e-02 5.81786328e-03 2.31922579e+02] [-1.32638955e-02 9.99911927e-01 -4.55367417e-04 -2.06852703e+01] [-5.82339193e-03 3.78152106e-04 9.99982972e-01 -6.04309554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.582414037 meters 0.08466298738217799 Centerline is valid? [True, True] Translation: X:231.95, Y:-20.68, Z:-6.04 [[ 9.99782213e-01 1.94381882e-02 7.59496190e-03 2.31953506e+02] [-1.94342344e-02 9.99810961e-01 -5.94046488e-04 -2.06807997e+01] [-7.60507335e-03 4.46314843e-04 9.99970981e-01 -6.04233346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.612414037 meters 0.08369085196388891 Centerline is valid? [True, True] Translation: X:231.98, Y:-20.68, Z:-6.04 [[ 9.99710262e-01 2.23915319e-02 8.83244654e-03 2.31983301e+02] [-2.23863031e-02 9.99749157e-01 -6.90435947e-04 -2.06804315e+01] [-8.84569090e-03 4.92510076e-04 9.99960755e-01 -6.04185546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.642414037 meters 0.08156393386960246 Centerline is valid? [True, True] Translation: X:232.01, Y:-20.68, Z:-6.04 [[ 9.99541134e-01 2.84534435e-02 1.03886268e-02 2.32013854e+02] [-2.84465421e-02 9.99594986e-01 -8.11508332e-04 -2.06767911e+01] [-1.04075095e-02 5.15615448e-04 9.99945707e-01 -6.04233246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.672414037 meters 0.08164207942926667 Centerline is valid? [True, True] Translation: X:232.04, Y:-20.68, Z:-6.04 [[ 9.99490756e-01 3.01652456e-02 1.04060784e-02 2.32042148e+02] [-3.01584111e-02 9.99544801e-01 -8.13108248e-04 -2.06788571e+01] [-1.04258691e-02 4.98863388e-04 9.99945525e-01 -6.04348035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.702414037 meters 0.07978498556492926 Centerline is valid? [True, True] Translation: X:232.07, Y:-20.68, Z:-6.04 [[ 9.99375055e-01 3.36314104e-02 1.08824874e-02 2.32072628e+02] [-3.36241504e-02 9.99434187e-01 -8.49451257e-04 -2.06765396e+01] [-1.09048982e-02 4.83006004e-04 9.99940423e-01 -6.04338014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.732414037 meters 0.07786963745581992 Centerline is valid? [True, True] Translation: X:232.10, Y:-20.67, Z:-6.04 [[ 9.99139370e-01 3.98975941e-02 1.13446636e-02 2.32103101e+02] [-3.98901142e-02 9.99203681e-01 -8.84929731e-04 -2.06729377e+01] [-1.13709362e-02 4.31628208e-04 9.99935256e-01 -6.04411575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.762414037 meters 0.07671470644076751 Centerline is valid? [True, True] Translation: X:232.13, Y:-20.67, Z:-6.04 [[ 9.99027207e-01 4.26688997e-02 1.11357382e-02 2.32132622e+02] [-4.26618567e-02 9.99089190e-01 -8.69358116e-04 -2.06709173e+01] [-1.11626902e-02 3.93441146e-04 9.99937618e-01 -6.04477733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79241403699996 meters 0.07640013113775014 Centerline is valid? [True, True] Translation: X:232.16, Y:-20.67, Z:-6.05 [[ 9.98915495e-01 4.52613195e-02 1.09199996e-02 2.32160210e+02] [-4.52547330e-02 9.98975118e-01 -8.49638162e-04 -2.06715423e+01] [-1.09472637e-02 3.54535058e-04 9.99940014e-01 -6.04557659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.822414037 meters 0.07444161330723455 Centerline is valid? [True, True] Translation: X:232.19, Y:-20.67, Z:-6.04 [[ 9.98542420e-01 5.25610076e-02 1.22627614e-02 2.32190346e+02] [-5.25532674e-02 9.98617668e-01 -9.52800782e-04 -2.06657375e+01] [-1.22958904e-02 3.06963819e-04 9.99924356e-01 -6.04387785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85241403699996 meters 0.07373522194934744 Centerline is valid? [True, True] Translation: X:232.22, Y:-20.66, Z:-6.04 [[ 9.98337377e-01 5.63000063e-02 1.23608902e-02 2.32219213e+02] [-5.62924323e-02 9.98413862e-01 -9.60085795e-04 -2.06637865e+01] [-1.23953370e-02 2.62664957e-04 9.99923140e-01 -6.04403691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.882414037 meters 0.07278040848793571 Centerline is valid? [True, True] Translation: X:232.25, Y:-20.66, Z:-6.04 [[ 9.97969711e-01 6.22929876e-02 1.32679892e-02 2.32248213e+02] [-6.22848035e-02 9.98057886e-01 -1.02955744e-03 -2.06604260e+01] [-1.33063555e-02 2.01073041e-04 9.99911446e-01 -6.04365456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91241403699996 meters 0.07252534063140421 Centerline is valid? [True, True] Translation: X:232.28, Y:-20.66, Z:-6.04 [[ 9.97883211e-01 6.37859023e-02 1.26671100e-02 2.32275771e+02] [-6.37785728e-02 9.97963591e-01 -9.82152711e-04 -2.06618196e+01] [-1.27039621e-02 1.72183501e-04 9.99919287e-01 -6.04430339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.942414037 meters 0.07216413641837496 Centerline is valid? [True, True] Translation: X:232.30, Y:-20.66, Z:-6.05 [[ 9.97722664e-01 6.62170820e-02 1.28368372e-02 2.32304756e+02] [-6.62097666e-02 9.97805230e-01 -9.94486275e-04 -2.06612180e+01] [-1.28745153e-02 1.42297498e-04 9.99917110e-01 -6.04505715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97241403699996 meters 0.0720633151118436 Centerline is valid? [True, True] Translation: X:232.33, Y:-20.66, Z:-6.05 [[ 9.97532990e-01 6.90943369e-02 1.24059188e-02 2.32332710e+02] [-6.90877665e-02 9.97610126e-01 -9.57915456e-04 -2.06617955e+01] [-1.24424567e-02 9.84550489e-05 9.99922585e-01 -6.04596916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.002414037 meters 0.07176970381168284 Centerline is valid? [True, True] Translation: X:232.36, Y:-20.66, Z:-6.05 [[ 9.97369167e-01 7.12033415e-02 1.35951585e-02 2.32361899e+02] [-7.11956625e-02 9.97461818e-01 -1.04859790e-03 -2.06626570e+01] [-1.36353152e-02 7.79228967e-05 9.99907032e-01 -6.04639712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03241403699997 meters 0.07166791235217493 Centerline is valid? [True, True] Translation: X:232.39, Y:-20.66, Z:-6.05 [[ 9.97162938e-01 7.41395242e-02 1.30156454e-02 2.32390482e+02] [-7.41327700e-02 9.97247878e-01 -1.00129665e-03 -2.06621470e+01] [-1.30540604e-02 3.35700613e-05 9.99914792e-01 -6.04636610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.062414037 meters 0.0716758383468083 Centerline is valid? [True, True] Translation: X:232.42, Y:-20.66, Z:-6.05 [[ 9.97078602e-01 7.52206885e-02 1.32706238e-02 2.32417643e+02] [-7.52138055e-02 9.97166911e-01 -1.01770211e-03 -2.06628752e+01] [-1.33095792e-02 1.65948782e-05 9.99911423e-01 -6.04694477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09241403699997 meters 0.07159917288261886 Centerline is valid? [True, True] Translation: X:232.45, Y:-20.66, Z:-6.05 [[ 9.97015855e-01 7.60197651e-02 1.34305954e-02 2.32445904e+02] [-7.60128192e-02 9.97106311e-01 -1.02762633e-03 -2.06634575e+01] [-1.34698514e-02 3.66232323e-06 9.99909277e-01 -6.04718705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.122414037 meters 0.07149707848197155 Centerline is valid? [True, True] Translation: X:232.47, Y:-20.66, Z:-6.05 [[ 9.96988696e-01 7.64448658e-02 1.30277982e-02 2.32472952e+02] [-7.64384130e-02 9.97073810e-01 -9.93257265e-04 -2.06649782e+01] [-1.30656058e-02 -5.55795616e-06 9.99914641e-01 -6.04756531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15241403699997 meters 0.07131867499478171 Centerline is valid? [True, True] Translation: X:232.50, Y:-20.67, Z:-6.05 [[ 9.96920319e-01 7.72980987e-02 1.32242949e-02 2.32500975e+02] [-7.72915423e-02 9.97008026e-01 -1.00691496e-03 -2.06656267e+01] [-1.32625607e-02 -1.83121593e-05 9.99912048e-01 -6.04805205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.182414037 meters 0.07134115764764128 Centerline is valid? [True, True] Translation: X:232.53, Y:-20.67, Z:-6.05 [[ 9.96945597e-01 7.69229353e-02 1.35032569e-02 2.32528334e+02] [-7.69161146e-02 9.97037041e-01 -1.02449701e-03 -2.06671046e+01] [-1.35420546e-02 -1.72502720e-05 9.99908302e-01 -6.04900692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.212414037 meters 0.07115474884654792 Centerline is valid? [True, True] Translation: X:232.56, Y:-20.67, Z:-6.05 [[ 9.96895913e-01 7.77367550e-02 1.24714202e-02 2.32555453e+02] [-7.77310413e-02 9.96973919e-01 -9.42954188e-04 -2.06662100e+01] [-1.25069828e-02 -2.93892991e-05 9.99921784e-01 -6.04909651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.242414037 meters 0.07095271076355256 Centerline is valid? [True, True] Translation: X:232.58, Y:-20.67, Z:-6.05 [[ 9.96920691e-01 7.74453807e-02 1.23023586e-02 2.32583051e+02] [-7.74398239e-02 9.96996596e-01 -9.28124938e-04 -2.06658209e+01] [-1.23372886e-02 -2.74255267e-05 9.99923892e-01 -6.04953771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.272414037 meters 0.07078725343855984 Centerline is valid? [True, True] Translation: X:232.61, Y:-20.67, Z:-6.05 [[ 9.97014845e-01 7.62727673e-02 1.19943553e-02 2.32609608e+02] [-7.62674426e-02 9.97086990e-01 -9.01380760e-04 -2.06675073e+01] [-1.20281664e-02 -1.60888023e-05 9.99927659e-01 -6.05059466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.302414037 meters 0.07074413213523105 Centerline is valid? [True, True] Translation: X:232.64, Y:-20.67, Z:-6.05 [[ 9.97192907e-01 7.39240596e-02 1.18970103e-02 2.32637470e+02] [-7.39186654e-02 9.97263873e-01 -8.93097016e-04 -2.06712064e+01] [-1.19304800e-02 1.11788844e-05 9.99928829e-01 -6.05048865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.332414037 meters 0.07084847692731978 Centerline is valid? [True, True] Translation: X:232.66, Y:-20.68, Z:-6.05 [[ 9.97557640e-01 6.90686675e-02 1.04054522e-02 2.32664774e+02] [-6.90643070e-02 9.97611906e-01 -7.78243382e-04 -2.06776833e+01] [-1.04343552e-02 5.76972891e-05 9.99945559e-01 -6.05312860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.362414037 meters 0.071007747710346 Centerline is valid? [True, True] Translation: X:232.69, Y:-20.68, Z:-6.05 [[ 9.97733122e-01 6.64841634e-02 1.04150351e-02 2.32692761e+02] [-6.64796627e-02 9.97787477e-01 -7.78126695e-04 -2.06816181e+01] [-1.04437246e-02 8.39747599e-05 9.99945459e-01 -6.05301278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.392414037 meters 0.07093231728390854 Centerline is valid? [True, True] Translation: X:232.72, Y:-20.69, Z:-6.05 [[ 9.97980319e-01 6.28037360e-02 9.53800855e-03 2.32721229e+02] [-6.27998125e-02 9.98025891e-01 -7.10592977e-04 -2.06864928e+01] [-9.56380738e-03 1.10172658e-04 9.99954260e-01 -6.05384831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.422414037 meters 0.07097251753807146 Centerline is valid? [True, True] Translation: X:232.75, Y:-20.69, Z:-6.05 [[ 9.98129548e-01 6.05258628e-02 8.60384601e-03 2.32749719e+02] [-6.05225984e-02 9.98166622e-01 -6.39512996e-04 -2.06898946e+01] [-8.62677899e-03 1.17589701e-04 9.99962782e-01 -6.05436363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.452414037 meters 0.07102224009202701 Centerline is valid? [True, True] Translation: X:232.78, Y:-20.69, Z:-6.05 [[ 9.98248752e-01 5.85644667e-02 8.34455911e-03 2.32776847e+02] [-5.85613506e-02 9.98283620e-01 -6.17485730e-04 -2.06928387e+01] [-8.36639940e-03 1.27735708e-04 9.99964993e-01 -6.05442319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.482414037 meters 0.07104530104094796 Centerline is valid? [True, True] Translation: X:232.81, Y:-20.70, Z:-6.05 [[ 9.98442126e-01 5.52448006e-02 7.83154647e-03 2.32805713e+02] [-5.52419522e-02 9.98472829e-01 -5.79731169e-04 -2.06961828e+01] [-7.85161349e-03 1.46198105e-04 9.99969165e-01 -6.05357580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.512414037 meters 0.07140022507764383 Centerline is valid? [True, True] Translation: X:232.83, Y:-20.70, Z:-6.05 [[ 9.98565192e-01 5.30311330e-02 7.43341424e-03 2.32834605e+02] [-5.30285173e-02 9.98592848e-01 -5.48666773e-04 -2.06998107e+01] [-7.45205072e-03 1.53696606e-04 9.99972221e-01 -6.05363623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54241403699996 meters 0.07187991548837454 Centerline is valid? [True, True] Translation: X:232.86, Y:-20.71, Z:-6.06 [[ 9.98655967e-01 5.14502514e-02 6.25544851e-03 2.32861609e+02] [-5.14483821e-02 9.98675549e-01 -4.59483859e-04 -2.07059827e+01] [-6.27080403e-03 1.37033592e-04 9.99980329e-01 -6.05531108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.572414037 meters 0.07142894829350548 Centerline is valid? [True, True] Translation: X:232.89, Y:-20.71, Z:-6.06 [[ 9.98680967e-01 5.10071868e-02 5.88165979e-03 2.32889637e+02] [-5.10055193e-02 9.98698277e-01 -4.33270735e-04 -2.07065340e+01] [-5.89610342e-03 1.32702125e-04 9.99982609e-01 -6.05557683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60241403699996 meters 0.07148444146125704 Centerline is valid? [True, True] Translation: X:232.92, Y:-20.71, Z:-6.06 [[ 9.98699045e-01 5.05930104e-02 6.36908342e-03 2.32916090e+02] [-5.05910681e-02 9.98719343e-01 -4.65797310e-04 -2.07092022e+01] [-6.38449290e-03 1.42972595e-04 9.99979609e-01 -6.05639956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.632414037 meters 0.07106905473789547 Centerline is valid? [True, True] Translation: X:232.94, Y:-20.71, Z:-6.06 [[ 9.98624709e-01 5.20764585e-02 6.06069902e-03 2.32943850e+02] [-5.20747328e-02 9.98643093e-01 -4.42307162e-04 -2.07099912e+01] [-6.07550900e-03 1.26089579e-04 9.99981536e-01 -6.05706491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66241403699996 meters 0.0705811074417565 Centerline is valid? [True, True] Translation: X:232.97, Y:-20.71, Z:-6.06 [[ 9.98552625e-01 5.33787377e-02 6.58525041e-03 2.32972783e+02] [-5.33767249e-02 9.98574331e-01 -4.81156870e-04 -2.07097998e+01] [-6.60154557e-03 1.28961357e-04 9.99978201e-01 -6.05711695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.692414037 meters 0.06986724625162105 Centerline is valid? [True, True] Translation: X:233.00, Y:-20.71, Z:-6.06 [[ 9.98312608e-01 5.76967169e-02 6.55938131e-03 2.33001103e+02] [-5.76948314e-02 9.98334152e-01 -4.76475955e-04 -2.07066076e+01] [-6.57594547e-03 9.72295551e-05 9.99978374e-01 -6.05660940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72241403699996 meters 0.06956678180880395 Centerline is valid? [True, True] Translation: X:233.03, Y:-20.71, Z:-6.06 [[ 9.98216831e-01 5.93112612e-02 6.73293969e-03 2.33029833e+02] [-5.93093073e-02 9.98239534e-01 -4.89679694e-04 -2.07052977e+01] [-6.75013010e-03 8.94805229e-05 9.99977214e-01 -6.05612928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.752414037 meters 0.0690890797329828 Centerline is valid? [True, True] Translation: X:233.06, Y:-20.70, Z:-6.06 [[ 9.97871586e-01 6.49021664e-02 6.32512853e-03 2.33057830e+02] [-6.49005704e-02 9.97891631e-01 -4.57470708e-04 -2.07027516e+01] [-6.34148366e-03 4.59925720e-05 9.99979892e-01 -6.05668623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78241403699997 meters 0.06884364061232592 Centerline is valid? [True, True] Translation: X:233.09, Y:-20.70, Z:-6.06 [[ 9.97690954e-01 6.76978131e-02 5.45579334e-03 2.33086184e+02] [-6.76966599e-02 9.97705871e-01 -3.95980402e-04 -2.07011933e+01] [-5.47008406e-03 2.57270788e-05 9.99985039e-01 -6.05616405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.812414037 meters 0.06887317826605413 Centerline is valid? [True, True] Translation: X:233.11, Y:-20.70, Z:-6.06 [[ 9.97367078e-01 7.23961594e-02 4.20813174e-03 2.33114036e+02] [-7.23955242e-02 9.97375955e-01 -3.03279136e-04 -2.06996889e+01] [-4.21904566e-03 -2.16927815e-06 9.99991100e-01 -6.05704585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84241403699997 meters 0.06904278630563179 Centerline is valid? [True, True] Translation: X:233.14, Y:-20.70, Z:-6.06 [[ 9.97202997e-01 7.46020925e-02 4.55097694e-03 2.33142076e+02] [-7.46013665e-02 9.97213381e-01 -3.29310843e-04 -2.07001903e+01] [-4.56286238e-03 -1.11193387e-05 9.99989590e-01 -6.05647182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.872414037 meters 0.06933509098775771 Centerline is valid? [True, True] Translation: X:233.17, Y:-20.70, Z:-6.06 [[ 9.97080792e-01 7.62366289e-02 4.22748554e-03 2.33169481e+02] [-7.62360268e-02 9.97089753e-01 -3.03627578e-04 -2.07004648e+01] [-4.23833006e-03 -1.95454747e-05 9.99991018e-01 -6.05727571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90241403699997 meters 0.06978061403827249 Centerline is valid? [True, True] Translation: X:233.20, Y:-20.70, Z:-6.06 [[ 9.96621297e-01 8.20504821e-02 3.70241517e-03 2.33197915e+02] [-8.20500630e-02 9.96628174e-01 -2.65218579e-04 -2.06986367e+01] [-3.71169258e-03 -3.94609141e-05 9.99993111e-01 -6.05726221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.932414037 meters 0.07034533717142988 Centerline is valid? [True, True] Translation: X:233.23, Y:-20.70, Z:-6.06 [[ 9.96398080e-01 8.47468282e-02 2.97357290e-03 2.33225637e+02] [-8.47465699e-02 9.96402516e-01 -2.12984573e-04 -2.06978051e+01] [-2.98092528e-03 -3.97826839e-05 9.99995556e-01 -6.05798297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.962414037 meters 0.07114914630673073 Centerline is valid? [True, True] Translation: X:233.26, Y:-20.70, Z:-6.06 [[ 9.95906355e-01 9.03403757e-02 3.02468786e-03 2.33255245e+02] [-9.03401361e-02 9.95910946e-01 -2.16039195e-04 -2.06955530e+01] [-3.03183681e-03 -5.80959061e-05 9.99995402e-01 -6.05745757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.992414037 meters 0.07156281998192134 Centerline is valid? [True, True] Translation: X:233.29, Y:-20.69, Z:-6.06 [[ 9.95565321e-01 9.40378440e-02 2.56428789e-03 2.33285242e+02] [-9.40376845e-02 9.95568622e-01 -1.82952169e-04 -2.06947961e+01] [-2.57012898e-03 -5.89988605e-05 9.99996695e-01 -6.05798601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.022414037 meters 0.07207472676408684 Centerline is valid? [True, True] Translation: X:233.31, Y:-20.69, Z:-6.06 [[ 9.95262214e-01 9.72016991e-02 2.22582336e-03 2.33314987e+02] [-9.72015869e-02 9.95264702e-01 -1.58793709e-04 -2.06940237e+01] [-2.23071844e-03 -5.83121846e-05 9.99997510e-01 -6.05754018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.052414037 meters 0.07224054707388024 Centerline is valid? [True, True] Translation: X:233.34, Y:-20.70, Z:-6.06 [[ 9.95106621e-01 9.87986061e-02 1.28377808e-03 2.33343739e+02] [-9.87985669e-02 9.95107449e-01 -9.41086181e-05 -2.06950494e+01] [-1.28679493e-03 -3.31873253e-05 9.99999172e-01 -6.05697942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.082414037 meters 0.07238897940746711 Centerline is valid? [True, True] Translation: X:233.37, Y:-20.70, Z:-6.06 [[ 9.94998404e-01 9.98874926e-02 8.15914600e-04 2.33372636e+02] [-9.98874763e-02 9.94998738e-01 -6.07448915e-05 -2.06963613e+01] [-8.17901652e-04 -2.10585802e-05 9.99999665e-01 -6.05752328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.112414037 meters 0.07237162884739516 Centerline is valid? [True, True] Translation: X:233.40, Y:-20.70, Z:-6.06 [[ 9.95042051e-01 9.94462047e-02 1.33033896e-03 2.33401162e+02] [-9.94461640e-02 9.95042939e-01 -9.68740992e-05 -2.06989125e+01] [-1.33337815e-03 -3.59033041e-05 9.99999110e-01 -6.05721319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.142414037 meters 0.07224337832579208 Centerline is valid? [True, True] Translation: X:233.43, Y:-20.70, Z:-6.06 [[ 9.95263895e-01 9.71994629e-02 1.42950061e-03 2.33429224e+02] [-9.71994144e-02 9.95264921e-01 -1.03543940e-04 -2.07012062e+01] [-1.43279623e-03 -3.58930775e-05 9.99998973e-01 -6.05754675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.172414037 meters 0.07164542483011595 Centerline is valid? [True, True] Translation: X:233.46, Y:-20.71, Z:-6.06 [[ 9.95664566e-01 9.30035899e-02 1.55045374e-03 2.33458997e+02] [-9.30035325e-02 9.95665773e-01 -1.09210404e-04 -2.07065518e+01] [-1.55389068e-03 -3.54607453e-05 9.99998792e-01 -6.05801676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.202414037 meters 0.07130360372945072 Centerline is valid? [True, True] Translation: X:233.49, Y:-20.71, Z:-6.06 [[ 9.95967208e-01 8.97109264e-02 1.12731455e-03 2.33487735e+02] [-8.97108910e-02 9.95967846e-01 -8.19838743e-05 -2.07106595e+01] [-1.13012389e-03 -1.94791420e-05 9.99999361e-01 -6.05833438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23241403699996 meters 0.07094086008174917 Centerline is valid? [True, True] Translation: X:233.52, Y:-20.72, Z:-6.06 [[ 9.96241237e-01 8.66209929e-02 4.48245384e-04 2.33516411e+02] [-8.66209862e-02 9.96241338e-01 -3.43534255e-05 -2.07152465e+01] [-4.49536309e-04 -4.60315810e-06 9.99999899e-01 -6.05941823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.262414037 meters 0.07024887734437177 Centerline is valid? [True, True] Translation: X:233.54, Y:-20.72, Z:-6.06 [[ 9.96861511e-01 7.91650583e-02 -1.48484995e-04 2.33544889e+02] [-7.91650579e-02 9.96861522e-01 8.91107031e-06 -2.07247330e+01] [ 1.48724423e-04 2.87172021e-06 9.99999989e-01 -6.06025091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.29241403699996 meters 0.07010571022704701 Centerline is valid? [True, True] Translation: X:233.57, Y:-20.73, Z:-6.06 [[ 9.97187477e-01 7.49304770e-02 -1.60003771e-03 2.33572176e+02] [-7.49304006e-02 9.97188760e-01 1.07708503e-04 -2.07302529e+01] [ 1.60361027e-03 1.24858962e-05 9.99998714e-01 -6.06051683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.322414037 meters 0.0700834171866169 Centerline is valid? [True, True] Translation: X:233.60, Y:-20.74, Z:-6.06 [[ 9.97661859e-01 6.83049517e-02 -2.29084554e-03 2.33598089e+02] [-6.83047700e-02 9.97664489e-01 1.57526961e-04 -2.07386361e+01] [ 2.29625512e-03 -6.82962644e-07 9.99997364e-01 -6.06290265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35241403699996 meters 0.0700834171866169 Centerline is valid? [True, True] Translation: X:233.63, Y:-20.74, Z:-6.06 [[ 9.97678326e-01 6.80640002e-02 -2.29102123e-03 2.33625355e+02] [-6.80638237e-02 9.97680957e-01 1.54989713e-04 -2.07403805e+01] [ 2.29625747e-03 1.30578779e-06 9.99997364e-01 -6.06330338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.382414037 meters 0.07021408411322505 Centerline is valid? [True, True] Translation: X:233.65, Y:-20.75, Z:-6.06 [[ 9.97863153e-01 6.53077056e-02 -2.00806461e-03 2.33653375e+02] [-6.53075664e-02 9.97865173e-01 1.34901128e-04 -2.07453980e+01] [ 2.01258782e-03 -3.47105184e-06 9.99997975e-01 -6.06438053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41241403699996 meters 0.0703298216651888 Centerline is valid? [True, True] Translation: X:233.68, Y:-20.75, Z:-6.06 [[ 9.98013092e-01 6.29427640e-02 -2.84206931e-03 2.33682099e+02] [-6.29424721e-02 9.98017138e-01 1.92112393e-04 -2.07498874e+01] [ 2.84852597e-03 -1.28438145e-05 9.99995943e-01 -6.06384438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.442414037 meters 0.07097636349964277 Centerline is valid? [True, True] Translation: X:233.71, Y:-20.76, Z:-6.07 [[ 9.98453674e-01 5.55305967e-02 -2.57180810e-03 2.33710223e+02] [-5.55303353e-02 9.98456986e-01 1.72987086e-04 -2.07588159e+01] [ 2.57744584e-03 -2.99062255e-05 9.99996678e-01 -6.06568000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47241403699996 meters 0.07156961418297987 Centerline is valid? [True, True] Translation: X:233.74, Y:-20.77, Z:-6.07 [[ 9.98641647e-01 5.20553813e-02 -2.25777442e-03 2.33737434e+02] [-5.20551675e-02 9.98644199e-01 1.53366352e-04 -2.07653977e+01] [ 2.26269687e-03 -3.56292012e-05 9.99997439e-01 -6.06759177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.502414037 meters 0.07236375632411844 Centerline is valid? [True, True] Translation: X:233.77, Y:-20.77, Z:-6.07 [[ 9.98998889e-01 4.46751650e-02 -2.31306868e-03 2.33766998e+02] [-4.46749188e-02 9.99001565e-01 1.58018746e-04 -2.07718926e+01] [ 2.31781875e-03 -5.45243961e-05 9.99997312e-01 -6.06613554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53241403699997 meters 0.07361376058765007 Centerline is valid? [True, True] Translation: X:233.79, Y:-20.78, Z:-6.07 [[ 9.99152787e-01 4.11321160e-02 -1.36303572e-03 2.33794415e+02] [-4.11320297e-02 9.99153716e-01 9.13264334e-05 -2.07797480e+01] [ 1.36563866e-03 -3.51846346e-05 9.99999067e-01 -6.06814629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.562414037 meters 0.0745368719164439 Centerline is valid? [True, True] Translation: X:233.82, Y:-20.79, Z:-6.07 [[ 9.99293850e-01 3.75583909e-02 -1.08145699e-03 2.33823449e+02] [-3.75583341e-02 9.99294434e-01 7.28195518e-05 -2.07852889e+01] [ 1.08342894e-03 -3.21504072e-05 9.99999413e-01 -6.06855618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59241403699997 meters 0.07583132719171641 Centerline is valid? [True, True] Translation: X:233.85, Y:-20.79, Z:-6.07 [[ 9.99505448e-01 3.14458801e-02 1.27267979e-04 2.33853540e+02] [-3.14458793e-02 9.99505456e-01 -8.68348224e-06 -2.07905482e+01] [-1.27478100e-04 4.67713429e-06 9.99999992e-01 -6.06764268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.622414037 meters 0.07813141247422807 Centerline is valid? [True, True] Translation: X:233.88, Y:-20.80, Z:-6.07 [[ 9.99669414e-01 2.57064735e-02 -4.90161222e-04 2.33882249e+02] [-2.57064602e-02 9.99669534e-01 3.33626795e-05 -2.07983101e+01] [ 4.90856877e-04 -2.07513403e-05 9.99999879e-01 -6.06918500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65241403699997 meters 0.08123669243780325 Centerline is valid? [True, True] Translation: X:233.91, Y:-20.81, Z:-6.07 [[ 9.99714010e-01 2.39121587e-02 3.26318945e-04 2.33909116e+02] [-2.39121523e-02 9.99714063e-01 -2.33999378e-05 -2.08080190e+01] [-3.26785182e-04 1.55902573e-05 9.99999946e-01 -6.07222956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.682414037 meters 0.08015971675451519 Centerline is valid? [True, True] Translation: X:233.94, Y:-20.80, Z:-6.07 [[ 9.99793515e-01 2.03100883e-02 6.53565012e-04 2.33940124e+02] [-2.03100635e-02 9.99793728e-01 -4.45370827e-05 -2.08042914e+01] [-6.54334752e-04 3.12539396e-05 9.99999785e-01 -6.07051058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.712414037 meters 0.08155477250626655 Centerline is valid? [True, True] Translation: X:233.97, Y:-20.81, Z:-6.07 [[ 9.99845214e-01 1.75841066e-02 5.89207959e-04 2.33969207e+02] [-1.75840857e-02 9.99845387e-01 -4.06078421e-05 -2.08083266e+01] [-5.89830913e-04 3.02408733e-05 9.99999826e-01 -6.07173121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.742414037 meters 0.08419745653312977 Centerline is valid? [True, True] Translation: X:234.00, Y:-20.81, Z:-6.07 [[ 9.99913233e-01 1.31202373e-02 1.17723611e-03 2.33997659e+02] [-1.31201516e-02 9.99913924e-01 -8.05446233e-05 -2.08148891e+01] [-1.17819154e-03 6.50921185e-05 9.99999304e-01 -6.07299305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.772414037 meters 0.08533776086889441 Centerline is valid? [True, True] Translation: X:234.03, Y:-20.82, Z:-6.07 [[ 9.99945763e-01 1.03798747e-02 8.54170048e-04 2.34027760e+02] [-1.03798286e-02 9.99946126e-01 -5.83809329e-05 -2.08185326e+01] [-8.54730018e-04 4.95116278e-05 9.99999633e-01 -6.07420464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.802414037 meters 0.08842404467369576 Centerline is valid? [True, True] Translation: X:234.06, Y:-20.83, Z:-6.08 [[ 9.99982857e-01 5.63556795e-03 1.58908609e-03 2.34056615e+02] [-5.63540279e-03 9.99984115e-01 -1.08390656e-04 -2.08268033e+01] [-1.58967169e-03 9.94336578e-05 9.99998732e-01 -6.07556911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.832414037 meters 0.08953190149489082 Centerline is valid? [True, True] Translation: X:234.09, Y:-20.83, Z:-6.08 [[ 9.99993244e-01 3.27547775e-03 1.66848565e-03 2.34086408e+02] [-3.27529249e-03 9.99994630e-01 -1.13754642e-04 -2.08308361e+01] [-1.66884929e-03 1.08289095e-04 9.99998602e-01 -6.07615881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.862414037 meters 0.09209857536456975 Centerline is valid? [True, True] Translation: X:234.11, Y:-20.84, Z:-6.08 [[ 9.99998787e-01 1.65103902e-04 1.54886090e-03 2.34114803e+02] [-1.64940912e-04 9.99999981e-01 -1.05358874e-04 -2.08377401e+01] [-1.54887826e-03 1.05103276e-04 9.99998795e-01 -6.07738928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.892414037 meters 0.09372701446550691 Centerline is valid? [True, True] Translation: X:234.14, Y:-20.84, Z:-6.08 [[ 9.99995410e-01 -2.01612287e-03 2.26153478e-03 2.34144653e+02] [ 2.01647598e-03 9.99997955e-01 -1.53868045e-04 -2.08428271e+01] [-2.26121994e-03 1.58427669e-04 9.99997431e-01 -6.07815357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.922414037 meters 0.09758800234010837 Centerline is valid? [True, True] Translation: X:234.18, Y:-20.85, Z:-6.08 [[ 9.99978208e-01 -6.33858917e-03 1.84549255e-03 2.34175194e+02] [ 6.33883070e-03 9.99979902e-01 -1.25055304e-04 -2.08510312e+01] [-1.84466278e-03 1.36750843e-04 9.99998289e-01 -6.08066922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.952414037 meters 0.0982127756704847 Centerline is valid? [True, True] Translation: X:234.21, Y:-20.85, Z:-6.08 [[ 9.99967883e-01 -7.87738212e-03 1.47630336e-03 2.34205929e+02] [ 7.87753872e-03 9.99968967e-01 -1.00290476e-04 -2.08539064e+01] [-1.47546752e-03 1.11916892e-04 9.99998905e-01 -6.08175278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98241403699996 meters 0.09968192805307517 Centerline is valid? [True, True] Translation: X:234.24, Y:-20.86, Z:-6.08 [[ 9.99958089e-01 -9.05856683e-03 1.32741904e-03 2.34236968e+02] [ 9.05869391e-03 9.99958965e-01 -8.97486523e-05 -2.08582827e+01] [-1.32655157e-03 1.01769574e-04 9.99999115e-01 -6.08327851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.012414037 meters 0.10078091089638824 Centerline is valid? [True, False] Translation: X:234.24, Y:-20.86, Z:-6.08 [[ 9.99985315e-01 -4.99762333e-03 2.09606319e-03 2.34235871e+02] [ 4.98711076e-03 9.99975109e-01 4.99097754e-03 -2.08596701e+01] [-2.12095405e-03 -4.98045095e-03 9.99985348e-01 -6.08482797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04241403699996 meters 0.10154886321636931 Centerline is valid? [False, False] Translation: X:234.24, Y:-20.86, Z:-6.08 [[ 9.99985960e-01 -4.93278616e-03 1.93607916e-03 2.34236271e+02] [ 4.92338079e-03 9.99976201e-01 4.83301649e-03 -2.08592146e+01] [-1.95987332e-03 -4.82341658e-03 9.99986447e-01 -6.08473806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.072414037 meters 0.10174976953250242 Centerline is valid? [False, False] Translation: X:234.24, Y:-20.86, Z:-6.08 [[ 9.99986980e-01 -4.82224969e-03 1.66893297e-03 2.34236964e+02] [ 4.81464953e-03 9.99978156e-01 4.52834909e-03 -2.08582413e+01] [-1.69073334e-03 -4.52025481e-03 9.99988354e-01 -6.08458408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10241403699996 meters 0.10173630410845279 Centerline is valid? [False, False] Translation: X:234.24, Y:-20.86, Z:-6.08 [[ 9.99987464e-01 -4.77389150e-03 1.51034076e-03 2.34237344e+02] [ 4.76732915e-03 9.99979309e-01 4.31911358e-03 -2.08577022e+01] [-1.53092849e-03 -4.31185915e-03 9.99989532e-01 -6.08443382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.132414037 meters 0.09757019568339415 Centerline is valid? [False, True] Translation: X:234.24, Y:-20.86, Z:-6.08 [[ 9.99989534e-01 -4.46517305e-03 9.97500232e-04 2.34238691e+02] [ 4.46115356e-03 9.99982065e-01 3.99609044e-03 -2.08567121e+01] [-1.01532558e-03 -3.99159861e-03 9.99991518e-01 -6.08421773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16241403699996 meters 0.09757019568339415 Centerline is valid? [True, True] Translation: X:234.27, Y:-20.86, Z:-6.08 [[ 9.99990267e-01 -4.35401293e-03 7.12675266e-04 2.34270561e+02] [ 4.35404931e-03 9.99990520e-01 -4.95052767e-05 -2.08572103e+01] [-7.12452964e-04 5.26078181e-05 9.99999745e-01 -6.08210740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.192414037 meters 0.09552482754915975 Centerline is valid? [True, True] Translation: X:234.30, Y:-20.85, Z:-6.08 [[ 9.99998633e-01 -1.63580396e-03 2.40327261e-04 2.34301502e+02] [ 1.63580804e-03 9.99998662e-01 -1.67609829e-05 -2.08535202e+01] [-2.40299522e-04 1.71540892e-05 9.99999971e-01 -6.08325809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22241403699996 meters 0.09139842705906925 Centerline is valid? [True, True] Translation: X:234.33, Y:-20.85, Z:-6.08 [[ 9.99999940e-01 -4.41695242e-05 -3.42722520e-04 2.34333752e+02] [ 4.41779475e-05 9.99999999e-01 2.45699634e-05 -2.08453543e+01] [ 3.42721434e-04 -2.45851027e-05 9.99999941e-01 -6.08362629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.252414037 meters 0.09053648243567428 Centerline is valid? [True, True] Translation: X:234.36, Y:-20.84, Z:-6.09 [[ 9.99992786e-01 3.78287904e-03 -3.42613537e-04 2.34363379e+02] [-3.78287104e-03 9.99992845e-01 2.40044490e-05 -2.08426090e+01] [ 3.42701891e-04 -2.27082131e-05 9.99999941e-01 -6.08560349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28241403699997 meters 0.09370260831634403 Centerline is valid? [True, True] Translation: X:234.39, Y:-20.85, Z:-6.09 [[ 9.99985249e-01 5.40329025e-03 -5.53653340e-04 2.34391250e+02] [-5.40326990e-03 9.99985401e-01 3.82530888e-05 -2.08508825e+01] [ 5.53851950e-04 -3.52609861e-05 9.99999846e-01 -6.08782424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.312414037 meters 0.09278763886686427 Centerline is valid? [True, True] Translation: X:234.42, Y:-20.85, Z:-6.09 [[ 9.99970933e-01 7.47312461e-03 -1.51151049e-03 2.34421486e+02] [-7.47297244e-03 9.99972071e-01 1.06301040e-04 -2.08498999e+01] [ 1.51226268e-03 -9.50024738e-05 9.99998852e-01 -6.08932461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34241403699997 meters 0.08667644838212975 Centerline is valid? [True, True] Translation: X:234.45, Y:-20.84, Z:-6.09 [[ 9.99923501e-01 1.22109286e-02 -1.97129392e-03 2.34452608e+02] [-1.22106786e-02 9.99925437e-01 1.38830146e-04 -2.08370305e+01] [ 1.97284218e-03 -1.14748689e-04 9.99998047e-01 -6.08846975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.372414037 meters 0.08704074711693723 Centerline is valid? [True, True] Translation: X:234.48, Y:-20.84, Z:-6.09 [[ 9.99891394e-01 1.46874514e-02 -1.21605543e-03 2.34481494e+02] [-1.46873586e-02 9.99892131e-01 8.52401055e-05 -2.08392686e+01] [ 1.21717622e-03 -6.73702057e-05 9.99999257e-01 -6.08911700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40241403699997 meters 0.08428958540863436 Centerline is valid? [True, True] Translation: X:234.51, Y:-20.83, Z:-6.09 [[ 9.99822640e-01 1.88294419e-02 -3.74648801e-04 2.34512363e+02] [-1.88294333e-02 9.99822710e-01 2.63338933e-05 -2.08340396e+01] [ 3.75078232e-04 -1.92747981e-05 9.99999929e-01 -6.08719677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.432414037 meters 0.08460007420457959 Centerline is valid? [True, True] Translation: X:234.54, Y:-20.84, Z:-6.09 [[ 9.99795772e-01 2.02090180e-02 1.02213989e-04 2.34539842e+02] [-2.02090173e-02 9.99795777e-01 -8.11770858e-06 -2.08368364e+01] [-1.02357165e-04 6.05040645e-06 9.99999995e-01 -6.08756107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.462414037 meters 0.08305195728223494 Centerline is valid? [True, True] Translation: X:234.57, Y:-20.84, Z:-6.09 [[ 9.99717423e-01 2.36792278e-02 2.08996427e-03 2.34569884e+02] [-2.36789719e-02 9.99719603e-01 -1.47120736e-04 -2.08365508e+01] [-2.09286195e-03 9.75909585e-05 9.99997805e-01 -6.08707612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.492414037 meters 0.08086264358272671 Centerline is valid? [True, True] Translation: X:234.60, Y:-20.83, Z:-6.09 [[ 9.99684243e-01 2.50258056e-02 2.26354668e-03 2.34598761e+02] [-2.50255079e-02 9.99686800e-01 -1.59765672e-04 -2.08323247e+01] [-2.26683600e-03 1.03068820e-04 9.99997425e-01 -6.08646967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.522414037 meters 0.07963167139890578 Centerline is valid? [True, True] Translation: X:234.63, Y:-20.83, Z:-6.09 [[ 9.99620696e-01 2.74201626e-02 2.56887222e-03 2.34628153e+02] [-2.74197868e-02 9.99623990e-01 -1.81411918e-04 -2.08318064e+01] [-2.57288064e-03 1.10905180e-04 9.99996684e-01 -6.08563103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.552414037 meters 0.07924949824117887 Centerline is valid? [True, True] Translation: X:234.66, Y:-20.83, Z:-6.09 [[ 9.99582058e-01 2.88527121e-02 1.79757901e-03 2.34657012e+02] [-2.88525308e-02 9.99583671e-01 -1.26706458e-04 -2.08324494e+01] [-1.80048645e-03 7.47887983e-05 9.99998376e-01 -6.08666739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.582414037 meters 0.07916475832888702 Centerline is valid? [True, True] Translation: X:234.69, Y:-20.84, Z:-6.09 [[ 9.99439898e-01 3.34162489e-02 1.80111607e-03 2.34685754e+02] [-3.34160751e-02 9.99441519e-01 -1.26497170e-04 -2.08353649e+01] [-1.80433724e-03 6.62400892e-05 9.99998370e-01 -6.08592247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.612414037 meters 0.07764322648481592 Centerline is valid? [True, True] Translation: X:234.72, Y:-20.83, Z:-6.09 [[ 9.99351520e-01 3.59953025e-02 9.36961170e-04 2.34715352e+02] [-3.59952547e-02 9.99351959e-01 -6.78295066e-05 -2.08320850e+01] [-9.38795523e-04 3.40593646e-05 9.99999559e-01 -6.08569858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.642414037 meters 0.07646844153846136 Centerline is valid? [True, True] Translation: X:234.74, Y:-20.83, Z:-6.09 [[ 9.99245644e-01 3.88347839e-02 -5.01541462e-05 2.34744323e+02] [-3.88347838e-02 9.99245645e-01 2.73506929e-06 -2.08291748e+01] [ 5.02225280e-05 -7.85280650e-07 9.99999999e-01 -6.08576409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.672414037 meters 0.07497919941175127 Centerline is valid? [True, True] Translation: X:234.78, Y:-20.82, Z:-6.09 [[ 9.98971646e-01 4.53290831e-02 -9.62106107e-04 2.34775179e+02] [-4.53290397e-02 9.98972109e-01 6.68801193e-05 -2.08237463e+01] [ 9.64148781e-04 -2.31999968e-05 9.99999535e-01 -6.08578267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.702414037 meters 0.07472189140995002 Centerline is valid? [True, True] Translation: X:234.80, Y:-20.82, Z:-6.09 [[ 9.98885829e-01 4.71857352e-02 -7.78775445e-04 2.34803277e+02] [-4.71857080e-02 9.98886133e-01 5.32691494e-05 -2.08249128e+01] [ 7.80421537e-04 -1.64627277e-05 9.99999695e-01 -6.08681371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73241403699996 meters 0.07381762723895523 Centerline is valid? [True, True] Translation: X:234.83, Y:-20.82, Z:-6.09 [[ 9.98585900e-01 5.31227389e-02 -2.04340400e-03 2.34832456e+02] [-5.31225608e-02 9.98587990e-01 1.41380643e-04 -2.08218406e+01] [ 2.04802922e-03 -3.26298628e-05 9.99997902e-01 -6.08768542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.762414037 meters 0.07355786468615286 Centerline is valid? [True, True] Translation: X:234.86, Y:-20.82, Z:-6.09 [[ 9.98449536e-01 5.56539692e-02 -1.07684578e-03 2.34861507e+02] [-5.56539239e-02 9.98450117e-01 7.19661281e-05 -2.08214489e+01] [ 1.07918200e-03 -1.19238539e-05 9.99999418e-01 -6.08703463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79241403699996 meters 0.07303246206041805 Centerline is valid? [True, True] Translation: X:234.89, Y:-20.82, Z:-6.09 [[ 9.98300385e-01 5.82690485e-02 -1.02958603e-03 2.34889786e+02] [-5.82690089e-02 9.98300916e-01 6.84543814e-05 -2.08206499e+01] [ 1.03182545e-03 -8.34507761e-06 9.99999468e-01 -6.08710650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.822414037 meters 0.0726272286740549 Centerline is valid? [True, True] Translation: X:234.92, Y:-20.82, Z:-6.09 [[ 9.97936302e-01 6.42049245e-02 9.30461231e-04 2.34917929e+02] [-6.42048917e-02 9.97936735e-01 -6.51402960e-05 -2.08171035e+01] [-9.32723771e-04 5.26570353e-06 9.99999565e-01 -6.08552494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85241403699996 meters 0.07269717348918493 Centerline is valid? [True, True] Translation: X:234.95, Y:-20.82, Z:-6.08 [[ 9.97789229e-01 6.64481397e-02 1.13989065e-03 2.34946492e+02] [-6.64480905e-02 9.97789880e-01 -8.10070084e-05 -2.08161095e+01] [-1.14275412e-03 5.08436339e-06 9.99999347e-01 -6.08479680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.882414037 meters 0.07265176208232686 Centerline is valid? [True, True] Translation: X:234.98, Y:-20.81, Z:-6.09 [[ 9.97503801e-01 7.06125414e-02 1.89697358e-04 2.34975097e+02] [-7.06125397e-02 9.97503819e-01 -1.56434511e-05 -2.08146110e+01] [-1.90328463e-04 2.20938969e-06 9.99999982e-01 -6.08532770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91241403699996 meters 0.0726197860753082 Centerline is valid? [True, True] Translation: X:235.00, Y:-20.82, Z:-6.09 [[ 9.97442757e-01 7.14665291e-02 -6.93778789e-04 2.35004119e+02] [-7.14665152e-02 9.97442998e-01 4.47559065e-05 -2.08159732e+01] [ 6.95203344e-04 4.94049762e-06 9.99999758e-01 -6.08601742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.942414037 meters 0.07256203961805405 Centerline is valid? [True, True] Translation: X:235.03, Y:-20.82, Z:-6.09 [[ 9.97294387e-01 7.35013904e-02 -1.20476881e-03 2.35032921e+02] [-7.35013482e-02 9.97295115e-01 7.93613318e-05 -2.08165204e+01] [ 1.20734322e-03 9.40552110e-06 9.99999271e-01 -6.08640057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97241403699996 meters 0.07283828976417332 Centerline is valid? [True, True] Translation: X:235.06, Y:-20.81, Z:-6.09 [[ 9.96993605e-01 7.74460947e-02 -2.41969711e-03 2.35060588e+02] [-7.74459272e-02 9.96996541e-01 1.62987548e-04 -2.08146299e+01] [ 2.42505240e-03 2.48981430e-05 9.99997059e-01 -6.08887052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.002414037 meters 0.07275617897140987 Centerline is valid? [True, True] Translation: X:235.09, Y:-20.82, Z:-6.09 [[ 9.96795435e-01 7.99430499e-02 -2.82290427e-03 2.35089222e+02] [-7.99428367e-02 9.96799432e-01 1.88450096e-04 -2.08154349e+01] [ 2.82893465e-03 3.78247794e-05 9.99995998e-01 -6.08807424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03241403699997 meters 0.07299684954751656 Centerline is valid? [True, True] Translation: X:235.12, Y:-20.82, Z:-6.09 [[ 9.96674855e-01 8.14232481e-02 -3.08021758e-03 2.35116491e+02] [-8.14229989e-02 9.96679614e-01 2.06431987e-04 -2.08151920e+01] [ 3.08679843e-03 4.50549819e-05 9.99995235e-01 -6.08901170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.062414037 meters 0.07311654057985671 Centerline is valid? [True, True] Translation: X:235.15, Y:-20.81, Z:-6.09 [[ 9.96479353e-01 8.37919996e-02 -2.79283018e-03 2.35145324e+02] [-8.37918089e-02 9.96483265e-01 1.85437209e-04 -2.08138888e+01] [ 2.79854669e-03 4.92319419e-05 9.99996083e-01 -6.08841283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09241403699997 meters 0.07346102446307322 Centerline is valid? [True, True] Translation: X:235.17, Y:-20.81, Z:-6.09 [[ 9.96383111e-01 8.49570312e-02 -1.73183206e-03 2.35172821e+02] [-8.49569587e-02 9.96384615e-01 1.15531424e-04 -2.08140516e+01] [ 1.73538603e-03 3.20176248e-05 9.99998494e-01 -6.08854970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.122414037 meters 0.07342268518233787 Centerline is valid? [True, True] Translation: X:235.20, Y:-20.82, Z:-6.09 [[ 9.96272069e-01 8.62443921e-02 -1.96727309e-03 2.35201061e+02] [-8.62443011e-02 9.96274010e-01 1.31198911e-04 -2.08153425e+01] [ 1.97125822e-03 3.89562826e-05 9.99998056e-01 -6.08829704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15241403699997 meters 0.07385710991867243 Centerline is valid? [True, True] Translation: X:235.23, Y:-20.81, Z:-6.09 [[ 9.96141351e-01 8.77476769e-02 -1.65939491e-03 2.35228822e+02] [-8.77476147e-02 9.96142733e-01 1.10394644e-04 -2.08149329e+01] [ 1.66268105e-03 3.56392747e-05 9.99998617e-01 -6.08832538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.182414037 meters 0.07387107388241784 Centerline is valid? [True, True] Translation: X:235.26, Y:-20.82, Z:-6.09 [[ 9.96075089e-01 8.85083620e-02 -8.29376134e-04 2.35257267e+02] [-8.85083486e-02 9.96075434e-01 5.29148352e-05 -2.08167578e+01] [ 8.30804598e-04 2.06995628e-05 9.99999655e-01 -6.08854347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.212414037 meters 0.07375136924620124 Centerline is valid? [True, True] Translation: X:235.28, Y:-20.82, Z:-6.09 [[ 9.96110901e-01 8.80977127e-02 -1.36564714e-03 2.35284819e+02] [-8.80976747e-02 9.96111837e-01 8.80729161e-05 -2.08191496e+01] [ 1.36809631e-03 3.25799460e-05 9.99999064e-01 -6.08828410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.242414037 meters 0.07375136924620124 Centerline is valid? [True, True] Translation: X:235.31, Y:-20.82, Z:-6.09 [[ 9.96133394e-01 8.78430184e-02 -1.36567049e-03 2.35312077e+02] [-8.78429807e-02 9.96134330e-01 8.77161358e-05 -2.08207904e+01] [ 1.36809651e-03 3.25875943e-05 9.99999064e-01 -6.08859323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.272414037 meters 0.07403235531372056 Centerline is valid? [True, True] Translation: X:235.34, Y:-20.82, Z:-6.09 [[ 9.96084578e-01 8.84019760e-02 -7.77208159e-04 2.35339420e+02] [-8.84019634e-02 9.96084881e-01 5.06049551e-05 -2.08217540e+01] [ 7.78638875e-04 1.82999119e-05 9.99999697e-01 -6.08936648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.302414037 meters 0.0737990567738808 Centerline is valid? [True, True] Translation: X:235.37, Y:-20.82, Z:-6.09 [[ 9.96062267e-01 8.86380816e-02 -1.80287430e-03 2.35368148e+02] [-8.86380134e-02 9.96063898e-01 1.17807103e-04 -2.08242272e+01] [ 1.80622019e-03 4.24599864e-05 9.99998368e-01 -6.08968428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.332414037 meters 0.07390958590059817 Centerline is valid? [True, True] Translation: X:235.40, Y:-20.83, Z:-6.09 [[ 9.96068925e-01 8.85507323e-02 -2.33778509e-03 2.35395429e+02] [-8.85506170e-02 9.96071667e-01 1.52985746e-04 -2.08258332e+01] [ 2.34214849e-03 5.46279650e-05 9.99997256e-01 -6.09070184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.362414037 meters 0.07343218997843019 Centerline is valid? [True, True] Translation: X:235.42, Y:-20.83, Z:-6.09 [[ 9.96100831e-01 8.81787231e-02 -2.76533797e-03 2.35423232e+02] [-8.81785656e-02 9.96104667e-01 1.79071658e-04 -2.08302328e+01] [ 2.77035636e-03 6.54701076e-05 9.99996160e-01 -6.08954277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.392414037 meters 0.07366264081921405 Centerline is valid? [True, True] Translation: X:235.45, Y:-20.83, Z:-6.09 [[ 9.96229899e-01 8.67044917e-02 -2.88433435e-03 2.35450666e+02] [-8.67043091e-02 9.96234073e-01 1.88519814e-04 -2.08321431e+01] [ 2.88981767e-03 6.22751417e-05 9.99995823e-01 -6.09243885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.422414037 meters 0.07311625732616855 Centerline is valid? [True, True] Translation: X:235.48, Y:-20.84, Z:-6.09 [[ 9.96386842e-01 8.48541332e-02 -3.61061331e-03 2.35479027e+02] [-8.48538431e-02 9.96393381e-01 2.33721109e-04 -2.08377017e+01] [ 3.61742341e-03 7.34977778e-05 9.99993454e-01 -6.09198945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.452414037 meters 0.0727970141687164 Centerline is valid? [True, True] Translation: X:235.51, Y:-20.84, Z:-6.09 [[ 9.96534473e-01 8.31222440e-02 -3.12029876e-03 2.35507875e+02] [-8.31220223e-02 9.96539357e-01 2.00891167e-04 -2.08413894e+01] [ 3.12619904e-03 5.91705694e-05 9.99995112e-01 -6.09253827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48241403699996 meters 0.07258277826020211 Centerline is valid? [True, True] Translation: X:235.54, Y:-20.84, Z:-6.09 [[ 9.96648229e-01 8.17189111e-02 -3.78524904e-03 2.35535894e+02] [-8.17185758e-02 9.96655414e-01 2.43399790e-04 -2.08441843e+01] [ 3.79247932e-03 6.67411912e-05 9.99992806e-01 -6.09294026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.512414037 meters 0.07236625860993756 Centerline is valid? [True, True] Translation: X:235.56, Y:-20.85, Z:-6.09 [[ 9.96821548e-01 7.96007889e-02 -3.24278142e-03 2.35563403e+02] [-7.96005283e-02 9.96826821e-01 2.09561708e-04 -2.08469680e+01] [ 3.24917277e-03 4.92314880e-05 9.99994720e-01 -6.09359111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54241403699996 meters 0.07188966293584412 Centerline is valid? [True, True] Translation: X:235.59, Y:-20.85, Z:-6.09 [[ 9.96930006e-01 7.82175449e-02 -3.54672701e-03 2.35591830e+02] [-7.82172326e-02 9.96936313e-01 2.26908150e-04 -2.08500403e+01] [ 3.55360915e-03 5.12036278e-05 9.99993685e-01 -6.09299479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.572414037 meters 0.07183404607904116 Centerline is valid? [True, True] Translation: X:235.62, Y:-20.85, Z:-6.09 [[ 9.96964209e-01 7.77691848e-02 -3.78413312e-03 2.35619323e+02] [-7.77688302e-02 9.96971389e-01 2.40966047e-04 -2.08517853e+01] [ 3.79141219e-03 5.40530824e-05 9.99992811e-01 -6.09334048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60241403699996 meters 0.07177346765420015 Centerline is valid? [True, True] Translation: X:235.65, Y:-20.85, Z:-6.09 [[ 9.96971761e-01 7.76379977e-02 -4.43283775e-03 2.35648421e+02] [-7.76375107e-02 9.96981613e-01 2.82110061e-04 -2.08532025e+01] [ 4.44136020e-03 6.28987244e-05 9.99990135e-01 -6.09345863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.632414037 meters 0.07158868641678455 Centerline is valid? [True, True] Translation: X:235.68, Y:-20.86, Z:-6.09 [[ 9.97068853e-01 7.63737626e-02 -4.55524739e-03 2.35676930e+02] [-7.63732393e-02 9.97079257e-01 2.88976059e-04 -2.08559652e+01] [ 4.56401288e-03 5.97699715e-05 9.99989583e-01 -6.09311733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66241403699996 meters 0.07125479859980524 Centerline is valid? [True, True] Translation: X:235.71, Y:-20.86, Z:-6.09 [[ 9.97267388e-01 7.36929760e-02 -5.20598848e-03 2.35705613e+02] [-7.36922605e-02 9.97280975e-01 3.29383543e-04 -2.08609637e+01] [ 5.21610652e-03 5.51575943e-05 9.99986395e-01 -6.09359769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.692414037 meters 0.07121480318346246 Centerline is valid? [True, True] Translation: X:235.73, Y:-20.86, Z:-6.10 [[ 9.97362254e-01 7.23399105e-02 -5.95577251e-03 2.35732134e+02] [-7.23389442e-02 9.97380035e-01 3.77797976e-04 -2.08635741e+01] [ 5.96749847e-03 5.40328543e-05 9.99982193e-01 -6.09524587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72241403699996 meters 0.07099648563016116 Centerline is valid? [True, True] Translation: X:235.76, Y:-20.87, Z:-6.10 [[ 9.97475460e-01 7.07213579e-02 -6.41839824e-03 2.35760209e+02] [-7.07202219e-02 9.97496109e-01 4.04071782e-04 -2.08674901e+01] [ 6.43090377e-03 5.08588602e-05 9.99979320e-01 -6.09667769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.752414037 meters 0.07080144476393087 Centerline is valid? [True, True] Translation: X:235.79, Y:-20.87, Z:-6.10 [[ 9.97585872e-01 6.91009425e-02 -6.89120094e-03 2.35787835e+02] [-6.90996055e-02 9.97609672e-01 4.32201480e-04 -2.08706898e+01] [ 6.90459424e-03 4.50211767e-05 9.99976162e-01 -6.09605437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78241403699997 meters 0.07088929468294959 Centerline is valid? [True, True] Translation: X:235.82, Y:-20.87, Z:-6.10 [[ 9.97600651e-01 6.88836770e-02 -6.92674781e-03 2.35815214e+02] [-6.88823149e-02 9.97624698e-01 4.35312609e-04 -2.08718214e+01] [ 6.94028062e-03 4.28622809e-05 9.99975915e-01 -6.09745940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.812414037 meters 0.07063502905593869 Centerline is valid? [True, True] Translation: X:235.84, Y:-20.87, Z:-6.10 [[ 9.97631629e-01 6.83374679e-02 -7.81813427e-03 2.35843600e+02] [-6.83357379e-02 9.97662262e-01 4.88516542e-04 -2.08735812e+01] [ 7.83324150e-03 4.68984202e-05 9.99969319e-01 -6.09552769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84241403699997 meters 0.07058599116332556 Centerline is valid? [True, True] Translation: X:235.87, Y:-20.88, Z:-6.10 [[ 9.97722003e-01 6.70433340e-02 -7.48305500e-03 2.35872566e+02] [-6.70417258e-02 9.97750064e-01 4.65836306e-04 -2.08759540e+01] [ 7.49744982e-03 3.69017890e-05 9.99971893e-01 -6.09558235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.872414037 meters 0.07046870340758682 Centerline is valid? [True, True] Translation: X:235.90, Y:-20.88, Z:-6.10 [[ 9.97747206e-01 6.66059487e-02 -8.01003282e-03 2.35900392e+02] [-6.66040827e-02 9.97779358e-01 4.99788148e-04 -2.08783866e+01] [ 8.02553427e-03 3.48386596e-05 9.99967794e-01 -6.09530330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90241403699997 meters 0.07045820724785594 Centerline is valid? [True, True] Translation: X:235.93, Y:-20.88, Z:-6.10 [[ 9.97872158e-01 6.46533702e-02 -8.43191654e-03 2.35927650e+02] [-6.46512636e-02 9.97907782e-01 5.22452814e-04 -2.08818375e+01] [ 8.44805347e-03 2.37929420e-05 9.99964314e-01 -6.09689290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.932414037 meters 0.07034985225081376 Centerline is valid? [True, True] Translation: X:235.96, Y:-20.89, Z:-6.10 [[ 9.97992243e-01 6.28564037e-02 -7.78172762e-03 2.35956129e+02] [-6.28545684e-02 9.98022581e-01 4.80431661e-04 -2.08858307e+01] [ 7.79653810e-03 9.65005992e-06 9.99969606e-01 -6.09652996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.962414037 meters 0.07033552287356827 Centerline is valid? [True, True] Translation: X:235.98, Y:-20.89, Z:-6.10 [[ 9.98173278e-01 5.97928818e-02 -8.65554491e-03 2.35984774e+02] [-5.97905102e-02 9.98210805e-01 5.32733960e-04 -2.08919515e+01] [ 8.67191215e-03 -1.42413575e-05 9.99962398e-01 -6.09627489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.992414037 meters 0.07018740580655637 Centerline is valid? [True, True] Translation: X:236.01, Y:-20.90, Z:-6.09 [[ 9.98264796e-01 5.82059950e-02 -8.91401217e-03 2.36013498e+02] [-5.82034351e-02 9.98304594e-01 5.46555635e-04 -2.08952477e+01] [ 8.93071211e-03 -2.67811211e-05 9.99960120e-01 -6.09479347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.022414037 meters 0.0704167888564258 Centerline is valid? [True, True] Translation: X:236.04, Y:-20.90, Z:-6.10 [[ 9.98438269e-01 5.49691701e-02 -9.97063649e-03 2.36040691e+02] [-5.49657942e-02 9.98488050e-01 6.12504107e-04 -2.09009150e+01] [ 9.98923023e-03 -6.35035874e-05 9.99950104e-01 -6.09595888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.052414037 meters 0.07061494474022327 Centerline is valid? [True, True] Translation: X:236.07, Y:-20.90, Z:-6.10 [[ 9.98488049e-01 5.39033728e-02 -1.07722789e-02 2.36069212e+02] [-5.38993899e-02 9.98546153e-01 6.59928883e-04 -2.09037353e+01] [ 1.07921900e-02 -7.83118438e-05 9.99941760e-01 -6.09676798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.082414037 meters 0.07066869588418302 Centerline is valid? [True, True] Translation: X:236.10, Y:-20.91, Z:-6.10 [[ 9.98532247e-01 5.30888535e-02 -1.07203191e-02 2.36097137e+02] [-5.30849074e-02 9.98589789e-01 6.52507381e-04 -2.09058790e+01] [ 1.07398421e-02 -8.24625117e-05 9.99942323e-01 -6.09607104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.112414037 meters 0.07087220494202878 Centerline is valid? [True, True] Translation: X:236.13, Y:-20.91, Z:-6.10 [[ 9.98650857e-01 5.07400499e-02 -1.10414735e-02 2.36125108e+02] [-5.07357167e-02 9.98711888e-01 6.72386068e-04 -2.09097543e+01] [ 1.10613677e-02 -1.11281853e-04 9.99938815e-01 -6.09619744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.142414037 meters 0.0707566178734131 Centerline is valid? [True, True] Translation: X:236.15, Y:-20.91, Z:-6.09 [[ 9.98684324e-01 5.02300242e-02 -1.03230915e-02 2.36153718e+02] [-5.02262473e-02 9.98737670e-01 6.24960163e-04 -2.09109029e+01] [ 1.03414521e-02 -1.05647770e-04 9.99946520e-01 -6.09426939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.172414037 meters 0.07071824381628117 Centerline is valid? [True, True] Translation: X:236.18, Y:-20.91, Z:-6.09 [[ 9.98706821e-01 4.99510052e-02 -9.46480361e-03 2.36182531e+02] [-4.99478405e-02 9.98751665e-01 5.70597116e-04 -2.09111958e+01] [ 9.48149026e-03 -9.71127301e-05 9.99955045e-01 -6.09073350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.202414037 meters 0.07077711419255045 Centerline is valid? [True, True] Translation: X:236.21, Y:-20.91, Z:-6.09 [[ 9.98666185e-01 5.07816644e-02 -9.33128728e-03 2.36209899e+02] [-5.07786165e-02 9.98709775e-01 5.63414203e-04 -2.09126742e+01] [ 9.34785893e-03 -8.88328544e-05 9.99956304e-01 -6.09183614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23241403699996 meters 0.07089681494252909 Centerline is valid? [True, True] Translation: X:236.24, Y:-20.91, Z:-6.09 [[ 9.98660472e-01 5.08656496e-02 -9.48402669e-03 2.36237047e+02] [-5.08625302e-02 9.98705501e-01 5.69978415e-04 -2.09142481e+01] [ 9.50074195e-03 -8.68333190e-05 9.99954863e-01 -6.09194769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.262414037 meters 0.07090328825344615 Centerline is valid? [True, True] Translation: X:236.26, Y:-20.92, Z:-6.09 [[ 9.98641034e-01 5.12688571e-02 -9.35891528e-03 2.36264544e+02] [-5.12658681e-02 9.98684884e-01 5.59154862e-04 -2.09151581e+01] [ 9.37527446e-03 -7.86020732e-05 9.99956048e-01 -6.09126681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29241403699996 meters 0.07100235560152732 Centerline is valid? [True, True] Translation: X:236.29, Y:-20.92, Z:-6.09 [[ 9.98586650e-01 5.21479601e-02 -1.02611798e-02 2.36292858e+02] [-5.21444308e-02 9.98639367e-01 6.11363119e-04 -2.09163559e+01] [ 1.02790994e-02 -7.54356713e-05 9.99947166e-01 -6.09091587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.322414037 meters 0.07110558525294643 Centerline is valid? [True, True] Translation: X:236.32, Y:-20.92, Z:-6.09 [[ 9.98555073e-01 5.25210744e-02 -1.13711591e-02 2.36320093e+02] [-5.25167630e-02 9.98619813e-01 6.77621770e-04 -2.09180280e+01] [ 1.13910542e-02 -7.94661857e-05 9.99935117e-01 -6.09269956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35241403699996 meters 0.07164416802131374 Centerline is valid? [True, True] Translation: X:236.35, Y:-20.92, Z:-6.10 [[ 9.98498511e-01 5.27665312e-02 -1.47111417e-02 2.36348822e+02] [-5.27593343e-02 9.98606871e-01 8.77152300e-04 -2.09205891e+01] [ 1.47369315e-02 -9.96852229e-05 9.99891401e-01 -6.09521439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.382414037 meters 0.07177944723039904 Centerline is valid? [True, True] Translation: X:236.38, Y:-20.92, Z:-6.10 [[ 9.98465984e-01 5.31174204e-02 -1.56274962e-02 2.36377049e+02] [-5.31094269e-02 9.98588269e-01 9.26359298e-04 -2.09221247e+01] [ 1.56546402e-02 -9.49708791e-05 9.99877454e-01 -6.09530903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41241403699996 meters 0.07203435170511463 Centerline is valid? [True, True] Translation: X:236.40, Y:-20.93, Z:-6.10 [[ 9.98460915e-01 5.33397802e-02 -1.51877903e-02 2.36404762e+02] [-5.33322505e-02 9.98576417e-01 9.00649262e-04 -2.09250966e+01] [ 1.52142096e-02 -8.92640514e-05 9.99884253e-01 -6.09944550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.442414037 meters 0.07215691850963303 Centerline is valid? [True, True] Translation: X:236.43, Y:-20.93, Z:-6.10 [[ 9.98454012e-01 5.34238792e-02 -1.53452207e-02 2.36432461e+02] [-5.34162894e-02 9.98571921e-01 9.04337304e-04 -2.09274171e+01] [ 1.53716198e-02 -8.32544566e-05 9.99881846e-01 -6.09772922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47241403699996 meters 0.07221514782405108 Centerline is valid? [True, True] Translation: X:236.46, Y:-20.93, Z:-6.10 [[ 9.98451393e-01 5.33684839e-02 -1.57041474e-02 2.36461267e+02] [-5.33605750e-02 9.98574884e-01 9.22507774e-04 -2.09290854e+01] [ 1.57310000e-02 -8.30968376e-05 9.99876257e-01 -6.09778910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.502414037 meters 0.07227179140979266 Centerline is valid? [True, True] Translation: X:236.49, Y:-20.93, Z:-6.10 [[ 9.98489817e-01 5.28254976e-02 -1.50848067e-02 2.36490010e+02] [-5.28181883e-02 9.98603755e-01 8.82816750e-04 -2.09313972e+01] [ 1.51103798e-02 -8.47313756e-05 9.99885828e-01 -6.09839077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53241403699997 meters 0.07242183625143622 Centerline is valid? [True, True] Translation: X:236.52, Y:-20.93, Z:-6.10 [[ 9.98559014e-01 5.16331914e-02 -1.46256474e-02 2.36517777e+02] [-5.16262527e-02 9.98666113e-01 8.51832812e-04 -2.09339063e+01] [ 1.46501212e-02 -9.55379665e-05 9.99892677e-01 -6.09639919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.562414037 meters 0.07240323897037201 Centerline is valid? [True, True] Translation: X:236.55, Y:-20.94, Z:-6.10 [[ 9.98622150e-01 5.05457058e-02 -1.41043410e-02 2.36545046e+02] [-5.05391963e-02 9.98721743e-01 8.17799813e-04 -2.09360785e+01] [ 1.41276483e-02 -1.03850949e-04 9.99900194e-01 -6.09565522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59241403699997 meters 0.07257124808461543 Centerline is valid? [True, True] Translation: X:236.57, Y:-20.94, Z:-6.10 [[ 9.98688066e-01 4.91126349e-02 -1.44946532e-02 2.36572848e+02] [-4.91056107e-02 9.98793238e-01 8.40329141e-04 -2.09398844e+01] [ 1.45184324e-02 -1.27457886e-04 9.99894594e-01 -6.09775993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.622414037 meters 0.0729314013276373 Centerline is valid? [True, True] Translation: X:236.60, Y:-20.95, Z:-6.10 [[ 9.98864833e-01 4.54114377e-02 -1.43821610e-02 2.36601372e+02] [-4.54041998e-02 9.98968353e-01 8.29545660e-04 -2.09457915e+01] [ 1.44049945e-02 -1.75593477e-04 9.99896227e-01 -6.09733924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65241403699997 meters 0.07345615125869152 Centerline is valid? [True, True] Translation: X:236.63, Y:-20.95, Z:-6.10 [[ 9.98959710e-01 4.28706762e-02 -1.55435843e-02 2.36629740e+02] [-4.28619640e-02 9.99080604e-01 8.93357145e-04 -2.09501057e+01] [ 1.55675924e-02 -2.26199244e-04 9.99878792e-01 -6.09885466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.682414037 meters 0.07430235971329482 Centerline is valid? [True, True] Translation: X:236.66, Y:-20.96, Z:-6.10 [[ 9.99138374e-01 3.83580987e-02 -1.58481844e-02 2.36657821e+02] [-3.83484478e-02 9.99264011e-01 9.12514256e-04 -2.09585196e+01] [ 1.58715226e-02 -3.03974737e-04 9.99873993e-01 -6.10234050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.712414037 meters 0.07455096126385413 Centerline is valid? [True, True] Translation: X:236.69, Y:-20.96, Z:-6.10 [[ 9.99239547e-01 3.55323386e-02 -1.60555273e-02 2.36686141e+02] [-3.55221598e-02 9.99368467e-01 9.18804219e-04 -2.09628502e+01] [ 1.60780349e-02 -3.47778507e-04 9.99870680e-01 -6.10190878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.742414037 meters 0.07505759318165801 Centerline is valid? [True, True] Translation: X:236.71, Y:-20.97, Z:-6.10 [[ 9.99299436e-01 3.36128912e-02 -1.64563176e-02 2.36714640e+02] [-3.36019957e-02 9.99434853e-01 9.38214149e-04 -2.09667483e+01] [ 1.64785535e-02 -3.84591756e-04 9.99864145e-01 -6.10386022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.772414037 meters 0.07538434420173869 Centerline is valid? [True, True] Translation: X:236.74, Y:-20.97, Z:-6.10 [[ 9.99349998e-01 3.23838700e-02 -1.58387702e-02 2.36742274e+02] [-3.23736931e-02 9.99475431e-01 8.98568852e-04 -2.09692439e+01] [ 1.58595608e-02 -3.85225295e-04 9.99874155e-01 -6.10493345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.802414037 meters 0.07552735858138752 Centerline is valid? [True, True] Translation: X:236.77, Y:-20.97, Z:-6.11 [[ 9.99373015e-01 3.17263509e-02 -1.57167013e-02 2.36769839e+02] [-3.17162381e-02 9.99496515e-01 8.92341188e-04 -2.09703368e+01] [ 1.57370989e-02 -3.93307064e-04 9.99876087e-01 -6.10528979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.832414037 meters 0.0758856152547187 Centerline is valid? [True, True] Translation: X:236.80, Y:-20.97, Z:-6.11 [[ 9.99430265e-01 3.03531231e-02 -1.47591930e-02 2.36797559e+02] [-3.03440729e-02 9.99539162e-01 8.36791893e-04 -2.09725701e+01] [ 1.47777907e-02 -3.88461114e-04 9.99890727e-01 -6.10613919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.862414037 meters 0.07679239509601575 Centerline is valid? [True, True] Translation: X:236.83, Y:-20.98, Z:-6.11 [[ 9.99537871e-01 2.65581544e-02 -1.47888086e-02 2.36826913e+02] [-2.65486518e-02 9.99647171e-01 8.38536283e-04 -2.09767671e+01] [ 1.48058607e-02 -4.45525840e-04 9.99890288e-01 -6.10547929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.892414037 meters 0.07728399777843489 Centerline is valid? [True, True] Translation: X:236.86, Y:-20.98, Z:-6.11 [[ 9.99567231e-01 2.56220591e-02 -1.44519887e-02 2.36855716e+02] [-2.56129618e-02 9.99671603e-01 8.14255586e-04 -2.09787358e+01] [ 1.44681056e-02 -4.43744969e-04 9.99895233e-01 -6.10590680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.922414037 meters 0.07776994100610743 Centerline is valid? [True, True] Translation: X:236.88, Y:-20.98, Z:-6.11 [[ 9.99595517e-01 2.45943639e-02 -1.42800585e-02 2.36883525e+02] [-2.45853708e-02 9.99697410e-01 8.05004116e-04 -2.09811637e+01] [ 1.42955361e-02 -4.53597972e-04 9.99897711e-01 -6.10740435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.952414037 meters 0.07805459037608904 Centerline is valid? [True, True] Translation: X:236.91, Y:-20.98, Z:-6.11 [[ 9.99627912e-01 2.39925488e-02 -1.29767110e-02 2.36911347e+02] [-2.39850858e-02 9.99712050e-01 7.30460992e-04 -2.09813695e+01] [ 1.29905000e-02 -4.18941669e-04 9.99915532e-01 -6.10809152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98241403699996 meters 0.07846817337117185 Centerline is valid? [True, True] Translation: X:236.94, Y:-20.98, Z:-6.11 [[ 9.99647689e-01 2.29823683e-02 -1.32781106e-02 2.36939608e+02] [-2.29745230e-02 9.99735775e-01 7.43097502e-04 -2.09825405e+01] [ 1.32916803e-02 -4.37777444e-04 9.99911566e-01 -6.10936351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.012414037 meters 0.07896049223018023 Centerline is valid? [True, True] Translation: X:236.97, Y:-20.98, Z:-6.11 [[ 9.99667967e-01 2.17455717e-02 -1.38233965e-02 2.36968168e+02] [-2.17369898e-02 9.99763427e-01 7.70784505e-04 -2.09832634e+01] [ 1.38368874e-02 -4.70049550e-04 9.99904155e-01 -6.11154701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04241403699996 meters 0.08009838309291407 Centerline is valid? [True, True] Translation: X:237.00, Y:-20.98, Z:-6.11 [[ 9.99695992e-01 1.98314153e-02 -1.46505276e-02 2.36996705e+02] [-1.98215504e-02 9.99803199e-01 8.18261640e-04 -2.09844973e+01] [ 1.46638716e-02 -5.27616711e-04 9.99892340e-01 -6.11436415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.072414037 meters 0.0808608678308322 Centerline is valid? [True, True] Translation: X:237.02, Y:-20.99, Z:-6.12 [[ 9.99717904e-01 1.85044917e-02 -1.48894687e-02 2.37024910e+02] [-1.84941770e-02 9.99828623e-01 8.30161943e-04 -2.09864623e+01] [ 1.49022787e-02 -5.54559288e-04 9.99888801e-01 -6.11613591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10241403699996 meters 0.08177164247742283 Centerline is valid? [True, True] Translation: X:237.05, Y:-20.99, Z:-6.12 [[ 9.99756323e-01 1.63921355e-02 -1.47848787e-02 2.37054124e+02] [-1.63817337e-02 9.99865471e-01 8.24386200e-04 -2.09893017e+01] [ 1.47964032e-02 -5.81983370e-04 9.99890358e-01 -6.11767084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.132414037 meters 0.08347439971955939 Centerline is valid? [True, True] Translation: X:237.08, Y:-20.99, Z:-6.12 [[ 9.99836756e-01 1.27839315e-02 -1.27684105e-02 2.37083229e+02] [-1.27758900e-02 9.99918132e-01 7.11168604e-04 -2.09937568e+01] [ 1.27764567e-02 -5.47924702e-04 9.99918228e-01 -6.11746994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16241403699996 meters 0.08347439971955939 Centerline is valid? [True, True] Translation: X:237.11, Y:-21.00, Z:-6.12 [[ 9.99837898e-01 1.26942195e-02 -1.27685025e-02 2.37110663e+02] [-1.26861918e-02 9.99919275e-01 7.09516187e-04 -2.09951421e+01] [ 1.27764786e-02 -5.47417502e-04 9.99918228e-01 -6.11777914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.192414037 meters 0.0846621067981517 Centerline is valid? [True, True] Translation: X:237.14, Y:-21.00, Z:-6.12 [[ 9.99871151e-01 1.05963101e-02 -1.20582034e-02 2.37140299e+02] [-1.05889953e-02 9.99943710e-01 6.70306545e-04 -2.09991798e+01] [ 1.20646274e-02 -5.42535918e-04 9.99927073e-01 -6.11820221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22241403699996 meters 0.08735732352262038 Centerline is valid? [True, True] Translation: X:237.17, Y:-21.01, Z:-6.12 [[ 9.99944973e-01 5.52972906e-03 -8.91472680e-03 2.37168806e+02] [-5.52553333e-03 9.99984612e-01 4.95211878e-04 -2.10057076e+01] [ 8.91732801e-03 -4.45926008e-04 9.99960140e-01 -6.11674146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.252414037 meters 0.0889520381600918 Centerline is valid? [True, True] Translation: X:237.20, Y:-21.01, Z:-6.12 [[ 9.99963564e-01 2.81530716e-03 -8.05886343e-03 2.37198079e+02] [-2.81179267e-03 9.99995947e-01 4.47399652e-04 -2.10109533e+01] [ 8.06009034e-03 -4.24723498e-04 9.99967427e-01 -6.11638878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28241403699997 meters 0.09068668696339893 Centerline is valid? [True, True] Translation: X:237.23, Y:-21.02, Z:-6.12 [[ 9.99972392e-01 4.85700980e-04 -7.41484661e-03 2.37227428e+02] [-4.82663724e-04 9.99999799e-01 4.11402231e-04 -2.10158964e+01] [ 7.41504494e-03 -4.07811996e-04 9.99972425e-01 -6.11559541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.312414037 meters 0.08982974532471756 Centerline is valid? [True, True] Translation: X:237.26, Y:-21.02, Z:-6.11 [[ 9.99974337e-01 2.03119355e-03 -6.87022935e-03 2.37256417e+02] [-2.02862757e-03 9.99997870e-01 3.80440421e-04 -2.10156936e+01] [ 6.87098746e-03 -3.66493521e-04 9.99976327e-01 -6.11485622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34241403699997 meters 0.08864290707227002 Centerline is valid? [True, True] Translation: X:237.29, Y:-21.02, Z:-6.12 [[ 9.99965366e-01 4.87260066e-03 -6.74712946e-03 2.37285089e+02] [-4.87018843e-03 9.99988071e-01 3.73903921e-04 -2.10155055e+01] [ 6.74887086e-03 -3.41031180e-04 9.99977168e-01 -6.11625324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.372414037 meters 0.08831481347069207 Centerline is valid? [True, True] Translation: X:237.31, Y:-21.02, Z:-6.12 [[ 9.99955703e-01 6.17315034e-03 -7.10519844e-03 2.37313229e+02] [-6.17051390e-03 9.99980885e-01 3.92920211e-04 -2.10168188e+01] [ 7.10748818e-03 -3.49060081e-04 9.99974681e-01 -6.11831460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40241403699997 meters 0.08789481416249253 Centerline is valid? [True, True] Translation: X:237.34, Y:-21.02, Z:-6.12 [[ 9.99929372e-01 8.16861471e-03 -8.63277860e-03 2.37341124e+02] [-8.16480235e-03 9.99966554e-01 4.76766302e-04 -2.10183555e+01] [ 8.63638438e-03 -4.06247698e-04 9.99962623e-01 -6.12306867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.432414037 meters 0.08735486488409 Centerline is valid? [True, True] Translation: X:237.37, Y:-21.02, Z:-6.12 [[ 9.99919587e-01 9.14074792e-03 -8.79016287e-03 2.37369845e+02] [-9.13683562e-03 9.99958141e-01 4.85133251e-04 -2.10190843e+01] [ 8.79422940e-03 -4.04779966e-04 9.99961248e-01 -6.12348926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.462414037 meters 0.08646540399327565 Centerline is valid? [True, True] Translation: X:237.40, Y:-21.02, Z:-6.12 [[ 9.99913996e-01 1.05390836e-02 -7.80571422e-03 2.37397665e+02] [-1.05360472e-02 9.99944402e-01 4.30023060e-04 -2.10181959e+01] [ 7.80981228e-03 -3.47744703e-04 9.99969442e-01 -6.12195014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.492414037 meters 0.08581791864960925 Centerline is valid? [True, True] Translation: X:237.43, Y:-21.02, Z:-6.12 [[ 9.99910240e-01 1.15976893e-02 -6.70865790e-03 2.37426733e+02] [-1.15954724e-02 9.99932702e-01 3.69260995e-04 -2.10180476e+01] [ 6.71248900e-03 -2.91437793e-04 9.99977429e-01 -6.12059245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.522414037 meters 0.08579522276572614 Centerline is valid? [True, True] Translation: X:237.46, Y:-21.02, Z:-6.12 [[ 9.99913322e-01 1.15243258e-02 -6.36695174e-03 2.37455352e+02] [-1.15223299e-02 9.99933554e-01 3.50066410e-04 -2.10195062e+01] [ 6.37056297e-03 -2.76673949e-04 9.99979669e-01 -6.11897772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.552414037 meters 0.07778216168440116 Centerline is valid? [True, True] Translation: X:237.49, Y:-21.00, Z:-6.11 [[ 9.99908698e-01 1.27213555e-02 -4.55656570e-03 2.37485899e+02] [-1.27203474e-02 9.99919062e-01 2.50154561e-04 -2.10007107e+01] [ 4.55937921e-03 -1.92170622e-04 9.99989588e-01 -6.10999509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.582414037 meters 0.0782562839906245 Centerline is valid? [True, True] Translation: X:237.51, Y:-21.00, Z:-6.11 [[ 9.99920587e-01 1.22630975e-02 -2.90436278e-03 2.37513346e+02] [-1.22626885e-02 9.99924798e-01 1.58596768e-04 -2.10044181e+01] [ 2.90608925e-03 -1.22968878e-04 9.99995770e-01 -6.10897006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.612414037 meters 0.07829086584739574 Centerline is valid? [True, True] Translation: X:237.54, Y:-21.01, Z:-6.11 [[ 9.99903776e-01 1.36364334e-02 -2.54701914e-03 2.37541102e+02] [-1.36361241e-02 9.99907014e-01 1.38769211e-04 -2.10077445e+01] [ 2.54867462e-03 -1.04024389e-04 9.99996747e-01 -6.10897082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.642414037 meters 0.0782804688640662 Centerline is valid? [True, True] Translation: X:237.57, Y:-21.01, Z:-6.11 [[ 9.99891168e-01 1.44574122e-02 -2.93870637e-03 2.37568543e+02] [-1.44570057e-02 9.99895479e-01 1.59523379e-04 -2.10097295e+01] [ 2.94070551e-03 -1.17021123e-04 9.99995669e-01 -6.11045685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.672414037 meters 0.07723386406956109 Centerline is valid? [True, True] Translation: X:237.60, Y:-21.01, Z:-6.11 [[ 9.99876894e-01 1.53007254e-02 -3.47617354e-03 2.37597816e+02] [-1.53001597e-02 9.99882928e-01 1.89270873e-04 -2.10083500e+01] [ 3.47866256e-03 -1.36061563e-04 9.99993940e-01 -6.11121916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.702414037 meters 0.07688960844447135 Centerline is valid? [True, True] Translation: X:237.63, Y:-21.01, Z:-6.11 [[ 9.99857396e-01 1.60691621e-02 -5.19329382e-03 2.37626388e+02] [-1.60679098e-02 9.99870863e-01 2.82778507e-04 -2.10087783e+01] [ 5.19716719e-03 -1.99292805e-04 9.99986475e-01 -6.11306547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73241403699996 meters 0.0771600880118806 Centerline is valid? [True, True] Translation: X:237.65, Y:-21.01, Z:-6.12 [[ 9.99844345e-01 1.66583009e-02 -5.81261563e-03 2.37653817e+02] [-1.66567496e-02 9.99861217e-01 3.15190958e-04 -2.10120484e+01] [ 5.81705949e-03 -2.18322614e-04 9.99983057e-01 -6.11559817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.762414037 meters 0.07688356728631474 Centerline is valid? [True, True] Translation: X:237.68, Y:-21.01, Z:-6.12 [[ 9.99837921e-01 1.69489907e-02 -6.07144780e-03 2.37682549e+02] [-1.69473016e-02 9.99856330e-01 3.29548705e-04 -2.10132165e+01] [ 6.07616104e-03 -2.26600635e-04 9.99981514e-01 -6.11599687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79241403699996 meters 0.07683458830850692 Centerline is valid? [True, True] Translation: X:237.71, Y:-21.02, Z:-6.11 [[ 9.99857650e-01 1.59939751e-02 -5.37322312e-03 2.37710855e+02] [-1.59926408e-02 9.99872067e-01 2.91191816e-04 -2.10153430e+01] [ 5.37719302e-03 -2.05218337e-04 9.99985522e-01 -6.11422798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.822414037 meters 0.0765172569305451 Centerline is valid? [True, True] Translation: X:237.74, Y:-21.02, Z:-6.11 [[ 9.99866853e-01 1.57253678e-02 -4.35774101e-03 2.37740017e+02] [-1.57244897e-02 9.99876335e-01 2.35701389e-04 -2.10168218e+01] [ 4.36090860e-03 -1.67146752e-04 9.99990477e-01 -6.11250777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85241403699996 meters 0.07670188111133563 Centerline is valid? [True, True] Translation: X:237.77, Y:-21.02, Z:-6.11 [[ 9.99879972e-01 1.53700934e-02 -1.94998135e-03 2.37767970e+02] [-1.53699180e-02 9.99881870e-01 1.04906856e-04 -2.10209465e+01] [ 1.95136343e-03 -7.49232110e-05 9.99998093e-01 -6.11196289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.882414037 meters 0.07673347086121242 Centerline is valid? [True, True] Translation: X:237.80, Y:-21.02, Z:-6.11 [[ 9.99883255e-01 1.52352711e-02 -1.16737220e-03 2.37795255e+02] [-1.52352088e-02 9.99883936e-01 6.21966025e-05 -2.10224882e+01] [ 1.16818429e-03 -4.44041822e-05 9.99999317e-01 -6.11132782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91241403699996 meters 0.07576468010228053 Centerline is valid? [True, True] Translation: X:237.82, Y:-21.02, Z:-6.11 [[ 9.99867681e-01 1.62484368e-02 -7.80359535e-04 2.37824599e+02] [-1.62484099e-02 9.99867985e-01 4.06919187e-05 -2.10221802e+01] [ 7.80917696e-04 -2.80069327e-05 9.99999695e-01 -6.11052593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.942414037 meters 0.07686604620282238 Centerline is valid? [True, True] Translation: X:237.85, Y:-21.03, Z:-6.11 [[ 9.99862821e-01 1.65530817e-02 -5.79218522e-04 2.37851624e+02] [-1.65530669e-02 9.99862988e-01 3.02492672e-05 -2.10276229e+01] [ 5.79639881e-04 -2.06572746e-05 9.99999832e-01 -6.11340586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97241403699996 meters 0.07599193916316366 Centerline is valid? [True, True] Translation: X:237.88, Y:-21.03, Z:-6.11 [[ 9.99818608e-01 1.90182802e-02 -1.02736129e-03 2.37880594e+02] [-1.90182342e-02 9.99819136e-01 5.45583790e-05 -2.10273247e+01] [ 1.02821308e-03 -3.50098850e-05 9.99999471e-01 -6.11362858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.002414037 meters 0.07510617687450379 Centerline is valid? [True, True] Translation: X:237.91, Y:-21.03, Z:-6.11 [[ 9.99810532e-01 1.93589217e-02 -2.03268566e-03 2.37908417e+02] [-1.93587420e-02 9.99812596e-01 1.08055934e-04 -2.10261424e+01] [ 2.03439658e-03 -6.86852236e-05 9.99997928e-01 -6.11396859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03241403699997 meters 0.07544628150767221 Centerline is valid? [True, True] Translation: X:237.94, Y:-21.03, Z:-6.12 [[ 9.99788792e-01 2.02822096e-02 -3.31713031e-03 2.37936488e+02] [-2.02817340e-02 9.99794289e-01 1.76979478e-04 -2.10285533e+01] [ 3.32003748e-03 -1.09664944e-04 9.99994483e-01 -6.11584894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.062414037 meters 0.07474454628477609 Centerline is valid? [True, True] Translation: X:237.97, Y:-21.03, Z:-6.12 [[ 9.99768036e-01 2.14275721e-02 -2.17562680e-03 2.37965036e+02] [-2.14273708e-02 9.99770401e-01 1.15788339e-04 -2.10284143e+01] [ 2.17760834e-03 -6.91435177e-05 9.99997627e-01 -6.11558787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09241403699997 meters 0.07484179535125474 Centerline is valid? [True, True] Translation: X:237.99, Y:-21.03, Z:-6.12 [[ 9.99778645e-01 2.08870822e-02 -2.52812471e-03 2.37993854e+02] [-2.08868088e-02 9.99781838e-01 1.34501986e-04 -2.10307213e+01] [ 2.53038252e-03 -8.16677559e-05 9.99996795e-01 -6.11627274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.122414037 meters 0.07526530539447691 Centerline is valid? [True, True] Translation: X:238.02, Y:-21.04, Z:-6.12 [[ 9.99769872e-01 2.14026207e-02 -1.45991971e-03 2.38021123e+02] [-2.14025310e-02 9.99770937e-01 7.70364320e-05 -2.10354027e+01] [ 1.46123408e-03 -4.57727269e-05 9.99998931e-01 -6.11677401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15241403699997 meters 0.07511479063145786 Centerline is valid? [True, True] Translation: X:238.05, Y:-21.04, Z:-6.12 [[ 9.99756676e-01 2.20586436e-02 -7.70056382e-05 2.38050376e+02] [-2.20586434e-02 9.99756679e-01 3.56505958e-06 -2.10372214e+01] [ 7.70655415e-05 -1.86555220e-06 9.99999997e-01 -6.11589740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.182414037 meters 0.07353097339203234 Centerline is valid? [True, True] Translation: X:238.08, Y:-21.03, Z:-6.11 [[ 9.99731238e-01 2.31760166e-02 5.68596675e-04 2.38079730e+02] [-2.31760027e-02 9.99731400e-01 -3.10943575e-05 -2.10331764e+01] [-5.69164593e-04 1.79082025e-05 9.99999838e-01 -6.11354624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.212414037 meters 0.07304614932981535 Centerline is valid? [True, True] Translation: X:238.11, Y:-21.03, Z:-6.11 [[ 9.99672668e-01 2.55663744e-02 9.57315633e-04 2.38108864e+02] [-2.55663350e-02 9.99673126e-01 -5.33539952e-05 -2.10322662e+01] [-9.58366780e-04 2.88614786e-05 9.99999540e-01 -6.11278721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.242414037 meters 0.07302741276960445 Centerline is valid? [True, True] Translation: X:238.14, Y:-21.03, Z:-6.11 [[ 9.99633188e-01 2.70737872e-02 7.06375899e-04 2.38136511e+02] [-2.70737668e-02 9.99633438e-01 -3.84021728e-05 -2.10337274e+01] [-7.07156660e-04 1.92638301e-05 9.99999750e-01 -6.11329065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.272414037 meters 0.07178916395409807 Centerline is valid? [True, True] Translation: X:238.17, Y:-21.03, Z:-6.11 [[ 9.99493011e-01 3.18042164e-02 1.48780543e-03 2.38166582e+02] [-3.18041338e-02 9.99494117e-01 -7.91705880e-05 -2.10279235e+01] [-1.48957073e-03 3.18120866e-05 9.99998890e-01 -6.11283853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.302414037 meters 0.07149397804566224 Centerline is valid? [True, True] Translation: X:238.19, Y:-21.03, Z:-6.12 [[ 9.99428286e-01 3.38081748e-02 3.30240174e-04 2.38194828e+02] [-3.38081700e-02 9.99428340e-01 -2.00671910e-05 -2.10266751e+01] [-3.30729824e-04 8.89090233e-06 9.99999945e-01 -6.11507471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.332414037 meters 0.07116661722347314 Centerline is valid? [True, True] Translation: X:238.22, Y:-21.03, Z:-6.12 [[ 9.99338437e-01 3.63679685e-02 -2.41491328e-04 2.38222375e+02] [-3.63679667e-02 9.99338467e-01 1.17840426e-05 -2.10250814e+01] [ 2.41760135e-04 -2.99369818e-06 9.99999971e-01 -6.11600578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.362414037 meters 0.07036813736473493 Centerline is valid? [True, True] Translation: X:238.25, Y:-21.02, Z:-6.12 [[ 9.99128817e-01 4.17210028e-02 -9.82166056e-04 2.38252037e+02] [-4.17209748e-02 9.99129300e-01 4.89579981e-05 -2.10173074e+01] [ 9.83353461e-04 -7.93842148e-06 9.99999516e-01 -6.11620371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.392414037 meters 0.0703132921998585 Centerline is valid? [True, True] Translation: X:238.28, Y:-21.02, Z:-6.12 [[ 9.99071448e-01 4.30792760e-02 -6.45818612e-04 2.38281209e+02] [-4.30792650e-02 9.99071657e-01 3.09953044e-05 -2.10167683e+01] [ 6.46554326e-04 -3.14513250e-06 9.99999791e-01 -6.11696417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.422414037 meters 0.07013649280939895 Centerline is valid? [True, True] Translation: X:238.31, Y:-21.02, Z:-6.12 [[ 9.99081803e-01 4.28363560e-02 -7.72446580e-04 2.38309328e+02] [-4.28363402e-02 9.99082102e-01 3.69828031e-05 -2.10179184e+01] [ 7.73321761e-04 -3.86006110e-06 9.99999701e-01 -6.11689018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.452414037 meters 0.07004947838406586 Centerline is valid? [True, True] Translation: X:238.34, Y:-21.02, Z:-6.12 [[ 9.98960796e-01 4.55645247e-02 -1.09609121e-03 2.38337058e+02] [-4.55644909e-02 9.98961398e-01 5.58256301e-05 -2.10160540e+01] [ 1.09749647e-03 -5.82477814e-06 9.99999398e-01 -6.11607370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48241403699996 meters 0.07004883535333052 Centerline is valid? [True, True] Translation: X:238.37, Y:-21.02, Z:-6.12 [[ 9.98913950e-01 4.65882216e-02 -6.76894447e-04 2.38365104e+02] [-4.65882092e-02 9.98914179e-01 3.40631417e-05 -2.10165121e+01] [ 6.77746402e-04 -2.49084730e-06 9.99999770e-01 -6.11754367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.512414037 meters 0.07012297626492019 Centerline is valid? [True, True] Translation: X:238.39, Y:-21.02, Z:-6.12 [[ 9.98889636e-01 4.71094878e-02 4.36266529e-04 2.38393675e+02] [-4.71094813e-02 9.98889732e-01 -2.50734975e-05 -2.10176833e+01] [-4.36963356e-04 4.49336685e-06 9.99999905e-01 -6.11761384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54241403699996 meters 0.07015759253436558 Centerline is valid? [True, True] Translation: X:238.42, Y:-21.02, Z:-6.12 [[ 9.98959794e-01 4.55929185e-02 7.84757872e-04 2.38420951e+02] [-4.55928986e-02 9.98960102e-01 -4.31571376e-05 -2.10214764e+01] [-7.85909464e-04 7.33285921e-06 9.99999691e-01 -6.11667916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.572414037 meters 0.07020999228210155 Centerline is valid? [True, True] Translation: X:238.45, Y:-21.02, Z:-6.12 [[ 9.98982796e-01 4.50922096e-02 2.56480447e-04 2.38448606e+02] [-4.50922070e-02 9.98982829e-01 -1.60216838e-05 -2.10236330e+01] [-2.56942015e-04 4.44011709e-06 9.99999967e-01 -6.11755419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60241403699996 meters 0.070348193307309 Centerline is valid? [True, True] Translation: X:238.48, Y:-21.02, Z:-6.12 [[ 9.98973724e-01 4.52710038e-02 1.42678458e-03 2.38476598e+02] [-4.52709450e-02 9.98974742e-01 -7.35134790e-05 -2.10248024e+01] [-1.42864978e-03 8.84614782e-06 9.99998979e-01 -6.11861224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.632414037 meters 0.07029681103867427 Centerline is valid? [True, True] Translation: X:238.50, Y:-21.03, Z:-6.12 [[ 9.98965030e-01 4.54730657e-02 1.03373008e-03 2.38504593e+02] [-4.54730329e-02 9.98965565e-01 -5.52416258e-05 -2.10257690e+01] [-1.03517276e-03 8.17761055e-06 9.99999464e-01 -6.11835058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66241403699996 meters 0.07029970813444997 Centerline is valid? [True, True] Translation: X:238.53, Y:-21.03, Z:-6.12 [[ 9.99036282e-01 4.38875512e-02 6.25051358e-04 2.38533540e+02] [-4.38875384e-02 9.99036477e-01 -3.41456366e-05 -2.10282269e+01] [-6.25947675e-04 6.68076432e-06 9.99999804e-01 -6.11790295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.692414037 meters 0.0705060763828244 Centerline is valid? [True, True] Translation: X:238.56, Y:-21.03, Z:-6.12 [[ 9.99108863e-01 4.22065219e-02 2.98685842e-04 2.38561273e+02] [-4.22065190e-02 9.99108908e-01 -1.59601107e-05 -2.10310593e+01] [-2.99093306e-04 3.33939840e-06 9.99999955e-01 -6.11925604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72241403699996 meters 0.07063616142862227 Centerline is valid? [True, True] Translation: X:238.59, Y:-21.03, Z:-6.12 [[ 9.99170473e-01 4.07223497e-02 2.38301796e-04 2.38589456e+02] [-4.07223477e-02 9.99170501e-01 -1.33381669e-05 -2.10334135e+01] [-2.38647286e-04 3.62289398e-06 9.99999972e-01 -6.11861682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.752414037 meters 0.07091281087952382 Centerline is valid? [True, True] Translation: X:238.62, Y:-21.04, Z:-6.12 [[ 9.99299558e-01 3.74217255e-02 8.36099253e-05 2.38618338e+02] [-3.74217250e-02 9.99299562e-01 -6.78009318e-06 -2.10382124e+01] [-8.38050845e-05 3.64651649e-06 9.99999996e-01 -6.11805318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78241403699997 meters 0.07099875418782643 Centerline is valid? [True, True] Translation: X:238.65, Y:-21.04, Z:-6.12 [[ 9.99327147e-01 3.66746965e-02 -4.68657113e-04 2.38647181e+02] [-3.66746909e-02 9.99327257e-01 2.06687053e-05 -2.10399696e+01] [ 4.69099846e-04 -3.46694357e-06 9.99999890e-01 -6.11792746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.812414037 meters 0.07095999396591111 Centerline is valid? [True, True] Translation: X:238.67, Y:-21.04, Z:-6.12 [[ 9.99340311e-01 3.63078069e-02 -8.28490459e-04 2.38674737e+02] [-3.63077879e-02 9.99340654e-01 3.79839232e-05 -2.10420141e+01] [ 8.29323310e-04 -7.87820980e-06 9.99999656e-01 -6.11861647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84241403699997 meters 0.07123639516347623 Centerline is valid? [True, True] Translation: X:238.70, Y:-21.04, Z:-6.12 [[ 9.99336392e-01 3.63889122e-02 -1.61961289e-03 2.38701932e+02] [-3.63888319e-02 9.99337704e-01 7.90308303e-05 -2.10447715e+01] [ 1.62141607e-03 -2.00425637e-05 9.99998685e-01 -6.12030669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.872414037 meters 0.07147290876189666 Centerline is valid? [True, True] Translation: X:238.73, Y:-21.05, Z:-6.12 [[ 9.99332093e-01 3.64965924e-02 -1.83464929e-03 2.38729001e+02] [-3.64964903e-02 9.99333777e-01 8.90854592e-05 -2.10476098e+01] [ 1.83667832e-03 -2.20676984e-05 9.99998313e-01 -6.12234000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90241403699997 meters 0.07154953837886195 Centerline is valid? [True, True] Translation: X:238.76, Y:-21.05, Z:-6.12 [[ 9.99353989e-01 3.58615765e-02 -2.35624112e-03 2.38757843e+02] [-3.58614099e-02 9.99356766e-01 1.12968121e-04 -2.10494347e+01] [ 2.35877672e-03 -2.83970134e-05 9.99997218e-01 -6.12133211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.932414037 meters 0.07152362683004528 Centerline is valid? [True, True] Translation: X:238.79, Y:-21.05, Z:-6.12 [[ 9.99356208e-01 3.58300008e-02 -1.83887622e-03 2.38785994e+02] [-3.58299018e-02 9.99357899e-01 8.67711486e-05 -2.10512984e+01] [ 1.84080449e-03 -2.08285314e-05 9.99998306e-01 -6.12051048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.962414037 meters 0.07169136674589771 Centerline is valid? [True, True] Translation: X:238.81, Y:-21.05, Z:-6.12 [[ 9.99386835e-01 3.49590591e-02 -1.95396396e-03 2.38813452e+02] [-3.49589417e-02 9.99388745e-01 9.42362087e-05 -2.10537608e+01] [ 1.95606400e-03 -2.58699141e-05 9.99998087e-01 -6.12044880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.992414037 meters 0.07185737082586306 Centerline is valid? [True, True] Translation: X:238.84, Y:-21.06, Z:-6.12 [[ 9.99431627e-01 3.36599765e-02 -1.85161218e-03 2.38841686e+02] [-3.36598726e-02 9.99433342e-01 8.72433747e-05 -2.10567386e+01] [ 1.85349955e-03 -2.48687580e-05 9.99998282e-01 -6.11823152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.022414037 meters 0.07187843101456634 Centerline is valid? [True, True] Translation: X:238.87, Y:-21.06, Z:-6.12 [[ 9.99478380e-01 3.22725457e-02 -1.20426398e-03 2.38870405e+02] [-3.22725022e-02 9.99479106e-01 5.55230673e-05 -2.10584809e+01] [ 1.20542856e-03 -1.66294934e-05 9.99999273e-01 -6.11751555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.052414037 meters 0.07187843101456634 Centerline is valid? [True, True] Translation: X:238.90, Y:-21.06, Z:-6.12 [[ 9.99486771e-01 3.20116399e-02 -1.20429656e-03 2.38897695e+02] [-3.20115970e-02 9.99487496e-01 5.48388548e-05 -2.10596330e+01] [ 1.20543484e-03 -1.62592537e-05 9.99999273e-01 -6.11782439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.082414037 meters 0.07241380703443026 Centerline is valid? [True, True] Translation: X:238.93, Y:-21.06, Z:-6.12 [[ 9.99570653e-01 2.92175004e-02 -2.20152256e-03 2.38926504e+02] [-2.92173454e-02 9.99573077e-01 1.02524069e-04 -2.10644497e+01] [ 2.20357818e-03 -3.81574052e-05 9.99997571e-01 -6.11878630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.112414037 meters 0.07274784315391168 Centerline is valid? [True, True] Translation: X:238.95, Y:-21.07, Z:-6.12 [[ 9.99631602e-01 2.69643054e-02 -3.09610678e-03 2.38954702e+02] [-2.69639872e-02 9.99636395e-01 1.44491439e-04 -2.10684506e+01] [ 3.09887713e-03 -6.09548252e-05 9.99995197e-01 -6.11921847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.142414037 meters 0.07342901885713075 Centerline is valid? [True, True] Translation: X:238.98, Y:-21.07, Z:-6.12 [[ 9.99685244e-01 2.46034097e-02 -4.90763599e-03 2.38982570e+02] [-2.46025678e-02 9.99697284e-01 2.31852474e-04 -2.10739864e+01] [ 4.91185473e-03 -1.11039050e-04 9.99987931e-01 -6.12250693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.172414037 meters 0.07429659001264004 Centerline is valid? [True, True] Translation: X:239.01, Y:-21.08, Z:-6.12 [[ 9.99786766e-01 1.97165309e-02 -6.13846167e-03 2.39011170e+02] [-1.97151199e-02 9.99805596e-01 2.90303260e-04 -2.10806894e+01] [ 6.14299210e-03 -1.69220849e-04 9.99981117e-01 -6.12398637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.202414037 meters 0.07496400385003824 Centerline is valid? [True, True] Translation: X:239.04, Y:-21.08, Z:-6.13 [[ 9.99816979e-01 1.78280689e-02 -6.94032396e-03 2.39039818e+02] [-1.78262419e-02 9.99841047e-01 3.25024502e-04 -2.10845204e+01] [ 6.94501534e-03 -2.01245122e-04 9.99975863e-01 -6.12526865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23241403699996 meters 0.07512064924334759 Centerline is valid? [True, True] Translation: X:239.07, Y:-21.09, Z:-6.12 [[ 9.99848609e-01 1.56872764e-02 -7.52781679e-03 2.39068880e+02] [-1.56850564e-02 9.99876919e-01 3.53851828e-04 -2.10868643e+01] [ 7.53244123e-03 -2.35724027e-04 9.99971603e-01 -6.12485297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.262414037 meters 0.0761452925685899 Centerline is valid? [True, True] Translation: X:239.10, Y:-21.09, Z:-6.12 [[ 9.99908161e-01 1.20399922e-02 -6.22161820e-03 2.39098238e+02] [-1.20384051e-02 9.99927493e-01 2.92494288e-04 -2.10921649e+01] [ 6.22468872e-03 -2.17569065e-04 9.99980603e-01 -6.12455278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29241403699996 meters 0.07686843767020157 Centerline is valid? [True, True] Translation: X:239.13, Y:-21.10, Z:-6.12 [[ 9.99933916e-01 9.87841706e-03 -5.88049700e-03 2.39126837e+02] [-9.87696474e-03 9.99951184e-01 2.75963067e-04 -2.10964772e+01] [ 5.88293601e-03 -2.17863368e-04 9.99982672e-01 -6.12483002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.322414037 meters 0.07810378939270077 Centerline is valid? [True, True] Translation: X:239.16, Y:-21.10, Z:-6.12 [[ 9.99969849e-01 5.79778098e-03 -5.16600297e-03 2.39156312e+02] [-5.79660608e-03 9.99983170e-01 2.42374162e-04 -2.11019476e+01] [ 5.16732126e-03 -2.12421570e-04 9.99986627e-01 -6.12383020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35241403699996 meters 0.07901377760740541 Centerline is valid? [True, True] Translation: X:239.18, Y:-21.11, Z:-6.12 [[ 9.99982326e-01 3.46240907e-03 -4.83316211e-03 2.39184332e+02] [-3.46135693e-03 9.99993984e-01 2.26040407e-04 -2.11059167e+01] [ 4.83391568e-03 -2.09307113e-04 9.99988295e-01 -6.12438392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.382414037 meters 0.07976597705580439 Centerline is valid? [True, True] Translation: X:239.21, Y:-21.11, Z:-6.12 [[ 9.99984759e-01 1.39705094e-03 -5.34130272e-03 2.39213789e+02] [-1.39573505e-03 9.99998995e-01 2.50081035e-04 -2.11089212e+01] [ 5.34164673e-03 -2.42622180e-04 9.99985704e-01 -6.12476640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41241403699996 meters 0.08180948474055393 Centerline is valid? [True, True] Translation: X:239.24, Y:-21.12, Z:-6.13 [[ 9.99983955e-01 -1.14499852e-03 -5.54784340e-03 2.39242271e+02] [ 1.14645473e-03 9.99999309e-01 2.59308728e-04 -2.11160515e+01] [ 5.54754266e-03 -2.65664918e-04 9.99984577e-01 -6.12657590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.442414037 meters 0.08507675439766703 Centerline is valid? [True, True] Translation: X:239.27, Y:-21.12, Z:-6.13 [[ 9.99962396e-01 -5.50739656e-03 -6.69893002e-03 2.39271097e+02] [ 5.50961941e-03 9.99984773e-01 3.13413150e-04 -2.11249513e+01] [ 6.69710193e-03 -3.50309919e-04 9.99977513e-01 -6.12949356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47241403699996 meters 0.08567320957784486 Centerline is valid? [True, True] Translation: X:239.30, Y:-21.13, Z:-6.13 [[ 9.99914208e-01 -1.02061357e-02 -8.21043448e-03 2.39301355e+02] [ 1.02096355e-02 9.99947806e-01 3.84463914e-04 -2.11265954e+01] [ 8.20608205e-03 -4.68256474e-04 9.99966220e-01 -6.13053897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.502414037 meters 0.08814087148687362 Centerline is valid? [True, True] Translation: X:239.33, Y:-21.13, Z:-6.13 [[ 9.99887974e-01 -1.23948168e-02 -8.39100419e-03 2.39331016e+02] [ 1.23985488e-02 9.99923058e-01 3.92888808e-04 -2.11331335e+01] [ 8.38548878e-03 -4.96881069e-04 9.99964718e-01 -6.13302956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53241403699997 meters 0.08909418864886832 Centerline is valid? [True, True] Translation: X:239.36, Y:-21.14, Z:-6.13 [[ 9.99849080e-01 -1.52388179e-02 -8.34241309e-03 2.39361871e+02] [ 1.52426080e-02 9.99883748e-01 3.90928747e-04 -2.11371715e+01] [ 8.33548598e-03 -5.18029881e-04 9.99965125e-01 -6.13337487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.562414037 meters 0.08753436293831426 Centerline is valid? [True, True] Translation: X:239.39, Y:-21.13, Z:-6.13 [[ 9.99800719e-01 -1.81533901e-02 -8.30520122e-03 2.39393296e+02] [ 1.81572480e-02 9.99835068e-01 3.89339053e-04 -2.11344591e+01] [ 8.29676360e-03 -5.40061063e-04 9.99965435e-01 -6.13271387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59241403699997 meters 0.09064990184314414 Centerline is valid? [True, True] Translation: X:239.42, Y:-21.14, Z:-6.13 [[ 9.99697540e-01 -2.30930329e-02 -8.45818904e-03 2.39423280e+02] [ 2.30972099e-02 9.99733145e-01 3.96475995e-04 -2.11420550e+01] [ 8.44677610e-03 -5.91716644e-04 9.99964150e-01 -6.13487351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.622414037 meters 0.09159060056526357 Centerline is valid? [True, True] Translation: X:239.45, Y:-21.15, Z:-6.13 [[ 9.99643854e-01 -2.54690903e-02 -7.96805530e-03 2.39453756e+02] [ 2.54728742e-02 9.99675444e-01 3.73742209e-04 -2.11454613e+01] [ 7.95595035e-03 -5.76578373e-04 9.99968185e-01 -6.13486273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65241403699997 meters 0.09250620768455646 Centerline is valid? [True, True] Translation: X:239.48, Y:-21.15, Z:-6.13 [[ 9.99514145e-01 -3.03908483e-02 -6.91887869e-03 2.39484446e+02] [ 3.03938184e-02 9.99537948e-01 3.24518616e-04 -2.11476350e+01] [ 6.90581942e-03 -5.34652090e-04 9.99976012e-01 -6.13406256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.682414037 meters 0.10200344790838471 Centerline is valid? [True, False] Translation: X:239.48, Y:-21.15, Z:-6.13 [[ 9.99503330e-01 -3.08092182e-02 -6.62467547e-03 2.39483424e+02] [ 3.08103166e-02 9.99525247e-01 6.37939789e-05 -2.11473188e+01] [ 6.61956495e-03 -2.67870643e-04 9.99978055e-01 -6.13367079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.712414037 meters 0.0940826584208662 Centerline is valid? [False, True] Translation: X:239.47, Y:-21.15, Z:-6.14 [[ 9.99726626e-01 -2.32312311e-02 2.64259308e-03 2.39473020e+02] [ 2.32291940e-02 9.99729847e-01 7.98984086e-04 -2.11497380e+01] [-2.66044056e-03 -7.37380357e-04 9.99996189e-01 -6.13946902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.742414037 meters 0.09387754760185932 Centerline is valid? [True, True] Translation: X:239.50, Y:-21.15, Z:-6.14 [[ 9.99767540e-01 -2.13346955e-02 3.11385140e-03 2.39503754e+02] [ 2.13353331e-02 9.99772361e-01 -1.71710153e-04 -2.11491326e+01] [-3.10947918e-03 2.38105295e-04 9.99995137e-01 -6.13967755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.772414037 meters 0.09309892917746221 Centerline is valid? [True, True] Translation: X:239.54, Y:-21.15, Z:-6.14 [[ 9.99800928e-01 -1.98263277e-02 2.24059608e-03 2.39535416e+02] [ 1.98266539e-02 9.99803425e-01 -1.23438221e-04 -2.11485695e+01] [-2.23770831e-03 1.67837171e-04 9.99997482e-01 -6.14132351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.802414037 meters 0.09279655446317647 Centerline is valid? [True, True] Translation: X:239.57, Y:-21.15, Z:-6.14 [[ 9.99824962e-01 -1.85873230e-02 2.13478720e-03 2.39567302e+02] [ 1.85876157e-02 9.99827228e-01 -1.17347857e-04 -2.11495958e+01] [-2.13223719e-03 1.57007921e-04 9.99997714e-01 -6.14286701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.832414037 meters 0.0930349195123943 Centerline is valid? [True, True] Translation: X:239.60, Y:-21.15, Z:-6.15 [[ 9.99864593e-01 -1.64331804e-02 8.64383762e-04 2.39597327e+02] [ 1.64332277e-02 9.99864964e-01 -4.76008182e-05 -2.11511411e+01] [-8.63484807e-04 6.17989879e-05 9.99999625e-01 -6.14577886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.862414037 meters 0.09317210631167643 Centerline is valid? [True, True] Translation: X:239.63, Y:-21.15, Z:-6.15 [[ 9.99881807e-01 -1.53341008e-02 1.11253591e-03 2.39628939e+02] [ 1.53341775e-02 9.99882423e-01 -6.04580204e-05 -2.11531693e+01] [-1.11147803e-03 7.75106978e-05 9.99999379e-01 -6.14699054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.892414037 meters 0.09020498842510814 Centerline is valid? [True, True] Translation: X:239.66, Y:-21.15, Z:-6.15 [[ 9.99890612e-01 -1.47854130e-02 3.93272544e-04 2.39660997e+02] [ 1.47854222e-02 9.99890689e-01 -2.04730432e-05 -2.11488344e+01] [-3.92926853e-04 2.62855043e-05 9.99999922e-01 -6.14672545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.922414037 meters 0.09014316375236876 Centerline is valid? [True, True] Translation: X:239.69, Y:-21.15, Z:-6.15 [[ 9.99896841e-01 -1.43268515e-02 1.02429506e-03 2.39693256e+02] [ 1.43269160e-02 9.99897363e-01 -5.56358188e-05 -2.11512419e+01] [-1.02339285e-03 7.03050687e-05 9.99999474e-01 -6.14726097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.952414037 meters 0.0920393200082232 Centerline is valid? [True, True] Translation: X:239.72, Y:-21.16, Z:-6.15 [[ 9.99885000e-01 -1.50957994e-02 1.45068622e-03 2.39723909e+02] [ 1.50959310e-02 9.99886047e-01 -7.98055209e-05 -2.11577653e+01] [-1.44931618e-03 1.01695802e-04 9.99998945e-01 -6.14857934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98241403699996 meters 0.09122030456694563 Centerline is valid? [True, True] Translation: X:239.76, Y:-21.16, Z:-6.15 [[ 9.99878974e-01 -1.54410423e-02 1.90064211e-03 2.39755722e+02] [ 1.54412690e-02 9.99880771e-01 -1.04673555e-04 -2.11584069e+01] [-1.89879923e-03 1.34009213e-04 9.99998188e-01 -6.14833400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.012414037 meters 0.09221295343136522 Centerline is valid? [True, True] Translation: X:239.79, Y:-21.16, Z:-6.15 [[ 9.99878848e-01 -1.51584720e-02 3.53694515e-03 2.39786927e+02] [ 1.51592615e-02 9.99885072e-01 -1.96517158e-04 -2.11643484e+01] [-3.53355976e-03 2.50110826e-04 9.99993726e-01 -6.14949433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04241403699996 meters 0.09456778983232858 Centerline is valid? [True, True] Translation: X:239.82, Y:-21.17, Z:-6.15 [[ 9.99874385e-01 -1.53755680e-02 3.84797640e-03 2.39817491e+02] [ 1.53765004e-02 9.99881752e-01 -2.12843692e-04 -2.11727948e+01] [-3.84424879e-03 2.71985366e-04 9.99992574e-01 -6.15130636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.072414037 meters 0.09032839630979828 Centerline is valid? [True, True] Translation: X:239.85, Y:-21.17, Z:-6.15 [[ 9.99904013e-01 -1.34052640e-02 3.50203057e-03 2.39849323e+02] [ 1.34060305e-02 9.99910116e-01 -1.95486967e-04 -2.11687726e+01] [-3.49909524e-03 2.42416531e-04 9.99993849e-01 -6.15152307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10241403699996 meters 0.08982602875992389 Centerline is valid? [True, True] Translation: X:239.88, Y:-21.17, Z:-6.15 [[ 9.99921084e-01 -1.22617082e-02 2.73433482e-03 2.39881255e+02] [ 1.22621694e-02 9.99924805e-01 -1.51985774e-04 -2.11709376e+01] [-2.73226561e-03 1.85502657e-04 9.99996250e-01 -6.15279927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.132414037 meters 0.08991740967090558 Centerline is valid? [True, True] Translation: X:239.91, Y:-21.17, Z:-6.15 [[ 9.99927085e-01 -1.17443688e-02 2.80981889e-03 2.39913696e+02] [ 1.17448546e-02 9.99931015e-01 -1.56422220e-04 -2.11746724e+01] [-2.80778797e-03 1.89411728e-04 9.99996040e-01 -6.15413760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16241403699996 meters 0.08949715020740827 Centerline is valid? [True, True] Translation: X:239.95, Y:-21.18, Z:-6.16 [[ 9.99933627e-01 -1.12964668e-02 2.26506329e-03 2.39945325e+02] [ 1.12967810e-02 9.99936181e-01 -1.25984654e-04 -2.11778580e+01] [-2.26349555e-03 1.51564216e-04 9.99997427e-01 -6.15543127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.192414037 meters 0.09018458328977766 Centerline is valid? [True, True] Translation: X:239.98, Y:-21.19, Z:-6.16 [[ 9.99919154e-01 -1.25316296e-02 2.15493825e-03 2.39976744e+02] [ 1.25319177e-02 9.99921465e-01 -1.20252739e-04 -2.11851440e+01] [-2.15326205e-03 1.47248526e-04 9.99997671e-01 -6.15626985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22241403699996 meters 0.0926703689729588 Centerline is valid? [True, True] Translation: X:240.01, Y:-21.19, Z:-6.16 [[ 9.99902710e-01 -1.37327419e-02 2.44570752e-03 2.40007216e+02] [ 1.37331143e-02 9.99905687e-01 -1.35564468e-04 -2.11936872e+01] [-2.44361519e-03 1.69138460e-04 9.99997000e-01 -6.15790728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.252414037 meters 0.09250756682499296 Centerline is valid? [True, True] Translation: X:240.04, Y:-21.20, Z:-6.16 [[ 9.99871970e-01 -1.56612054e-02 3.28177451e-03 2.40038405e+02] [ 1.56618950e-02 9.99877328e-01 -1.84532799e-04 -2.11994806e+01] [-3.27848192e-03 2.35907981e-04 9.99994598e-01 -6.15742277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28241403699997 meters 0.0959022855447838 Centerline is valid? [True, True] Translation: X:240.07, Y:-21.21, Z:-6.16 [[ 9.99847621e-01 -1.69995642e-02 3.96851284e-03 2.40069196e+02] [ 1.70005832e-02 9.99855455e-01 -2.23160557e-04 -2.12102003e+01] [-3.96414558e-03 2.90593584e-04 9.99992101e-01 -6.15907369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.312414037 meters 0.09258667021502014 Centerline is valid? [True, True] Translation: X:240.10, Y:-21.21, Z:-6.16 [[ 9.99814154e-01 -1.87030726e-02 4.67469412e-03 2.40100202e+02] [ 1.87045093e-02 9.99825021e-01 -2.63795442e-04 -2.12097960e+01] [-4.66894236e-03 3.51184276e-04 9.99989039e-01 -6.15755432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34241403699997 meters 0.09377459592095845 Centerline is valid? [True, True] Translation: X:240.13, Y:-21.22, Z:-6.16 [[ 9.99790689e-01 -1.97622341e-02 5.29455676e-03 2.40130872e+02] [ 1.97640899e-02 9.99804627e-01 -2.98407095e-04 -2.12160584e+01] [-5.28762516e-03 4.02986731e-04 9.99985939e-01 -6.15805198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.372414037 meters 0.09291940438958357 Centerline is valid? [True, True] Translation: X:240.16, Y:-21.22, Z:-6.16 [[ 9.99793532e-01 -1.98260174e-02 4.45215924e-03 2.40162837e+02] [ 1.98273293e-02 9.99803388e-01 -2.50725112e-04 -2.12180380e+01] [-4.44631301e-03 3.38947772e-04 9.99990058e-01 -6.15854752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40241403699997 meters 0.09352999788452146 Centerline is valid? [True, True] Translation: X:240.19, Y:-21.22, Z:-6.16 [[ 9.99793412e-01 -1.97611883e-02 4.75698016e-03 2.40194732e+02] [ 1.97626861e-02 9.99804663e-01 -2.68058478e-04 -2.12239337e+01] [-4.75075379e-03 3.62013806e-04 9.99988650e-01 -6.15942971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.432414037 meters 0.09457067781396984 Centerline is valid? [True, True] Translation: X:240.23, Y:-21.23, Z:-6.16 [[ 9.99804595e-01 -1.93132613e-02 4.21542771e-03 2.40226185e+02] [ 1.93144355e-02 9.99813431e-01 -2.38013995e-04 -2.12286669e+01] [-4.21004442e-03 3.19386092e-04 9.99991087e-01 -6.16045561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.462414037 meters 0.09383304263436622 Centerline is valid? [True, True] Translation: X:240.26, Y:-21.23, Z:-6.16 [[ 9.99849052e-01 -1.68523215e-02 4.22767043e-03 2.40256127e+02] [ 1.68534864e-02 9.99857941e-01 -2.40067133e-04 -2.12318202e+01] [-4.22302416e-03 3.11281881e-04 9.99991035e-01 -6.16053861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.492414037 meters 0.09235002793096675 Centerline is valid? [True, True] Translation: X:240.29, Y:-21.23, Z:-6.16 [[ 9.99860159e-01 -1.62285701e-02 4.03677054e-03 2.40288082e+02] [ 1.62296228e-02 9.99868265e-01 -2.28149738e-04 -2.12317353e+01] [-4.03253621e-03 2.93633096e-04 9.99991826e-01 -6.16072660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.522414037 meters 0.09121733866772197 Centerline is valid? [True, True] Translation: X:240.32, Y:-21.23, Z:-6.16 [[ 9.99865378e-01 -1.59220182e-02 3.96426014e-03 2.40319939e+02] [ 1.59230319e-02 9.99873195e-01 -2.24284397e-04 -2.12325582e+01] [-3.96018639e-03 2.87377244e-04 9.99992117e-01 -6.16099311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.552414037 meters 0.09141435876616359 Centerline is valid? [True, True] Translation: X:240.35, Y:-21.24, Z:-6.16 [[ 9.99865121e-01 -1.60656624e-02 3.41085912e-03 2.40351900e+02] [ 1.60664139e-02 9.99870908e-01 -1.93019420e-04 -2.12366034e+01] [-3.40731782e-03 2.47793660e-04 9.99994164e-01 -6.16196169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.582414037 meters 0.09239706090151978 Centerline is valid? [True, True] Translation: X:240.38, Y:-21.24, Z:-6.16 [[ 9.99847784e-01 -1.70607862e-02 3.65208818e-03 2.40382576e+02] [ 1.70616566e-02 9.99854418e-01 -2.07309365e-04 -2.12436711e+01] [-3.64801964e-03 2.69588484e-04 9.99993310e-01 -6.16288672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.612414037 meters 0.09330478531481039 Centerline is valid? [True, True] Translation: X:240.41, Y:-21.25, Z:-6.16 [[ 9.99834715e-01 -1.78483228e-02 3.46110250e-03 2.40413942e+02] [ 1.78491058e-02 9.99840673e-01 -1.95463389e-04 -2.12498342e+01] [-3.45706236e-03 2.57208667e-04 9.99993991e-01 -6.16394846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.642414037 meters 0.09270822850652546 Centerline is valid? [True, True] Translation: X:240.45, Y:-21.25, Z:-6.16 [[ 9.99836275e-01 -1.77138151e-02 3.69387245e-03 2.40446030e+02] [ 1.77147113e-02 9.99843060e-01 -2.10058464e-04 -2.12520720e+01] [-3.68957180e-03 2.75459956e-04 9.99993156e-01 -6.16363362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.672414037 meters 0.0973380833641743 Centerline is valid? [True, True] Translation: X:240.48, Y:-21.26, Z:-6.17 [[ 9.99830110e-01 -1.80322646e-02 3.81962617e-03 2.40476122e+02] [ 1.80332191e-02 9.99837365e-01 -2.15608708e-04 -2.12636967e+01] [-3.81511705e-03 2.84452234e-04 9.99992682e-01 -6.16530416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.702414037 meters 0.09277293581508769 Centerline is valid? [True, True] Translation: X:240.51, Y:-21.26, Z:-6.16 [[ 9.99810560e-01 -1.89217508e-02 4.56191366e-03 2.40508212e+02] [ 1.89231383e-02 9.99820907e-01 -2.61179182e-04 -2.12574503e+01] [-4.55615469e-03 3.47455427e-04 9.99989560e-01 -6.16303211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73241403699996 meters 0.09429729960270335 Centerline is valid? [True, True] Translation: X:240.54, Y:-21.27, Z:-6.16 [[ 9.99803081e-01 -1.92665898e-02 4.75376927e-03 2.40539079e+02] [ 1.92680897e-02 9.99814317e-01 -2.69901838e-04 -2.12653094e+01] [-4.74768649e-03 3.61444742e-04 9.99988664e-01 -6.16334073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.762414037 meters 0.09786340136997505 Centerline is valid? [True, True] Translation: X:240.57, Y:-21.28, Z:-6.17 [[ 9.99787587e-01 -2.02432262e-02 3.87191619e-03 2.40569200e+02] [ 2.02442402e-02 9.99795040e-01 -2.22874810e-04 -2.12750875e+01] [-3.86661090e-03 3.01211470e-04 9.99992479e-01 -6.16617668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79241403699996 meters 0.09425634034319605 Centerline is valid? [True, True] Translation: X:240.60, Y:-21.27, Z:-6.17 [[ 9.99766586e-01 -2.11693003e-02 4.31682634e-03 2.40601257e+02] [ 2.11705691e-02 9.99775848e-01 -2.48425160e-04 -2.12716036e+01] [-4.31059972e-03 3.39756844e-04 9.99990652e-01 -6.16534453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.822414037 meters 0.0954667121198039 Centerline is valid? [True, True] Translation: X:240.63, Y:-21.28, Z:-6.17 [[ 9.99775518e-01 -2.08026113e-02 4.02046997e-03 2.40631825e+02] [ 2.08037095e-02 9.99783553e-01 -2.31514332e-04 -2.12787364e+01] [-4.01478364e-03 3.15103051e-04 9.99991891e-01 -6.16638252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85241403699996 meters 0.09363835478341423 Centerline is valid? [True, True] Translation: X:240.66, Y:-21.28, Z:-6.17 [[ 9.99794310e-01 -1.99464705e-02 3.67108319e-03 2.40664576e+02] [ 1.99473787e-02 9.99801009e-01 -2.10948663e-04 -2.12789121e+01] [-3.66614500e-03 2.84133760e-04 9.99993239e-01 -6.16720534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.882414037 meters 0.09360170091626165 Centerline is valid? [True, True] Translation: X:240.70, Y:-21.28, Z:-6.17 [[ 9.99799579e-01 -1.96959970e-02 3.58734437e-03 2.40697089e+02] [ 1.96968636e-02 9.99805977e-01 -2.06409709e-04 -2.12833678e+01] [-3.58258289e-03 2.77027773e-04 9.99993544e-01 -6.16757259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91241403699996 meters 0.09343315014833478 Centerline is valid? [True, True] Translation: X:240.73, Y:-21.29, Z:-6.17 [[ 9.99810987e-01 -1.90714474e-02 3.77750382e-03 2.40729094e+02] [ 1.90724066e-02 9.99818081e-01 -2.18047937e-04 -2.12866254e+01] [-3.77265813e-03 2.90052812e-04 9.99992841e-01 -6.16862239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.942414037 meters 0.09377002900473536 Centerline is valid? [True, True] Translation: X:240.76, Y:-21.29, Z:-6.17 [[ 9.99810435e-01 -1.91145940e-02 3.70499916e-03 2.40760811e+02] [ 1.91155178e-02 9.99817259e-01 -2.14094718e-04 -2.12902004e+01] [-3.70022977e-03 2.84877110e-04 9.99993114e-01 -6.16908832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97241403699996 meters 0.09377002900473536 Centerline is valid? [True, True] Translation: X:240.79, Y:-21.29, Z:-6.17 [[ 9.99812397e-01 -1.90116562e-02 3.70501683e-03 2.40793405e+02] [ 1.90125782e-02 9.99819222e-01 -2.13792241e-04 -2.12922327e+01] [-3.70028250e-03 2.84194055e-04 9.99993114e-01 -6.16973223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.002414037 meters 0.09391395167477541 Centerline is valid? [True, True] Translation: X:240.83, Y:-21.30, Z:-6.17 [[ 9.99795497e-01 -1.99183545e-02 3.49616708e-03 2.40825475e+02] [ 1.99191839e-02 9.99801573e-01 -2.02548861e-04 -2.12969067e+01] [-3.49143890e-03 2.72148234e-04 9.99993868e-01 -6.16928939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03241403699997 meters 0.0943996767358996 Centerline is valid? [True, True] Translation: X:240.86, Y:-21.30, Z:-6.17 [[ 9.99801492e-01 -1.95246632e-02 3.97033180e-03 2.40857715e+02] [ 1.95257315e-02 9.99809328e-01 -2.30482583e-04 -2.13010792e+01] [-3.96507467e-03 3.07960463e-04 9.99992092e-01 -6.16979040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.062414037 meters 0.09713568411273008 Centerline is valid? [True, True] Translation: X:240.89, Y:-21.31, Z:-6.17 [[ 9.99786827e-01 -2.00622076e-02 4.87936438e-03 2.40887915e+02] [ 2.00638269e-02 9.99798661e-01 -2.83148050e-04 -2.13104061e+01] [-4.87270140e-03 3.80986413e-04 9.99988056e-01 -6.17032898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09241403699997 meters 0.09447703737075216 Centerline is valid? [True, True] Translation: X:240.92, Y:-21.31, Z:-6.17 [[ 9.99784182e-01 -2.02521687e-02 4.63030878e-03 2.40920712e+02] [ 2.02536344e-02 9.99794838e-01 -2.69881699e-04 -2.13089079e+01] [-4.62389313e-03 3.63604035e-04 9.99989244e-01 -6.16978348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.122414037 meters 0.09336391485086226 Centerline is valid? [True, True] Translation: X:240.95, Y:-21.31, Z:-6.17 [[ 9.99770963e-01 -2.08731069e-02 4.72591380e-03 2.40952993e+02] [ 2.08746423e-02 9.99782063e-01 -2.75782984e-04 -2.13095861e+01] [-4.71912740e-03 3.74371580e-04 9.99988795e-01 -6.17014782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15241403699997 meters 0.09528767832498221 Centerline is valid? [True, True] Translation: X:240.98, Y:-21.32, Z:-6.17 [[ 9.99766993e-01 -2.10785980e-02 4.65327720e-03 2.40983381e+02] [ 2.10800866e-02 9.99777754e-01 -2.71084028e-04 -2.13163468e+01] [-4.64652895e-03 3.69112350e-04 9.99989137e-01 -6.17118394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.182414037 meters 0.09908315088781679 Centerline is valid? [True, True] Translation: X:241.01, Y:-21.33, Z:-6.17 [[ 9.99760363e-01 -2.15297894e-02 3.96049751e-03 2.41013760e+02] [ 2.15308761e-02 9.99768157e-01 -2.31944111e-04 -2.13271504e+01] [-3.95458559e-03 3.17161510e-04 9.99992130e-01 -6.17347125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.212414037 meters 0.09431177655041988 Centerline is valid? [True, True] Translation: X:241.05, Y:-21.32, Z:-6.17 [[ 9.99751115e-01 -2.20004028e-02 3.69999619e-03 2.41046464e+02] [ 2.20013538e-02 9.99757917e-01 -2.16519365e-04 -2.13208861e+01] [-3.69433697e-03 2.97870401e-04 9.99993132e-01 -6.17219522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.242414037 meters 0.09853460379967105 Centerline is valid? [True, True] Translation: X:241.08, Y:-21.33, Z:-6.17 [[ 9.99726926e-01 -2.30738815e-02 3.69728220e-03 2.41076994e+02] [ 2.30748367e-02 9.99733717e-01 -2.15887009e-04 -2.13323491e+01] [-3.69131633e-03 3.01142239e-04 9.99993142e-01 -6.17394008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.272414037 meters 0.09629725463636542 Centerline is valid? [True, True] Translation: X:241.11, Y:-21.33, Z:-6.17 [[ 9.99695504e-01 -2.43239512e-02 4.15279159e-03 2.41109171e+02] [ 2.43251730e-02 9.99704069e-01 -2.43951843e-04 -2.13313107e+01] [-4.14562878e-03 3.44894935e-04 9.99991347e-01 -6.17405623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.302414037 meters 0.09733425234040287 Centerline is valid? [True, True] Translation: X:241.14, Y:-21.34, Z:-6.17 [[ 9.99648659e-01 -2.62203706e-02 3.87956735e-03 2.41139425e+02] [ 2.62214549e-02 9.99656132e-01 -2.28897010e-04 -2.13378690e+01] [-3.87223152e-03 3.30544489e-04 9.99992448e-01 -6.17428536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.332414037 meters 0.10396213399710459 Centerline is valid? [True, False] Translation: X:241.13, Y:-21.34, Z:-6.18 [[ 9.99696627e-01 -2.12060471e-02 1.25282618e-02 2.41129615e+02] [ 2.12319654e-02 9.99772695e-01 -1.93940121e-03 -2.13411688e+01] [-1.24842871e-02 2.20481247e-03 9.99919637e-01 -6.17988186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.362414037 meters 0.1021296168314511 Centerline is valid? [False, False] Translation: X:241.13, Y:-21.34, Z:-6.18 [[ 9.99699404e-01 -2.10165248e-02 1.26256594e-02 2.41129574e+02] [ 2.10360750e-02 9.99777712e-01 -1.41763447e-03 -2.13424660e+01] [-1.25930591e-02 1.68280265e-03 9.99919288e-01 -6.18021772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.392414037 meters 0.09911620632141388 Centerline is valid? [False, True] Translation: X:241.13, Y:-21.35, Z:-6.18 [[ 9.99753956e-01 -1.74070629e-02 1.37485044e-02 2.41127200e+02] [ 1.73593883e-02 9.99842907e-01 3.57938609e-03 -2.13461120e+01] [-1.38086512e-02 -3.33983978e-03 9.99899078e-01 -6.18042948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.422414037 meters 0.10150786660241365 Centerline is valid? [True, False] Translation: X:241.13, Y:-21.35, Z:-6.18 [[ 9.99758309e-01 -1.71896920e-02 1.37054208e-02 2.41127421e+02] [ 1.71366750e-02 9.99845249e-01 3.97642954e-03 -2.13470756e+01] [-1.37716535e-02 -3.74060313e-03 9.99898170e-01 -6.18063957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.452414037 meters 0.10071936301278446 Centerline is valid? [False, False] Translation: X:241.13, Y:-21.35, Z:-6.18 [[ 9.99761285e-01 -1.69905066e-02 1.37366846e-02 2.41127566e+02] [ 1.69313222e-02 9.99846915e-01 4.41337553e-03 -2.13480071e+01] [-1.38095672e-02 -4.17974176e-03 9.99895907e-01 -6.18100549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48241403699996 meters 0.1039452113513316 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.35, Z:-6.18 [[ 9.99859265e-01 -1.51484404e-02 7.20941811e-03 2.41120038e+02] [ 1.51977598e-02 9.99861139e-01 -6.83606501e-03 -2.13461293e+01] [-7.10486128e-03 6.94466994e-03 9.99950645e-01 -6.17681953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.512414037 meters 0.10078517331845367 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.35, Z:-6.18 [[ 9.99907731e-01 -1.08762034e-02 8.13870419e-03 2.41118906e+02] [ 1.08857509e-02 9.99940110e-01 -1.12971555e-03 -2.13494260e+01] [-8.12592975e-03 1.21820722e-03 9.99966242e-01 -6.17873957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54241403699996 meters 0.104926368452318 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.35, Z:-6.18 [[ 9.99910996e-01 -1.05866072e-02 8.11931765e-03 2.41119482e+02] [ 1.05920839e-02 9.99943703e-01 -6.31815377e-04 -2.13500253e+01] [-8.11217177e-03 7.17759637e-04 9.99966838e-01 -6.17959001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.572414037 meters 0.10435184051399392 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.35, Z:-6.18 [[ 9.99913222e-01 -1.03483673e-02 8.15230176e-03 2.41120031e+02] [ 1.03503127e-02 9.99946415e-01 -1.96478313e-04 -2.13502461e+01] [-8.14983169e-03 2.80840135e-04 9.99966750e-01 -6.18057264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60241403699996 meters 0.10204678044167816 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.35, Z:-6.18 [[ 9.99916051e-01 -1.01854856e-02 8.00923144e-03 2.41120644e+02] [ 1.01863055e-02 9.99948116e-01 -6.15886193e-05 -2.13499831e+01] [-8.00818858e-03 1.43167927e-04 9.99967924e-01 -6.18101327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.632414037 meters 0.10297060246600519 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.35, Z:-6.18 [[ 9.99918716e-01 -1.00851831e-02 7.80069512e-03 2.41121171e+02] [ 1.00863175e-02 9.99949126e-01 -1.06098691e-04 -2.13495066e+01] [-7.79922825e-03 1.84770354e-04 9.99969568e-01 -6.18107675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66241403699996 meters 0.10377414768562358 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.35, Z:-6.18 [[ 9.99917999e-01 -1.01779395e-02 7.77209178e-03 2.41121183e+02] [ 1.01807868e-02 9.99948121e-01 -3.26875367e-04 -2.13486060e+01] [-7.76836165e-03 4.05974572e-04 9.99969743e-01 -6.18097887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.692414037 meters 0.10248349932711537 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.35, Z:-6.18 [[ 9.99943254e-01 -6.30018014e-03 8.59053582e-03 2.41119548e+02] [ 6.26370856e-03 9.99971284e-01 4.26586889e-03 -2.13501097e+01] [-8.61716487e-03 -4.21181821e-03 9.99954001e-01 -6.18128118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72241403699996 meters 0.10393562620548005 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.35, Z:-6.18 [[ 9.99942620e-01 -6.29590197e-03 8.66704868e-03 2.41119464e+02] [ 6.25847562e-03 9.99971004e-01 4.33860505e-03 -2.13501867e+01] [-8.69411280e-03 -4.28411359e-03 9.99953028e-01 -6.18139548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.752414037 meters 0.1045343846264375 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.35, Z:-6.18 [[ 9.99941736e-01 -6.33984028e-03 8.73674210e-03 2.41119305e+02] [ 6.30204773e-03 9.99970696e-01 4.34646517e-03 -2.13502326e+01] [-8.76404197e-03 -4.29115256e-03 9.99952388e-01 -6.18140005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78241403699997 meters 0.10778116046464278 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.35, Z:-6.18 [[ 9.99936684e-01 -6.55669165e-03 9.14541032e-03 2.41118406e+02] [ 6.51589052e-03 9.99968718e-01 4.48406124e-03 -2.13507116e+01] [-9.17452483e-03 -4.42418683e-03 9.99948126e-01 -6.18146482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.812414037 meters 0.11366231782928193 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.35, Z:-6.18 [[ 9.99935795e-01 -6.56619995e-03 9.23532256e-03 2.41118295e+02] [ 6.52394222e-03 9.99968146e-01 4.59837114e-03 -2.13509500e+01] [-9.26522220e-03 -4.53782519e-03 9.99946780e-01 -6.18162858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84241403699997 meters 0.10893340763389689 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.35, Z:-6.18 [[ 9.99929745e-01 -6.73896437e-03 9.75145976e-03 2.41117525e+02] [ 6.69161168e-03 9.99965701e-01 4.88046538e-03 -2.13516407e+01] [-9.78401458e-03 -4.81486953e-03 9.99940543e-01 -6.18223460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.872414037 meters 0.11026244838590853 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.35, Z:-6.18 [[ 9.99927985e-01 -6.68452235e-03 9.96705515e-03 2.41117430e+02] [ 6.63256725e-03 9.99964293e-01 5.23665728e-03 -2.13522250e+01] [-1.00017038e-02 -5.17017300e-03 9.99936616e-01 -6.18288372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90241403699997 meters 0.11391493684205435 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.35, Z:-6.18 [[ 9.99927681e-01 -6.53950742e-03 1.00929830e-02 2.41117485e+02] [ 6.48275305e-03 9.99963050e-01 5.64566038e-03 -2.13530031e+01] [-1.01295299e-02 -5.57982178e-03 9.99933127e-01 -6.18343427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.932414037 meters 0.11661655718439219 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.35, Z:-6.18 [[ 9.99920998e-01 -6.92611907e-03 1.04893761e-02 2.41116579e+02] [ 6.86876548e-03 9.99961317e-01 5.49397056e-03 -2.13526377e+01] [-1.05270223e-02 -5.42148746e-03 9.99929892e-01 -6.18346889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.962414037 meters 0.11620533142358641 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.35, Z:-6.18 [[ 9.99920169e-01 -7.04680640e-03 1.04879602e-02 2.41116553e+02] [ 6.99146778e-03 9.99961494e-01 5.30374000e-03 -2.13520034e+01] [-1.05249307e-02 -5.22999036e-03 9.99930934e-01 -6.18342642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.992414037 meters 0.11550839646786677 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.35, Z:-6.18 [[ 9.99918595e-01 -7.24213469e-03 1.05050066e-02 2.41116452e+02] [ 7.18964985e-03 9.99961527e-01 5.02536489e-03 -2.13510409e+01] [-1.05409968e-02 -4.94942848e-03 9.99932193e-01 -6.18337134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.022414037 meters 0.11581042045228648 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.35, Z:-6.18 [[ 9.99915476e-01 -7.64854337e-03 1.05138594e-02 2.41116123e+02] [ 7.60287489e-03 9.99961519e-01 4.37677368e-03 -2.13491554e+01] [-1.05469307e-02 -4.29646818e-03 9.99935149e-01 -6.18294067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.052414037 meters 0.12189056078209747 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.35, Z:-6.18 [[ 9.99916524e-01 -7.69490518e-03 1.03794672e-02 2.41116381e+02] [ 7.65251847e-03 9.99962243e-01 4.11726089e-03 -2.13483162e+01] [-1.04107572e-02 -4.03748814e-03 9.99937655e-01 -6.18283325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.082414037 meters 0.11606590431551345 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.35, Z:-6.18 [[ 9.99915414e-01 -7.87436171e-03 1.03517471e-02 2.41116416e+02] [ 7.83564686e-03 9.99962175e-01 3.77518778e-03 -2.13471177e+01] [-1.03810828e-02 -3.69375582e-03 9.99939293e-01 -6.18280228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.112414037 meters 0.11750492928597646 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.34, Z:-6.18 [[ 9.99916276e-01 -8.08027940e-03 1.01069730e-02 2.41117031e+02] [ 8.04929288e-03 9.99962790e-01 3.10278584e-03 -2.13445230e+01] [-1.01316683e-02 -3.02117207e-03 9.99944109e-01 -6.18286359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.142414037 meters 0.12084677172060829 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.34, Z:-6.18 [[ 9.99919253e-01 -8.04531821e-03 9.83669685e-03 2.41117834e+02] [ 8.01751505e-03 9.99963762e-01 2.86264826e-03 -2.13431612e+01] [-9.85937130e-03 -2.78355125e-03 9.99947521e-01 -6.18314599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.172414037 meters 0.11479238364961097 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.34, Z:-6.18 [[ 9.99923433e-01 -8.01961654e-03 9.42405992e-03 2.41119239e+02] [ 7.99704089e-03 9.99965069e-01 2.43078034e-03 -2.13403315e+01] [-9.44322465e-03 -2.35522963e-03 9.99952638e-01 -6.18391565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.202414037 meters 0.11913991938745101 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.34, Z:-6.18 [[ 9.99924763e-01 -8.05315907e-03 9.25278828e-03 2.41119817e+02] [ 8.03348861e-03 9.99965396e-01 2.16109980e-03 -2.13389170e+01] [-9.26987177e-03 -2.08660503e-03 9.99954857e-01 -6.18420363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.23241403699996 meters 0.11801723126354871 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.34, Z:-6.18 [[ 9.99927113e-01 -8.03502226e-03 9.01152889e-03 2.41120618e+02] [ 8.01834126e-03 9.99966075e-01 1.88567858e-03 -2.13373258e+01] [-9.02637464e-03 -1.81328363e-03 9.99957617e-01 -6.18456848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.262414037 meters 0.11645496696731923 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.34, Z:-6.18 [[ 9.99945703e-01 -4.38717645e-03 9.45221455e-03 2.41119684e+02] [ 4.33386207e-03 9.99974627e-01 5.65352960e-03 -2.13353196e+01] [-9.47677776e-03 -5.61225804e-03 9.99939345e-01 -6.18488872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29241403699996 meters 0.11791776082701429 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.33, Z:-6.18 [[ 9.99945229e-01 -4.72598310e-03 9.33831242e-03 2.41119603e+02] [ 4.68038471e-03 9.99977048e-01 4.89877171e-03 -2.13333544e+01] [-9.36124959e-03 -4.85479650e-03 9.99944397e-01 -6.18432041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.322414037 meters 0.1155610334702034 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.33, Z:-6.18 [[ 9.99946169e-01 -4.84515498e-03 9.17518861e-03 2.41119874e+02] [ 4.80449049e-03 9.99978562e-01 4.44887303e-03 -2.13319332e+01] [-9.19654739e-03 -4.40455144e-03 9.99948010e-01 -6.18411395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35241403699996 meters 0.11571794655537389 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.33, Z:-6.18 [[ 9.99947105e-01 -5.00609142e-03 8.98472394e-03 2.41120210e+02] [ 4.97116910e-03 9.99980019e-01 3.90498913e-03 -2.13301638e+01] [-9.00409315e-03 -3.86011800e-03 9.99952012e-01 -6.18391006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.382414037 meters 0.11624033222145223 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.33, Z:-6.18 [[ 9.99948078e-01 -5.36397473e-03 8.66418985e-03 2.41120649e+02] [ 5.33963364e-03 9.99981739e-01 2.83008380e-03 -2.13268095e+01] [-8.67921214e-03 -2.78367326e-03 9.99958460e-01 -6.18338074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.41241403699996 meters 0.11735475357556904 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.33, Z:-6.18 [[ 9.99948562e-01 -5.50564308e-03 8.51828610e-03 2.41120945e+02] [ 5.48551383e-03 9.99982111e-01 2.38462545e-03 -2.13252283e+01] [-8.53126262e-03 -2.33777562e-03 9.99960875e-01 -6.18328917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.442414037 meters 0.11932763077491455 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.32, Z:-6.18 [[ 9.99958900e-01 -1.58547609e-03 8.92666686e-03 2.41120430e+02] [ 1.52729939e-03 9.99977577e-01 6.52023042e-03 -2.13240557e+01] [-8.93680436e-03 -6.50632874e-03 9.99938899e-01 -6.18406497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47241403699996 meters 0.1114901771129652 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.32, Z:-6.18 [[ 9.99960371e-01 -1.65949995e-03 8.74659574e-03 2.41120828e+02] [ 1.60593050e-03 9.99979934e-01 6.12807501e-03 -2.13227233e+01] [-8.75658977e-03 -6.11378573e-03 9.99942970e-01 -6.18398838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.502414037 meters 0.1106564229524042 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.32, Z:-6.18 [[ 9.99961994e-01 -1.83735689e-03 8.52261550e-03 2.41121161e+02] [ 1.79041879e-03 9.99983207e-01 5.51183983e-03 -2.13209949e+01] [-8.53259959e-03 -5.49637130e-03 9.99948491e-01 -6.18361603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53241403699997 meters 0.1089055518633051 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.32, Z:-6.18 [[ 9.99966223e-01 -1.88276523e-03 8.00051358e-03 2.41122437e+02] [ 1.84563435e-03 9.99987504e-01 4.64591379e-03 -2.13177751e+01] [-8.00916077e-03 -4.63099085e-03 9.99957203e-01 -6.18358341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.562414037 meters 0.11082013254036634 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.32, Z:-6.18 [[ 9.99969860e-01 -1.74211230e-03 7.56592100e-03 2.41123598e+02] [ 1.71005658e-03 9.99989544e-01 4.24126139e-03 -2.13161542e+01] [-7.57323064e-03 -4.22819541e-03 9.99962384e-01 -6.18366201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59241403699997 meters 0.11233690477188815 Centerline is valid? [False, False] Translation: X:241.12, Y:-21.31, Z:-6.18 [[ 9.99972569e-01 -1.73520661e-03 7.20070384e-03 2.41124504e+02] [ 1.70886304e-03 9.99991831e-01 3.66301403e-03 -2.13141787e+01] [-7.20700110e-03 -3.65060853e-03 9.99967366e-01 -6.18360330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.622414037 meters 0.10726481966634012 Centerline is valid? [False, False] Translation: X:241.13, Y:-21.31, Z:-6.18 [[ 9.99975681e-01 -1.66337557e-03 6.77282436e-03 2.41125532e+02] [ 1.64218726e-03 9.99993744e-01 3.13279074e-03 -2.13123611e+01] [-6.77799300e-03 -3.12159231e-03 9.99972157e-01 -6.18347703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65241403699997 meters 0.11148182267652854 Centerline is valid? [False, False] Translation: X:241.13, Y:-21.31, Z:-6.18 [[ 9.99979338e-01 -1.71558569e-03 6.19518272e-03 2.41126713e+02] [ 1.70219115e-03 9.99996204e-01 2.16671500e-03 -2.13091176e+01] [-6.19887639e-03 -2.15612484e-03 9.99978462e-01 -6.18301641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.682414037 meters 0.11234632413614823 Centerline is valid? [False, False] Translation: X:241.13, Y:-21.31, Z:-6.18 [[ 9.99980107e-01 -1.72213386e-03 6.06787800e-03 2.41127100e+02] [ 1.71029323e-03 9.99996624e-01 1.95601118e-03 -2.13081772e+01] [-6.07122603e-03 -1.94559442e-03 9.99979677e-01 -6.18311497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.712414037 meters 0.11160520227168778 Centerline is valid? [False, False] Translation: X:241.13, Y:-21.31, Z:-6.18 [[ 9.99980875e-01 -1.80214733e-03 5.91617160e-03 2.41127441e+02] [ 1.79298194e-03 9.99997185e-01 1.55414758e-03 -2.13066775e+01] [-5.91895575e-03 -1.54351027e-03 9.99981292e-01 -6.18305074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.742414037 meters 0.11436287175250287 Centerline is valid? [False, False] Translation: X:241.13, Y:-21.31, Z:-6.18 [[ 9.99981644e-01 -1.82156506e-03 5.77878439e-03 2.41127657e+02] [ 1.81437964e-03 9.99997575e-01 1.24841255e-03 -2.13061181e+01] [-5.78104444e-03 -1.23790472e-03 9.99982523e-01 -6.18274514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.772414037 meters 0.1066624818779671 Centerline is valid? [False, False] Translation: X:241.13, Y:-21.31, Z:-6.18 [[ 9.99982402e-01 -1.68233452e-03 5.68908938e-03 2.41128190e+02] [ 1.67468373e-03 9.99997687e-01 1.34931294e-03 -2.13058312e+01] [-5.69134622e-03 -1.33976177e-03 9.99982907e-01 -6.18324041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.802414037 meters 0.1075851329646021 Centerline is valid? [False, False] Translation: X:241.13, Y:-21.31, Z:-6.18 [[ 9.99983631e-01 -1.52818346e-03 5.51375431e-03 2.41128924e+02] [ 1.52121243e-03 9.99998039e-01 1.26827041e-03 -2.13051382e+01] [-5.51568165e-03 -1.25986206e-03 9.99983995e-01 -6.18361068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.832414037 meters 0.11695151372902673 Centerline is valid? [False, False] Translation: X:241.13, Y:-21.30, Z:-6.18 [[ 9.99984582e-01 -1.44208372e-03 5.36252112e-03 2.41129398e+02] [ 1.43564843e-03 9.99998245e-01 1.20370477e-03 -2.13047304e+01] [-5.36424755e-03 -1.19598752e-03 9.99984897e-01 -6.18374279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.862414037 meters 0.11695151372902673 Centerline is valid? [False, False] Translation: X:241.13, Y:-21.30, Z:-6.18 [[ 9.99984582e-01 -1.44208372e-03 5.36252112e-03 2.41129398e+02] [ 1.43564843e-03 9.99998245e-01 1.20370477e-03 -2.13047304e+01] [-5.36424755e-03 -1.19598752e-03 9.99984897e-01 -6.18374279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.892414037 meters 0.1082955018989269 Centerline is valid? [False, False] Translation: X:241.13, Y:-21.30, Z:-6.18 [[ 9.99985828e-01 -1.44535002e-03 5.12387378e-03 2.41129786e+02] [ 1.44104137e-03 9.99998605e-01 8.44490403e-04 -2.13038872e+01] [-5.12508722e-03 -8.37094721e-04 9.99986516e-01 -6.18337645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.922414037 meters 0.10798375957571865 Centerline is valid? [False, False] Translation: X:241.13, Y:-21.30, Z:-6.18 [[ 9.99987825e-01 -1.29634310e-03 4.76131872e-03 2.41130573e+02] [ 1.29375602e-03 9.99999014e-01 5.46391885e-04 -2.13031173e+01] [-4.76202234e-03 -5.40225248e-04 9.99988516e-01 -6.18308780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.952414037 meters 0.1070609867923998 Centerline is valid? [False, False] Translation: X:241.13, Y:-21.30, Z:-6.18 [[ 9.99990197e-01 -9.40534511e-04 4.32671692e-03 2.41131839e+02] [ 9.38144616e-04 9.99999406e-01 5.54353982e-04 -2.13025712e+01] [-4.32723574e-03 -5.50289462e-04 9.99990486e-01 -6.18332509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98241403699996 meters 0.10353562258683423 Centerline is valid? [False, False] Translation: X:241.13, Y:-21.30, Z:-6.18 [[ 9.99991580e-01 -8.57387723e-04 4.01313734e-03 2.41132494e+02] [ 8.56598458e-04 9.99999613e-01 1.98385114e-04 -2.13016884e+01] [-4.01330589e-03 -1.94945797e-04 9.99991928e-01 -6.18301337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.012414037 meters 0.1030054215285993 Centerline is valid? [False, False] Translation: X:241.13, Y:-21.30, Z:-6.18 [[ 9.99993824e-01 -3.90184415e-04 3.49268974e-03 2.41133996e+02] [ 3.89349934e-04 9.99999895e-01 2.39598893e-04 -2.13013472e+01] [-3.49278287e-03 -2.38237535e-04 9.99993872e-01 -6.18327556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04241403699996 meters 0.10443264625498774 Centerline is valid? [False, False] Translation: X:241.14, Y:-21.30, Z:-6.18 [[ 9.99995047e-01 9.90727804e-05 3.14568201e-03 2.41135239e+02] [-1.00872058e-04 9.99999831e-01 5.71829835e-04 -2.13018654e+01] [-3.14562482e-03 -5.72144315e-04 9.99994889e-01 -6.18377805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.072414037 meters 0.10748017622107489 Centerline is valid? [False, False] Translation: X:241.14, Y:-21.30, Z:-6.18 [[ 9.99995177e-01 7.16395395e-05 3.10482532e-03 2.41135213e+02] [-7.30805014e-05 9.99999890e-01 4.63993060e-04 -2.13018260e+01] [-3.10479173e-03 -4.64217724e-04 9.99995072e-01 -6.18356064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10241403699996 meters 0.10817252311645398 Centerline is valid? [False, False] Translation: X:241.14, Y:-21.30, Z:-6.18 [[ 9.99995937e-01 4.68676151e-04 2.81179293e-03 2.41136232e+02] [-4.70975600e-04 9.99999555e-01 8.17181222e-04 -2.13022312e+01] [-2.81140868e-03 -8.18502188e-04 9.99995713e-01 -6.18403752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.132414037 meters 0.10043485974551411 Centerline is valid? [False, False] Translation: X:241.14, Y:-21.30, Z:-6.18 [[ 9.99996357e-01 4.57413707e-04 2.66008639e-03 2.41136367e+02] [-4.58879894e-04 9.99999743e-01 5.50595859e-04 -2.13019225e+01] [-2.65983386e-03 -5.51814513e-04 9.99996310e-01 -6.18357475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16241403699996 meters 0.09939378547299998 Centerline is valid? [False, True] Translation: X:241.14, Y:-21.30, Z:-6.18 [[ 9.99997058e-01 9.90953558e-04 2.21391949e-03 2.41137655e+02] [-9.92815552e-04 9.99999154e-01 8.40098999e-04 -2.13026632e+01] [-2.21308512e-03 -8.42294541e-04 9.99997196e-01 -6.18375305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.192414037 meters 0.10183448526033269 Centerline is valid? [True, False] Translation: X:241.14, Y:-21.30, Z:-6.18 [[ 9.99997246e-01 1.17305578e-03 2.03250353e-03 2.41138084e+02] [-1.17480934e-03 9.99998939e-01 8.61779772e-04 -2.13030235e+01] [-2.03149046e-03 -8.64165203e-04 9.99997563e-01 -6.18362388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22241403699996 meters 0.0983185238586925 Centerline is valid? [False, True] Translation: X:241.14, Y:-21.30, Z:-6.18 [[ 9.99997295e-01 1.40265589e-03 1.85563502e-03 2.41138619e+02] [-1.40455673e-03 9.99998490e-01 1.02345725e-03 -2.13035093e+01] [-1.85419666e-03 -1.02606082e-03 9.99997755e-01 -6.18374917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.252414037 meters 0.09686089485578955 Centerline is valid? [True, True] Translation: X:241.17, Y:-21.30, Z:-6.18 [[ 9.99992950e-01 3.33204688e-03 1.73156584e-03 2.41169104e+02] [-3.33179806e-03 9.99994439e-01 -1.46560174e-04 -2.13035791e+01] [-1.73204455e-03 1.40789913e-04 9.99998490e-01 -6.18265219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28241403699997 meters 0.09756090678084414 Centerline is valid? [True, True] Translation: X:241.20, Y:-21.31, Z:-6.18 [[ 9.99985775e-01 4.52210420e-03 2.82858456e-03 2.41197364e+02] [-4.52144448e-03 9.99989750e-01 -2.39585903e-04 -2.13077862e+01] [-2.82963899e-03 2.26793206e-04 9.99995971e-01 -6.18249903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.312414037 meters 0.09493127931730468 Centerline is valid? [True, True] Translation: X:241.23, Y:-21.30, Z:-6.18 [[ 9.99973387e-01 6.98097910e-03 2.11902690e-03 2.41227375e+02] [-6.98061373e-03 9.99975619e-01 -1.79770355e-04 -2.13048939e+01] [-2.12023021e-03 1.64973462e-04 9.99997739e-01 -6.18129043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34241403699997 meters 0.096031164753387 Centerline is valid? [True, True] Translation: X:241.26, Y:-21.31, Z:-6.18 [[ 9.99967163e-01 7.68381473e-03 2.57507115e-03 2.41255412e+02] [-7.68327692e-03 9.99970459e-01 -2.18679238e-04 -2.13091570e+01] [-2.57667537e-03 1.98887073e-04 9.99996661e-01 -6.18159131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.372414037 meters 0.0948320864495392 Centerline is valid? [True, True] Translation: X:241.29, Y:-21.31, Z:-6.18 [[ 9.99945519e-01 1.00185976e-02 2.93042706e-03 2.41285120e+02] [-1.00179134e-02 9.99949789e-01 -2.48088230e-04 -2.13098192e+01] [-2.93276541e-03 2.18717950e-04 9.99995676e-01 -6.18169253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40241403699997 meters 0.09447897463305446 Centerline is valid? [True, True] Translation: X:241.31, Y:-21.31, Z:-6.18 [[ 9.99940207e-01 1.05644404e-02 2.82393184e-03 2.41313948e+02] [-1.05638062e-02 9.99944173e-01 -2.39403445e-04 -2.13113548e+01] [-2.82630335e-03 2.09557662e-04 9.99995984e-01 -6.18198344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.432414037 meters 0.09383359707855299 Centerline is valid? [True, True] Translation: X:241.34, Y:-21.31, Z:-6.18 [[ 9.99930981e-01 1.14889411e-02 2.45711416e-03 2.41343238e+02] [-1.14884644e-02 9.99933984e-01 -2.08056552e-04 -2.13130215e+01] [-2.45934230e-03 1.79813724e-04 9.99996960e-01 -6.18275144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.462414037 meters 0.09068753413689717 Centerline is valid? [True, True] Translation: X:241.37, Y:-21.31, Z:-6.18 [[ 9.99921620e-01 1.23673987e-02 1.94961255e-03 2.41372797e+02] [-1.23670996e-02 9.99923511e-01 -1.65390750e-04 -2.13092950e+01] [-1.95150888e-03 1.41266734e-04 9.99998086e-01 -6.18288676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.492414037 meters 0.09197337388157928 Centerline is valid? [True, True] Translation: X:241.40, Y:-21.32, Z:-6.18 [[ 9.99929480e-01 1.17288841e-02 1.86234340e-03 2.41399607e+02] [-1.17286100e-02 9.99931205e-01 -1.58048149e-04 -2.13159524e+01] [-1.86406901e-03 1.36194304e-04 9.99998253e-01 -6.18368680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.522414037 meters 0.09232402652092153 Centerline is valid? [True, True] Translation: X:241.43, Y:-21.32, Z:-6.18 [[ 9.99927257e-01 1.17810415e-02 2.58613314e-03 2.41428083e+02] [-1.17805152e-02 9.99930583e-01 -2.18637173e-04 -2.13202588e+01] [-2.58852939e-03 1.88155288e-04 9.99996632e-01 -6.18404656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.552414037 meters 0.09551506975243107 Centerline is valid? [True, True] Translation: X:241.46, Y:-21.33, Z:-6.19 [[ 9.99943657e-01 1.01810928e-02 3.00465068e-03 2.41455505e+02] [-1.01803769e-02 9.99948146e-01 -2.53459423e-04 -2.13300190e+01] [-3.00707537e-03 2.22856666e-04 9.99995454e-01 -6.18508791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.582414037 meters 0.09137077048912483 Centerline is valid? [True, True] Translation: X:241.49, Y:-21.33, Z:-6.18 [[ 9.99916174e-01 1.25418662e-02 3.21669695e-03 2.41485911e+02] [-1.25410599e-02 9.99921321e-01 -2.70710537e-04 -2.13257420e+01] [-3.21983908e-03 2.30347055e-04 9.99994790e-01 -6.18344071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.612414037 meters 0.09468117359718763 Centerline is valid? [True, True] Translation: X:241.51, Y:-21.33, Z:-6.18 [[ 9.99921188e-01 1.20751258e-02 3.43651008e-03 2.41513435e+02] [-1.20742004e-02 9.99927062e-01 -2.89926467e-04 -2.13347770e+01] [-3.43976032e-03 2.48410506e-04 9.99994053e-01 -6.18379652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.642414037 meters 0.09225398877539746 Centerline is valid? [True, True] Translation: X:241.54, Y:-21.33, Z:-6.18 [[ 9.99916637e-01 1.24870615e-02 3.28502411e-03 2.41542920e+02] [-1.24862195e-02 9.99922006e-01 -2.76694748e-04 -2.13327585e+01] [-3.28822300e-03 2.35654150e-04 9.99994566e-01 -6.18287405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.672414037 meters 0.09300217400235002 Centerline is valid? [True, True] Translation: X:241.57, Y:-21.34, Z:-6.18 [[ 9.99922424e-01 1.22027044e-02 2.49780916e-03 2.41571074e+02] [-1.22022166e-02 9.99925528e-01 -2.10452701e-04 -2.13380392e+01] [-2.50019123e-03 1.79957567e-04 9.99996858e-01 -6.18448925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.702414037 meters 0.08980825742515215 Centerline is valid? [True, True] Translation: X:241.60, Y:-21.33, Z:-6.18 [[ 9.99903473e-01 1.37186458e-02 2.20093370e-03 2.41600587e+02] [-1.37182711e-02 9.99905883e-01 -1.85223969e-04 -2.13344886e+01] [-2.20326758e-03 1.55013085e-04 9.99997561e-01 -6.18376905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73241403699996 meters 0.08964797042578644 Centerline is valid? [True, True] Translation: X:241.63, Y:-21.34, Z:-6.18 [[ 9.99898794e-01 1.41307796e-02 1.64990866e-03 2.41629502e+02] [-1.41305690e-02 9.99900149e-01 -1.39191763e-04 -2.13362312e+01] [-1.65171081e-03 1.15863528e-04 9.99998629e-01 -6.18409095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.762414037 meters 0.08926175793957787 Centerline is valid? [True, True] Translation: X:241.66, Y:-21.34, Z:-6.19 [[ 9.99885084e-01 1.51298323e-02 9.51910880e-04 2.41658571e+02] [-1.51297617e-02 9.99885535e-01 -8.13902705e-05 -2.13382628e+01] [-9.53033341e-04 6.69787327e-05 9.99999544e-01 -6.18551488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79241403699996 meters 0.08933363061416787 Centerline is valid? [True, True] Translation: X:241.69, Y:-21.34, Z:-6.19 [[ 9.99880893e-01 1.54221223e-02 5.98277145e-04 2.41686303e+02] [-1.54220941e-02 9.99881071e-01 -5.17082076e-05 -2.13411983e+01] [-5.99003443e-04 4.24753624e-05 9.99999820e-01 -6.18674458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.822414037 meters 0.08878876064587385 Centerline is valid? [True, True] Translation: X:241.72, Y:-21.34, Z:-6.19 [[ 9.99871675e-01 1.59857608e-02 1.04363466e-03 2.41715263e+02] [-1.59856775e-02 9.99872217e-01 -8.80924081e-05 -2.13441148e+01] [-1.04490952e-03 7.13978965e-05 9.99999452e-01 -6.18595189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85241403699996 meters 0.09012782172650947 Centerline is valid? [True, True] Translation: X:241.74, Y:-21.35, Z:-6.19 [[ 9.99874938e-01 1.57499758e-02 1.43084037e-03 2.41741946e+02] [-1.57498188e-02 9.99875957e-01 -1.20985682e-04 -2.13493114e+01] [-1.43256840e-03 9.84350747e-05 9.99998969e-01 -6.18652510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.882414037 meters 0.0883977237059393 Centerline is valid? [True, True] Translation: X:241.77, Y:-21.35, Z:-6.18 [[ 9.99869681e-01 1.58354395e-02 3.14002879e-03 2.41770539e+02] [-1.58346932e-02 9.99874589e-01 -2.62379820e-04 -2.13488426e+01] [-3.14378989e-03 2.12624234e-04 9.99995036e-01 -6.18440557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91241403699996 meters 0.09324532952613528 Centerline is valid? [True, True] Translation: X:241.80, Y:-21.36, Z:-6.19 [[ 9.99873742e-01 1.55159991e-02 3.42830513e-03 2.41797010e+02] [-1.55151081e-02 9.99879592e-01 -2.86330139e-04 -2.13615183e+01] [-3.43233503e-03 2.33103463e-04 9.99994082e-01 -6.18576269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.942414037 meters 0.09114421207793766 Centerline is valid? [True, True] Translation: X:241.83, Y:-21.36, Z:-6.19 [[ 9.99870346e-01 1.59200692e-02 2.41721281e-03 2.41826020e+02] [-1.59196277e-02 9.99873254e-01 -2.01800767e-04 -2.13601567e+01] [-2.42011912e-03 1.63293475e-04 9.99997058e-01 -6.18594745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97241403699996 meters 0.08965372020552767 Centerline is valid? [True, True] Translation: X:241.85, Y:-21.36, Z:-6.19 [[ 9.99878076e-01 1.55196803e-02 1.72398937e-03 2.41854509e+02] [-1.55194548e-02 9.99879556e-01 -1.44120265e-04 -2.13601454e+01] [-1.72601842e-03 1.17347319e-04 9.99998504e-01 -6.18564406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.002414037 meters 0.09295775446342784 Centerline is valid? [True, True] Translation: X:241.88, Y:-21.37, Z:-6.19 [[ 9.99877478e-01 1.55316032e-02 1.94898454e-03 2.41881150e+02] [-1.55313143e-02 9.99879369e-01 -1.63283392e-04 -2.13701891e+01] [-1.95128548e-03 1.32993095e-04 9.99998087e-01 -6.18742592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03241403699997 meters 0.09121735997482623 Centerline is valid? [True, True] Translation: X:241.91, Y:-21.37, Z:-6.19 [[ 9.99888294e-01 1.48823018e-02 1.38443532e-03 2.41910290e+02] [-1.48821559e-02 9.99889248e-01 -1.15659781e-04 -2.13696499e+01] [-1.38600328e-03 9.50434786e-05 9.99999035e-01 -6.18735215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.062414037 meters 0.09072315624852 Centerline is valid? [True, True] Translation: X:241.94, Y:-21.37, Z:-6.19 [[ 9.99873541e-01 1.58916796e-02 5.97178343e-04 2.41938611e+02] [-1.58916523e-02 9.99873718e-01 -5.04076932e-05 -2.13721834e+01] [-5.97903993e-04 4.09111681e-05 9.99999820e-01 -6.18808224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09241403699997 meters 0.08965626497220756 Centerline is valid? [True, True] Translation: X:241.97, Y:-21.37, Z:-6.19 [[ 9.99885733e-01 1.51158531e-02 -1.76538073e-04 2.41967392e+02] [-1.51158509e-02 9.99885749e-01 1.35882015e-05 -2.13729541e+01] [ 1.76723301e-04 -1.09181256e-05 9.99999984e-01 -6.18802588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.122414037 meters 0.09234488607326446 Centerline is valid? [True, True] Translation: X:242.00, Y:-21.38, Z:-6.19 [[ 9.99908231e-01 1.35465220e-02 1.48084723e-04 2.41995631e+02] [-1.35465202e-02 9.99908242e-01 -1.29916028e-05 -2.13818733e+01] [-1.48247126e-04 1.09843779e-05 9.99999989e-01 -6.18960806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15241403699997 meters 0.09519526755380671 Centerline is valid? [True, True] Translation: X:242.02, Y:-21.39, Z:-6.19 [[ 9.99937478e-01 1.11815268e-02 -1.20421152e-04 2.42024171e+02] [-1.11815257e-02 9.99937485e-01 9.82115715e-06 -2.13926260e+01] [ 1.20523439e-04 -8.47405090e-06 9.99999993e-01 -6.19043712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.182414037 meters 0.09187037422019455 Centerline is valid? [True, True] Translation: X:242.05, Y:-21.39, Z:-6.19 [[ 9.99956546e-01 9.32049317e-03 -1.84904696e-04 2.42054203e+02] [-9.32049059e-03 9.99956563e-01 1.47613339e-05 -2.13898179e+01] [ 1.85034248e-04 -1.30372899e-05 9.99999983e-01 -6.18980858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.212414037 meters 0.09413013146289248 Centerline is valid? [True, True] Translation: X:242.08, Y:-21.40, Z:-6.19 [[ 9.99986892e-01 5.10054700e-03 -4.46839034e-04 2.42084384e+02] [-5.10053101e-03 9.99986992e-01 3.69163082e-05 -2.13994019e+01] [ 4.47021514e-04 -3.46367080e-05 9.99999899e-01 -6.19041113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.242414037 meters 0.09824466557003317 Centerline is valid? [True, True] Translation: X:242.11, Y:-21.41, Z:-6.19 [[ 9.99995475e-01 2.97377750e-03 -4.54951647e-04 2.42112326e+02] [-2.97376095e-03 9.99995578e-01 3.70525655e-05 -2.14106183e+01] [ 4.55059821e-04 -3.56994804e-05 9.99999896e-01 -6.19138363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.272414037 meters 0.09569733310841565 Centerline is valid? [True, True] Translation: X:242.14, Y:-21.41, Z:-6.19 [[ 9.99999123e-01 1.07945274e-03 -7.67426521e-04 2.42142147e+02] [-1.07940484e-03 9.99999415e-01 6.28297183e-05 -2.14091558e+01] [ 7.67493894e-04 -6.20012993e-05 9.99999704e-01 -6.19026627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.302414037 meters 0.09918843900866312 Centerline is valid? [True, True] Translation: X:242.17, Y:-21.42, Z:-6.19 [[ 9.99996568e-01 -2.44253330e-03 9.47265146e-04 2.42170821e+02] [ 2.44260828e-03 9.99997014e-01 -7.80045351e-05 -2.14198760e+01] [-9.47071789e-04 8.03180651e-05 9.99999548e-01 -6.18918178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.332414037 meters 0.10204326216068475 Centerline is valid? [True, False] Translation: X:242.17, Y:-21.42, Z:-6.19 [[ 9.99995933e-01 -2.63434984e-03 1.09264880e-03 2.42170140e+02] [ 2.63456200e-03 9.99996511e-01 -1.92778428e-04 -2.14202849e+01] [-1.09213714e-03 1.95656295e-04 9.99999384e-01 -6.18866471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.362414037 meters 0.09962838535487342 Centerline is valid? [False, True] Translation: X:242.17, Y:-21.42, Z:-6.19 [[ 9.99995978e-01 -2.61595453e-03 1.09541882e-03 2.42170118e+02] [ 2.61607414e-03 9.99996572e-01 -1.07778328e-04 -2.14205622e+01] [-1.09513312e-03 1.10643592e-04 9.99999394e-01 -6.18864894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.392414037 meters 0.09817014120166766 Centerline is valid? [True, True] Translation: X:242.20, Y:-21.42, Z:-6.19 [[ 9.99994123e-01 -3.42821330e-03 -4.58580241e-05 2.42201913e+02] [ 3.42821355e-03 9.99994124e-01 5.33837414e-06 -2.14210800e+01] [ 4.58394535e-05 -5.49555386e-06 9.99999999e-01 -6.18885240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.422414037 meters 0.10342514671207684 Centerline is valid? [True, False] Translation: X:242.20, Y:-21.42, Z:-6.19 [[ 9.99994954e-01 -3.17201454e-03 -1.72583060e-04 2.42202552e+02] [ 3.17207235e-03 9.99994913e-01 3.35716356e-04 -2.14214558e+01] [ 1.71517285e-04 -3.36262108e-04 9.99999929e-01 -6.18937842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.452414037 meters 0.10085940984343895 Centerline is valid? [False, False] Translation: X:242.20, Y:-21.42, Z:-6.19 [[ 9.99995133e-01 -3.11543865e-03 -1.68027776e-04 2.42202878e+02] [ 3.11551501e-03 9.99995043e-01 4.56094896e-04 -2.14213330e+01] [ 1.66606007e-04 -4.56616169e-04 9.99999882e-01 -6.18989333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48241403699996 meters 0.10582942847201593 Centerline is valid? [False, False] Translation: X:242.20, Y:-21.42, Z:-6.19 [[ 9.99995828e-01 -2.87105236e-03 -3.17720465e-04 2.42203634e+02] [ 2.87128062e-03 9.99995618e-01 7.20304601e-04 -2.14213308e+01] [ 3.15651041e-04 -7.21213861e-04 9.99999690e-01 -6.19050585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.512414037 meters 0.10551346488835142 Centerline is valid? [False, False] Translation: X:242.20, Y:-21.42, Z:-6.19 [[ 9.99996170e-01 -2.73001253e-03 -4.56057579e-04 2.42204261e+02] [ 2.73038838e-03 9.99995932e-01 8.25547459e-04 -2.14210095e+01] [ 4.53801969e-04 -8.26789511e-04 9.99999555e-01 -6.19096767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54241403699996 meters 0.10032200638914957 Centerline is valid? [False, False] Translation: X:242.20, Y:-21.42, Z:-6.19 [[ 9.99996101e-01 -2.74388805e-03 -5.18201419e-04 2.42204491e+02] [ 2.74425535e-03 9.99995983e-01 7.09424366e-04 -2.14204635e+01] [ 5.16252757e-04 -7.10843678e-04 9.99999614e-01 -6.19106830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.572414037 meters 0.10494076994960727 Centerline is valid? [False, False] Translation: X:242.21, Y:-21.42, Z:-6.19 [[ 9.99977366e-01 -6.55276047e-03 -1.52604448e-03 2.42206600e+02] [ 6.54661801e-03 9.99970587e-01 -3.99588835e-03 -2.14182077e+01] [ 1.55218369e-03 3.98580748e-03 9.99990852e-01 -6.19071696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60241403699996 meters 0.10416231277939586 Centerline is valid? [False, False] Translation: X:242.20, Y:-21.42, Z:-6.19 [[ 9.99996133e-01 -2.72892119e-03 -5.34952219e-04 2.42204774e+02] [ 2.72932478e-03 9.99995990e-01 7.55175925e-04 -2.14197263e+01] [ 5.32889259e-04 -7.56633063e-04 9.99999572e-01 -6.19151068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.632414037 meters 0.1048902899212255 Centerline is valid? [False, False] Translation: X:242.20, Y:-21.42, Z:-6.19 [[ 9.99994913e-01 -3.16360847e-03 -4.08088944e-04 2.42204088e+02] [ 3.16372468e-03 9.99994955e-01 2.84422325e-04 -2.14185566e+01] [ 4.07187084e-04 -2.85711959e-04 9.99999876e-01 -6.19103823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66241403699996 meters 0.15850062508970364 Centerline is valid? [False, False] Translation: X:242.29, Y:-21.43, Z:-6.19 [[ 9.99991139e-01 -4.12234493e-03 -8.53891226e-04 2.42293131e+02] [ 4.12037225e-03 9.99988868e-01 -2.29924442e-03 -2.14251676e+01] [ 8.63359999e-04 2.29570570e-03 9.99996992e-01 -6.19051294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.692414037 meters 0.10574150977668953 Centerline is valid? [False, False] Translation: X:242.21, Y:-21.42, Z:-6.19 [[ 9.99998293e-01 -1.10749067e-03 1.47895743e-03 2.42207217e+02] [ 1.10720044e-03 9.99999368e-01 1.97043796e-04 -2.14182214e+01] [-1.47917472e-03 -1.95405957e-04 9.99998887e-01 -6.19190877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72241403699996 meters 0.10177612966560648 Centerline is valid? [False, False] Translation: X:242.21, Y:-21.42, Z:-6.19 [[ 9.99997820e-01 -1.54917848e-03 1.40016256e-03 2.42207156e+02] [ 1.54999112e-03 9.99998631e-01 -5.79489861e-04 -2.14156736e+01] [-1.39926291e-03 5.81658837e-04 9.99998852e-01 -6.19160545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.752414037 meters 0.10588648537543323 Centerline is valid? [False, False] Translation: X:242.21, Y:-21.41, Z:-6.19 [[ 9.99998032e-01 -1.55891530e-03 1.22673203e-03 2.42207700e+02] [ 1.55987339e-03 9.99998479e-01 -7.80440626e-04 -2.14145323e+01] [-1.22551353e-03 7.82352637e-04 9.99998943e-01 -6.19182042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78241403699997 meters 0.10588648537543323 Centerline is valid? [False, False] Translation: X:242.21, Y:-21.41, Z:-6.19 [[ 9.99998032e-01 -1.55891530e-03 1.22673203e-03 2.42207700e+02] [ 1.55987339e-03 9.99998479e-01 -7.80440626e-04 -2.14145323e+01] [-1.22551353e-03 7.82352637e-04 9.99998943e-01 -6.19182042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.812414037 meters 0.10481859827365525 Centerline is valid? [False, False] Translation: X:242.21, Y:-21.41, Z:-6.19 [[ 9.99998091e-01 -1.71725127e-03 9.31830373e-04 2.42208523e+02] [ 1.71860972e-03 9.99997459e-01 -1.45898685e-03 -2.14115476e+01] [-9.29322558e-04 1.46058552e-03 9.99998502e-01 -6.19207045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84241403699997 meters 0.10670671493516684 Centerline is valid? [False, False] Translation: X:242.21, Y:-21.41, Z:-6.19 [[ 9.99998089e-01 -1.83473831e-03 6.74674090e-04 2.42208911e+02] [ 1.83606912e-03 9.99996360e-01 -1.97721846e-03 -2.14099950e+01] [-6.71043956e-04 1.97845343e-03 9.99997818e-01 -6.19172715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.872414037 meters 0.10323986327828191 Centerline is valid? [False, False] Translation: X:242.21, Y:-21.41, Z:-6.19 [[ 9.99997345e-01 1.78831062e-03 1.45315772e-03 2.42207185e+02] [-1.79135832e-03 9.99996193e-01 2.09870512e-03 -2.14095904e+01] [-1.44939905e-03 -2.10130267e-03 9.99996742e-01 -6.19195615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90241403699997 meters 0.10373320959260568 Centerline is valid? [False, False] Translation: X:242.21, Y:-21.41, Z:-6.19 [[ 9.99998440e-01 1.51271219e-03 9.12453929e-04 2.42208007e+02] [-1.51353459e-03 9.99998448e-01 9.01286129e-04 -2.14055846e+01] [-9.11089127e-04 -9.02665753e-04 9.99999178e-01 -6.19129667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.932414037 meters 0.10150422734107299 Centerline is valid? [False, False] Translation: X:242.21, Y:-21.40, Z:-6.19 [[ 9.99998856e-01 1.36139430e-03 6.58613055e-04 2.42208483e+02] [-1.36160511e-03 9.99999022e-01 3.19735140e-04 -2.14035311e+01] [-6.58177126e-04 -3.20631546e-04 9.99999732e-01 -6.19111410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.962414037 meters 0.1028817267455882 Centerline is valid? [False, False] Translation: X:242.21, Y:-21.40, Z:-6.19 [[ 9.99999464e-01 9.77965130e-04 3.40233161e-04 2.42208901e+02] [-9.77685644e-04 9.99999185e-01 -8.20653720e-04 -2.13999667e+01] [-3.41035455e-04 8.20320639e-04 9.99999605e-01 -6.19061548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.992414037 meters 0.1009684200975712 Centerline is valid? [False, False] Translation: X:242.21, Y:-21.40, Z:-6.19 [[ 9.99999533e-01 9.66156184e-04 2.02795583e-05 2.42209600e+02] [-9.66130256e-04 9.99998762e-01 -1.24179898e-03 -2.13984165e+01] [-2.14793049e-05 1.24177880e-03 9.99999229e-01 -6.19048834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.022414037 meters 0.10116305232736746 Centerline is valid? [False, False] Translation: X:242.21, Y:-21.40, Z:-6.19 [[ 9.99999428e-01 9.47773455e-04 -4.94975473e-04 2.42210875e+02] [-9.48779871e-04 9.99997475e-01 -2.03700227e-03 -2.13951327e+01] [ 4.93043607e-04 2.03747073e-03 9.99997803e-01 -6.19056173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.052414037 meters 0.10095690971201339 Centerline is valid? [False, False] Translation: X:242.21, Y:-21.39, Z:-6.19 [[ 9.99999296e-01 9.42540474e-04 -7.20833922e-04 2.42211462e+02] [-9.44235511e-04 9.99996782e-01 -2.35478113e-03 -2.13937674e+01] [ 7.18612126e-04 2.35546011e-03 9.99996968e-01 -6.19062234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.082414037 meters 0.09863610144542348 Centerline is valid? [False, True] Translation: X:242.21, Y:-21.39, Z:-6.19 [[ 9.99999184e-01 8.65230106e-04 -9.39726946e-04 2.42211882e+02] [-8.67859709e-04 9.99995699e-01 -2.80146944e-03 -2.13922724e+01] [ 9.37298989e-04 2.80228271e-03 9.99995634e-01 -6.19041729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.112414037 meters 0.09282724996055143 Centerline is valid? [True, True] Translation: X:242.24, Y:-21.38, Z:-6.19 [[ 9.99995820e-01 2.42803602e-03 1.56971888e-03 2.42242951e+02] [-2.42783258e-03 9.99997044e-01 -1.31493497e-04 -2.13808880e+01] [-1.57003351e-03 1.27681933e-04 9.99998759e-01 -6.18894108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.142414037 meters 0.09392823622885196 Centerline is valid? [True, True] Translation: X:242.27, Y:-21.38, Z:-6.19 [[ 9.99991247e-01 2.30815939e-03 3.48984869e-03 2.42272093e+02] [-2.30715511e-03 9.99997296e-01 -2.91770512e-04 -2.13833069e+01] [-3.49051270e-03 2.83716336e-04 9.99993868e-01 -6.18899785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.172414037 meters 0.09480398666114469 Centerline is valid? [True, True] Translation: X:242.30, Y:-21.38, Z:-6.19 [[ 9.99982226e-01 2.04201615e-03 5.60165451e-03 2.42302603e+02] [-2.03942782e-03 9.99997811e-01 -4.67737052e-04 -2.13844697e+01] [-5.60259738e-03 4.56304568e-04 9.99984201e-01 -6.18979120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.202414037 meters 0.09702676169975531 Centerline is valid? [True, True] Translation: X:242.33, Y:-21.38, Z:-6.19 [[ 9.99949142e-01 7.44316253e-04 1.00578270e-02 2.42333728e+02] [-7.35910575e-04 9.99999377e-01 -8.39410057e-04 -2.13848434e+01] [-1.00584456e-02 8.31965705e-04 9.99949066e-01 -6.19077619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23241403699996 meters 0.09867042414288718 Centerline is valid? [True, True] Translation: X:242.37, Y:-21.39, Z:-6.19 [[ 9.99918003e-01 -4.99645180e-05 1.28056759e-02 2.42366335e+02] [ 6.36379451e-05 9.99999428e-01 -1.06735776e-03 -2.13863055e+01] [-1.28056152e-02 1.06808517e-03 9.99917434e-01 -6.19219088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.262414037 meters 0.10013638326720564 Centerline is valid? [True, False] Translation: X:242.37, Y:-21.39, Z:-6.19 [[ 9.99920307e-01 5.37705934e-05 1.26244283e-02 2.42366984e+02] [-3.89197745e-05 9.99999307e-01 -1.17659849e-03 -2.13855727e+01] [-1.26244828e-02 1.17601338e-03 9.99919616e-01 -6.19246405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29241403699996 meters 0.10230024283372437 Centerline is valid? [False, False] Translation: X:242.37, Y:-21.38, Z:-6.19 [[ 9.99926509e-01 3.27709436e-04 1.21189332e-02 2.42368449e+02] [-3.10266726e-04 9.99998913e-01 -1.44114626e-03 -2.13839498e+01] [-1.21193923e-02 1.43728025e-03 9.99925525e-01 -6.19279112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.322414037 meters 0.1048989038845118 Centerline is valid? [False, False] Translation: X:242.37, Y:-21.38, Z:-6.19 [[ 9.99928331e-01 3.86790244e-04 1.19659125e-02 2.42368944e+02] [-3.67662030e-04 9.99998651e-01 -1.60071718e-03 -2.13830970e+01] [-1.19665155e-02 1.59620305e-03 9.99927125e-01 -6.19294493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35241403699996 meters 0.10627411051287623 Centerline is valid? [False, False] Translation: X:242.37, Y:-21.38, Z:-6.19 [[ 9.99929852e-01 3.02263415e-04 1.18405747e-02 2.42369165e+02] [-2.79308720e-04 9.99998079e-01 -1.94025277e-03 -2.13820449e+01] [-1.18411384e-02 1.93680949e-03 9.99928016e-01 -6.19279044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.382414037 meters 0.10615799248568211 Centerline is valid? [False, False] Translation: X:242.37, Y:-21.38, Z:-6.19 [[ 9.99932105e-01 1.76960717e-04 1.16513495e-02 2.42369324e+02] [-1.48380075e-04 9.99996978e-01 -2.45380856e-03 -2.13806639e+01] [-1.16517486e-02 2.45191313e-03 9.99929110e-01 -6.19227952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41241403699996 meters 0.11241144920405219 Centerline is valid? [False, False] Translation: X:242.37, Y:-21.38, Z:-6.19 [[ 9.99932794e-01 1.53925748e-04 1.15923876e-02 2.42369442e+02] [-1.23813413e-04 9.99996617e-01 -2.59826849e-03 -2.13801497e+01] [-1.15927484e-02 2.59665858e-03 9.99929430e-01 -6.19222392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.442414037 meters 0.11186804803974668 Centerline is valid? [False, False] Translation: X:242.37, Y:-21.38, Z:-6.19 [[ 9.99934275e-01 2.99989794e-04 1.14610822e-02 2.42369891e+02] [-2.70935563e-04 9.99996746e-01 -2.53650239e-03 -2.13800576e+01] [-1.14618059e-02 2.53323046e-03 9.99931103e-01 -6.19240467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47241403699996 meters 0.12008859762216618 Centerline is valid? [False, False] Translation: X:242.37, Y:-21.38, Z:-6.19 [[ 9.99937315e-01 6.43796268e-04 1.11781996e-02 2.42370802e+02] [-6.17068215e-04 9.99996943e-01 -2.39437181e-03 -2.13802132e+01] [-1.11797069e-02 2.38732400e-03 9.99934655e-01 -6.19263244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.502414037 meters 0.12137431772845891 Centerline is valid? [False, False] Translation: X:242.37, Y:-21.38, Z:-6.19 [[ 9.99937798e-01 9.21603474e-04 1.11153225e-02 2.42371436e+02] [-8.99005004e-04 9.99997519e-01 -2.03791692e-03 -2.13805276e+01] [-1.11171731e-02 2.02779743e-03 9.99936146e-01 -6.19337031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53241403699997 meters 0.12137251229321468 Centerline is valid? [False, False] Translation: X:242.37, Y:-21.38, Z:-6.19 [[ 9.99938200e-01 1.17550405e-03 1.10550570e-02 2.42371969e+02] [-1.15730493e-03 9.99997965e-01 -1.65247846e-03 -2.13810668e+01] [-1.10569770e-02 1.63958226e-03 9.99937526e-01 -6.19399736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.562414037 meters 0.1316261795281291 Centerline is valid? [False, False] Translation: X:242.37, Y:-21.38, Z:-6.19 [[ 9.99939185e-01 1.61359880e-03 1.09097769e-02 2.42372832e+02] [-1.60162999e-03 9.99998106e-01 -1.10572013e-03 -2.13820215e+01] [-1.09115404e-02 1.08817946e-03 9.99939875e-01 -6.19476575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59241403699997 meters 0.1362308425176155 Centerline is valid? [False, False] Translation: X:242.37, Y:-21.38, Z:-6.20 [[ 9.99939302e-01 1.91190895e-03 1.08506777e-02 2.42373322e+02] [-1.90467815e-03 9.99997957e-01 -6.76686047e-04 -2.13828346e+01] [-1.08519493e-02 6.55977925e-04 9.99940901e-01 -6.19530017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.622414037 meters 0.14402915226247978 Centerline is valid? [False, False] Translation: X:242.37, Y:-21.38, Z:-6.20 [[ 9.99937316e-01 2.27358471e-03 1.09633621e-02 2.42373539e+02] [-2.27372325e-03 9.99997415e-01 1.72378926e-07 -2.13845276e+01] [-1.09633334e-02 -2.51000196e-05 9.99939901e-01 -6.19602393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65241403699997 meters 0.1427347854789133 Centerline is valid? [False, False] Translation: X:242.37, Y:-21.39, Z:-6.20 [[ 9.99937088e-01 2.53628017e-03 1.09264119e-02 2.42373822e+02] [-2.54025842e-03 9.99996712e-01 3.50231751e-04 -2.13854977e+01] [-1.09254877e-02 -3.77965628e-04 9.99940244e-01 -6.19626462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.682414037 meters 0.14522179179521993 Centerline is valid? [False, False] Translation: X:242.37, Y:-21.39, Z:-6.20 [[ 9.99936337e-01 2.76735972e-03 1.09391200e-02 2.42373942e+02] [-2.77507541e-03 9.99995911e-01 6.90214520e-04 -2.13866648e+01] [-1.09371652e-02 -7.20527461e-04 9.99939928e-01 -6.19642376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.712414037 meters 0.15176993935927763 Centerline is valid? [False, False] Translation: X:242.38, Y:-21.39, Z:-6.20 [[ 9.99946509e-01 -1.17569017e-03 1.02760820e-02 2.42375336e+02] [ 1.21617633e-03 9.99991520e-01 -3.93448340e-03 -2.13854705e+01] [-1.02713691e-02 3.94677046e-03 9.99939459e-01 -6.19598390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.742414037 meters 0.1558920784983115 Centerline is valid? [False, False] Translation: X:242.38, Y:-21.39, Z:-6.20 [[ 9.99947454e-01 -8.45128606e-04 1.02164186e-02 2.42375754e+02] [ 8.80694450e-04 9.99993567e-01 -3.47724639e-03 -2.13866513e+01] [-1.02134141e-02 3.48606121e-03 9.99941765e-01 -6.19636712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.772414037 meters 0.17513494154511844 Centerline is valid? [False, False] Translation: X:242.38, Y:-21.39, Z:-6.20 [[ 9.99946372e-01 -2.49561841e-04 1.03533143e-02 2.42376023e+02] [ 2.75194428e-04 9.99996901e-01 -2.47443489e-03 -2.13894995e+01] [-1.03526647e-02 2.47715136e-03 9.99943341e-01 -6.19719054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.802414037 meters 0.16958625097922297 Centerline is valid? [False, False] Translation: X:242.38, Y:-21.39, Z:-6.20 [[ 9.99946327e-01 1.49014185e-04 1.03595930e-02 2.42376421e+02] [-1.30124076e-04 9.99998328e-01 -1.82409133e-03 -2.13911137e+01] [-1.03598475e-02 1.82264539e-03 9.99944674e-01 -6.19779980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.832414037 meters 0.17880245395659006 Centerline is valid? [False, False] Translation: X:242.38, Y:-21.39, Z:-6.20 [[ 9.99943298e-01 6.46818072e-04 1.06293560e-02 2.42376236e+02] [-6.38562536e-04 9.99999492e-01 -7.80048644e-04 -2.13942827e+01] [-1.06298552e-02 7.73216905e-04 9.99943203e-01 -6.19844089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 4696.98 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%| | 0/9662 [00:00